CN114839895A - Exoskeleton system, control method and storage medium - Google Patents

Abstract

The application provides an exoskeleton system, a control method and a storage medium, which comprise a core board, a control bottom board, a power supply control board and a plurality of functional modules. The power management chip determines whether the function module connected with the core board is abnormal or not based on the first power detection result, and controls the corresponding function module to be powered off and stores the first power detection result when the abnormality occurs; determining whether the function module connected with the control bottom plate is abnormal or not based on the second power supply detection result, and controlling the corresponding function module to be powered off and storing the second power supply detection result when the function module is abnormal; and determining whether the functional module connected with the power control board is abnormal or not based on the third power detection result, and controlling the corresponding functional module to be powered off and enabling the third power detection result when the functional module is abnormal. When the abnormity occurs, the corresponding functional module is controlled to be powered off, so that the phenomenon that the whole machine stops working due to the abnormity of the independent functional module is avoided.

Description

Exoskeleton system, control method and storage medium

Technical Field

The present application relates to the field of mechanical exoskeleton technology, and in particular, to an exoskeleton system, a control method, and a storage medium.

Background

Nowadays, various types of exoskeleton systems, such as exoskeleton arms, exoskeleton hip joints, exoskeleton upper limbs or exoskeleton lower limbs, and the like, are developed at home and abroad. The exoskeleton systems are mostly used for rehabilitation treatment of human bodies and rehabilitative exercises such as walking assistance in a certain range, and each exoskeleton system has multiple joint degrees of freedom, so that the exoskeleton system realizes the action of body movement of a wearer.

In the existing exoskeleton control system, a core board, a control bottom board and a power supply control board are integrated on the same PCB, so that the processing loss of a single-board PCB is large, interference among different signals exists, and the price is high. In addition, when the exoskeletal system works abnormally, only the whole machine can be controlled to stop working, the whole circuit board needs to be completely replaced during maintenance, and the after-sale cost is high.

Disclosure of Invention

In view of the above, it is desirable to provide an exoskeleton system, a control method and a storage medium for addressing the above technical problems.

In a first aspect, an embodiment of the present invention provides an exoskeleton system, where the exoskeleton system includes a core board, a control board, a power control board, and a plurality of function modules respectively connected to the core board, the control board, and the power control board, where the core board is provided with a first power management module and a first control chip, the control board is provided with a second power management module and a second control chip, the power control board is provided with a third power management module and a power management chip, and the first power management module, the second power management module, and the third power management module are all used for abnormality detection of the function modules;

The power management chip determines whether the function module connected with the core board is abnormal or not based on a first power detection result of the first power management module, and controls the corresponding function module to be powered off and stores the first power detection result in the core board under the condition that the function module is abnormal; and

determining whether the function module connected with the control bottom board is abnormal or not based on a second power supply detection result of the second power supply management module, and controlling the corresponding function module to be powered off and storing the second power supply detection result in the control bottom board under the condition that the function module connected with the control bottom board is abnormal; and

and determining whether the function module connected with the power supply control board is abnormal or not based on a third power supply detection result of the third power supply management module, and controlling the corresponding function module to be powered off and storing the third power supply detection result in the power supply control board under the condition that the function module is abnormal.

In one embodiment, the system further comprises a primary power source and a backup power source;

when the standby power supply meets a first power supply condition, the power management chip controls the main power supply to be powered off and controls the standby power supply to supply power.

In an embodiment, when the main power supply meets a second power supply condition, the power management chip controls the standby power supply to be powered off and controls the main power supply to be powered on.

In one embodiment, the primary power source is replaceable.

In one embodiment, the system further comprises a standby power supply, and the control bottom plate is further provided with a clock chip;

and when the standby power supply meets a third power supply condition, the power management chip controls the standby power supply to supply power for the clock chip.

In an embodiment, when the power management chip receives a power-on command, the power management chip sequentially controls the second power management module and the third power management module to start;

the first control chip acquires starting information of the second power supply management module and the third power supply management module, and determines whether the starting requirements are met or not based on the starting information; and under the condition of meeting the starting requirement, the first control chip executes a starting command.

