Exoskeleton system, control method and storage medium

Abstract

The present application proposes an exoskeleton system, a control method and a storage medium, including