In a second aspect, an embodiment of the present invention provides a method for controlling an exoskeleton system, where the exoskeleton system includes a core board, a control board, a power control board, and a plurality of function modules connected to the core board, the control board, and the power control board, respectively, where the core board is provided with a first power management module and a first control chip, the control board is provided with a second power management module and a second control chip, the power control board is provided with a third power management module and a power management chip, and the first power management module, the second power management module, and the third power management module are all used for detecting an abnormality of the function modules; the method comprises the following steps:

Determining whether the function module connected with the core board is abnormal or not based on a first power supply detection result of the first power supply management module, and controlling the corresponding function module to be powered off and storing the first power supply detection result in the core board under the condition that the function module connected with the core board is abnormal; and

determining whether the function module connected with the control bottom board is abnormal or not based on a second power supply detection result of the second power supply management module, and controlling the corresponding function module to be powered off and storing the second power supply detection result in the control bottom board under the condition that the function module connected with the control bottom board is abnormal; and

and determining whether the function module connected with the power supply control board is abnormal or not based on a third power supply detection result of the third power supply management module, and controlling the corresponding function module to be powered off and storing the third power supply detection result in the power supply control board under the condition that the function module is abnormal.

In one embodiment, the system further comprises a main power supply, a standby power supply and a standby power supply, wherein a clock chip is further arranged on the control bottom plate;

when the standby power supply meets a first power supply condition, the power supply management chip controls the main power supply to be powered off and controls the standby power supply to supply power;

When the main power supply meets a second power supply condition, the power supply management chip controls the standby power supply to be powered off and controls the main power supply to supply power;

and when the standby power supply meets a third power supply condition, the power management chip controls the standby power supply to supply power for the clock chip.

In an embodiment, the method further comprises:

when the power management chip receives a starting command, the second power management module and the third power management module are sequentially controlled to start;

the first control chip acquires starting information of the second power management module and the third power management module, and determines whether the starting requirements are met or not based on the starting information; and under the condition of meeting the starting requirement, the first control chip executes a starting command.

In a third aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the steps of the method according to the second aspect.

Compared with the prior art, the system comprises the core board, the control bottom board and the power supply control board, the corresponding circuit board needs to be replaced during maintenance, and the after-sale cost is low; determining whether the connected functional modules are abnormal or not based on power detection results of the first power management module, the second power management module and the third power management module, and controlling the corresponding functional modules to be powered off and other functional modules to normally run under the condition of the abnormal power detection results, so that the phenomenon that the whole machine stops working due to the abnormal power detection of the independent functional modules is avoided; meanwhile, under the condition of abnormity, the power supply detection result is stored, and later-stage abnormal information gathering and analysis are facilitated.

Drawings

FIG. 1 is a schematic diagram of module connections for an exoskeleton system in one embodiment;

fig. 2 is a schematic diagram of module connections for the exoskeleton system in another embodiment;

fig. 3 is a schematic diagram of module connections of the exoskeleton system in a further embodiment.

Detailed Description

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only examples or embodiments of the invention, from which it is possible for a person skilled in the art, without inventive effort, to apply the invention also in other similar contexts. Unless otherwise apparent from the context, or otherwise indicated, like reference numbers in the figures refer to the same structure or operation.

As used in this disclosure and in the claims, the terms "a," "an," "the," and/or "the" are not intended to be inclusive in the singular, but rather are inclusive in the plural, unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that steps and elements are included which are explicitly identified, that the steps and elements do not form an exclusive list, and that a method or apparatus may include other steps or elements.

Although the present invention makes various references to certain modules in a system according to embodiments of the present invention, any number of different modules may be used and run on a computing device and/or processor. The modules are merely illustrative and different aspects of the systems and methods may use different modules.

It will be understood that when an element or module is referred to as being "connected," "coupled" to other elements, modules or blocks, it can be directly connected or coupled or in communication with the other elements, modules or blocks or intervening elements, modules or blocks may be present unless the context clearly dictates otherwise. As used herein, the term "and/or" can include any and all combinations of one or more of the associated listed items.

In one embodiment, as shown in fig. 1, there is provided an exoskeleton system comprising a core board 10, a control board 20, a power control board 30, and a plurality of functional modules 40 respectively connected to the core board 10, the control board 20, and the power control board 30. The core board 10 is provided with a first power management module 101 and a first control chip 102, the control board 20 is provided with a second power management module 201 and a second control chip 202, the power control board 30 is provided with a third power management module 301 and a power management chip 302, and the first power management module 101, the second power management module 201, and the third power management module 301 are all used for abnormality detection of the functional module 40.

In this embodiment, the core board 10, the control board 20, and the power control board 30 are separate PCBs, so that the single PCB has low processing loss, and interference between different signals can be reduced. The corresponding circuit board needs to be replaced during maintenance, and the cost after sale is low.

It should be noted that the functional module 40 includes, but is not limited to, a liquid crystal display, a speaker, an emergency stop switch, a nine-axis module, and an execution module. Wherein, the execution module can be a walking mechanism and the like.

The liquid crystal screen is used as a human-computer interaction interface, and a touch LCD screen is adopted, so that the liquid crystal screen can be used for controlling operation, parameter input, interface display, information output and the like; the loudspeaker is used as an operation guide and an alarm prompt of the exoskeleton system; when the emergency stop switch is abnormal, the current action can be quickly stopped through the emergency stop switch, so that the safety of a user is protected; the nine-axis module is used for detecting the posture of the system during working, including pitch angle, acceleration, direction and the like, serving as parameters for the control detection of the exoskeleton system and detecting whether the exoskeleton falls down.

It should be noted that the first power management module 101, the second power management module 201, and the third power management module 301 all have the abnormality detection function of the functional module 40, including but not limited to abnormality detection such as short circuit, overcurrent, overvoltage, and the like.

The power management chip 302 determines whether the function module 40 connected to the core board 10 is abnormal based on the first power detection result of the first power management module 101, and controls the corresponding function module 40 to be powered off and stores the first power detection result in the core board 10 when the function module 40 is abnormal; determining whether the function module 40 connected to the control backplane 20 is abnormal or not based on a second power detection result of the second power management module 201, and controlling the corresponding function module 40 to be powered off and storing the second power detection result in the control backplane 20 when the function module 40 is abnormal; and determining whether the function module 40 connected to the power control board 30 is abnormal based on the third power detection result of the third power management module 301, and controlling the corresponding function module 40 to be powered off and storing the third power detection result in the power control board 30 in case of abnormality.

In this embodiment, the power management chip 302 determines whether the connected functional module 40 is abnormal based on the power detection results of the first power management module 101, the second power management module 201, and the third power management module 301, and controls the corresponding functional module 40 to be powered off when the abnormality occurs, and other functional modules 40 can normally operate, so that the complete machine is prevented from stopping working due to the abnormality of the individual functional modules 40.

It should be further noted that, in the case of an abnormality, the power supply detection result is saved, which facilitates the collection and analysis of the abnormal information in the later period. The power supply detection result can be read through the processes of starting up, returning to maintenance and the like next time, and the abnormal condition can be analyzed conveniently.

In one embodiment, as shown in fig. 2, the exoskeleton system further comprises a main power supply 50 and a backup power supply 60.

When the standby power supply 60 satisfies the first power supply condition, the power management chip 302 controls the main power supply 50 to be powered off and controls the standby power supply 60 to be powered on. When the main power supply 50 satisfies the second power supply condition, the power management chip 302 controls the standby power supply 60 to be powered off and controls the main power supply 50 to be powered on.

The main power supply 50 provides the main power supply for the exoskeleton system to operate, and all power supplies are powered by the main power supply 50 after the exoskeleton system is powered on.

When the exoskeleton system is in a startup state, when the power supply of the main power supply 50 is abnormally cut off or the battery power supply needs to be replaced, the power management chip 302 is switched to the standby power supply 60 for supplying power, the standby power supply 60 supplies power to maintain the original working state of the whole system or stop working of the power part, and only the control part is maintained to work normally. When the main power supply 50 is recovered to normal or the battery is replaced, and the power supply of the main power supply 50 is detected to be normal, the power management chip 302 controls the main power supply 50 to supply power, so that the normal working state of the system is recovered.

In this embodiment, by providing the backup power supply 60, it can be ensured that the system still works normally when the main power supply 50 is abnormal, or the system does not need to be turned on and off again when the battery is replaced, and the user does not need to wait for a long time or wear the device again, thereby improving the user experience.

In one embodiment, the main power supply 50 can be replaced with a lithium battery, thereby allowing for quick replacement of the main power supply 50.

In one embodiment, as shown in fig. 3, the exoskeleton system further comprises a standby power supply 70, and a clock chip is further disposed on the control board 20. When the standby power supply 70 satisfies the third power supply condition, the power management chip 302 controls the standby power supply to supply power to the clock chip.

Specifically, when neither the system shutdown main power supply 50 nor the standby power supply 60 supplies power, the power supply of the clock chip is switched to the standby power supply 70 to supply power, so as to maintain the clock chip in a working state all the time, and ensure that the system clock data is not lost due to power failure and shutdown.

In an embodiment, when the power management chip 302 receives a power-on command, the second power management module 201 and the third power management module 301 are sequentially controlled to start; the first control chip 102 acquires the starting information of the second power management module 201 and the third power management module 301, and determines whether the starting requirement is met or not based on the starting information; under the condition that the startup requirement is met, the first control chip 102 executes a startup command.

Specifically, when the power-on key is pressed, the power control board 30 is powered on, the power management chip 302 starts to operate, and the main power supply 50 completes the start-up function. After the power management chip 302 is turned on, the second power management module 201 and the third power management module 301 are sequentially controlled to be turned on. The start information of the second power management module 201 and the third power management module 301 is summarized to the first control chip 102, and the first control chip 102 comprehensively detects whether all the start information meets the start requirement, and if the start requirement is met, the normal start program is completed and normal start is prompted by displaying an LCD screen interface.

In this embodiment, whether the startup requirements are met is determined by the startup information of the second power management module 201 and the third power management module 301, so as to avoid the fault caused by the startup that does not meet the startup condition.

After the shutdown key is pressed down, the power management chip 302 sends a shutdown command to the second control chip 202 through the protocol after detecting the shutdown command, the second control chip 202 sends the shutdown command to the first control chip 102 again, the first control chip 102 executes the shutdown program after detecting the shutdown command, after the core board 10 executes the shutdown program, the second control chip 202 is informed of the completion of the shutdown command through the protocol, the second control chip 202 executes the shutdown program, and after the completion of the shutdown program, the shutdown completion information is informed to the power management chip 302. After detecting that the second control chip 202 completes the shutdown command, the power management chip 302 executes a shutdown program to sequentially and respectively shut down the power supplies of the core board 10, the control backplane 20, and the power control board 30. And after the shutdown is finished, closing the LCD screen.

In order to ensure the stable work of the exoskeleton system, various communication control modes are established for each part, and the normal work is ensured according to a certain working mode. The power control board 30 is in communication with the control bottom board 20 through an RS232 serial port and is mainly used for management communication of a power part. 2.4G, NFC, external data acquisition etc. are connected with second control chip 202, and data communication rate is lower, and can avoid the appearance of the crash condition of data through the mode of singlechip, realize the summary of data. WIFI, Bluetooth, audio frequency, USB, CAN communication and the like with high requirements on external speed are directly communicated with the core board 10, and high-speed processing capacity CAN be guaranteed.

It should be noted that all or part of the modules in the exoskeleton system can be implemented by software, hardware and their combination. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

In one embodiment, there is provided a control method for an exoskeleton system, applied to the exoskeleton system in the above embodiment, including:

Determining whether the function module connected with the core board is abnormal or not based on a first power supply detection result of the first power supply management module, and controlling the corresponding function module to be powered off and storing the first power supply detection result in the core board under the condition that the function module connected with the core board is abnormal; determining whether the function module connected with the control bottom board is abnormal or not based on a second power supply detection result of the second power supply management module, and controlling the corresponding function module to be powered off and storing the second power supply detection result in the control bottom board under the condition that the function module connected with the control bottom board is abnormal; and determining whether the function module connected with the power supply control board is abnormal or not based on a third power supply detection result of the third power supply management module, and controlling the corresponding function module to be powered off and storing the third power supply detection result in the power supply control board under the condition that the function module is abnormal.

In this embodiment, based on the power detection results of the first power management module, the second power management module, and the third power management module, it is determined whether the connected functional module is abnormal, and in the case of the abnormality, the corresponding functional module is controlled to be powered off, and the other functional modules can normally operate, so that the complete machine is prevented from stopping working due to the abnormality of the individual functional module. Meanwhile, under the condition of abnormity, a power supply detection result is stored, and later abnormal information can be summarized and analyzed conveniently.

In one embodiment, when the standby power supply meets the first power supply condition, the power management chip controls the main power supply to be powered off and controls the standby power supply to be powered on.

In one embodiment, when the main power supply meets the second power supply condition, the power management chip controls the standby power supply to be powered off and controls the main power supply to be powered on.

In an embodiment, when the standby power supply meets a third power supply condition, the power management chip controls the standby power supply to supply power to the clock chip.

In an embodiment, when the power management chip receives a power-on command, the power management chip sequentially controls the second power management module and the third power management module to start; the first control chip acquires starting information of the second power supply management module and the third power supply management module, and determines whether the starting requirements are met or not based on the starting information; and under the condition of meeting the starting requirement, the first control chip executes a starting command.

For specific limitations of the control method of the exoskeleton system, reference may be made to the above limitations of the exoskeleton system, which are not described herein again.

In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the steps in any of the above described video conference privacy protection method embodiments.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, the computer program can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. An exoskeleton system is characterized in that the exoskeleton system comprises a core board, a control bottom board, a power supply control board and a plurality of functional modules which are respectively connected with the core board, the control bottom board and the power supply control board, wherein the core board is provided with a first power supply management module and a first control chip, the control bottom board is provided with a second power supply management module and a second control chip, the power supply control board is provided with a third power supply management module and a power supply management chip, and the first power supply management module, the second power supply management module and the third power supply management module are all used for abnormality detection of the functional modules;

the power management chip determines whether the function module connected with the core board is abnormal or not based on a first power detection result of the first power management module, and controls the corresponding function module to be powered off and stores the first power detection result in the core board under the condition that the function module is abnormal; and

Determining whether the function module connected with the control bottom board is abnormal or not based on a second power supply detection result of the second power supply management module, and controlling the corresponding function module to be powered off and storing the second power supply detection result in the control bottom board under the condition that the function module connected with the control bottom board is abnormal; and

and determining whether the function module connected with the power supply control board is abnormal or not based on a third power supply detection result of the third power supply management module, and controlling the corresponding function module to be powered off and storing the third power supply detection result in the power supply control board under the condition that the function module is abnormal.

2. The system of claim 1, further comprising a primary power source and a backup power source;

when the standby power supply meets a first power supply condition, the power management chip controls the main power supply to be powered off and controls the standby power supply to supply power.

3. The system of claim 2, wherein the power management chip controls the backup power supply to be powered off and controls the main power supply to be powered on when the main power supply meets a second power supply condition.

4. A system according to claim 2 or claim 3, wherein the primary power source is replaceable.

5. The system of claim 2, further comprising a standby power supply, wherein a clock chip is further disposed on the control backplane;

and when the standby power supply meets a third power supply condition, the power management chip controls the standby power supply to supply power for the clock chip.

6. The system according to claim 1, wherein when the power management chip receives a power-on command, the power management chip sequentially controls the second power management module and the third power management module to start;

the first control chip acquires starting information of the second power supply management module and the third power supply management module, and determines whether the starting requirements are met or not based on the starting information; and under the condition of meeting the starting requirement, the first control chip executes a starting command.

7. A control method of an exoskeleton system comprises a core board, a control bottom board, a power supply control board and a plurality of functional modules connected with the core board, the control bottom board and the power supply control board respectively, wherein the core board is provided with a first power supply management module and a first control chip, the control bottom board is provided with a second power supply management module and a second control chip, the power supply control board is provided with a third power supply management module and a power supply management chip, and the first power supply management module, the second power supply management module and the third power supply management module are all used for abnormality detection of the functional modules; characterized in that the method comprises:

Determining whether the function module connected with the core board is abnormal or not based on a first power supply detection result of the first power supply management module, and controlling the corresponding function module to be powered off and storing the first power supply detection result in the core board under the condition that the function module connected with the core board is abnormal; and

determining whether the function module connected with the control bottom board is abnormal or not based on a second power supply detection result of the second power supply management module, and controlling the corresponding function module to be powered off and storing the second power supply detection result in the control bottom board under the condition that the function module connected with the control bottom board is abnormal; and

and determining whether the function module connected with the power supply control board is abnormal or not based on a third power supply detection result of the third power supply management module, and controlling the corresponding function module to be powered off and storing the third power supply detection result in the power supply control board under the condition that the function module is abnormal.

8. The method of claim 7, wherein the system further comprises a main power supply, a standby power supply and a standby power supply, and a clock chip is further arranged on the control bottom plate;

when the standby power supply meets a first power supply condition, the power supply management chip controls the main power supply to be powered off and controls the standby power supply to supply power;

When the main power supply meets a second power supply condition, the power supply management chip controls the standby power supply to be powered off and controls the main power supply to supply power;

and when the standby power supply meets a third power supply condition, the power management chip controls the standby power supply to supply power for the clock chip.

9. The method of claim 7, further comprising:

when the power management chip receives a starting command, the second power management module and the third power management module are sequentially controlled to be started;

the first control chip acquires starting information of the second power supply management module and the third power supply management module, and determines whether the starting requirements are met or not based on the starting information; and under the condition of meeting the starting requirement, the first control chip executes a starting command.

10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 7 to 9.

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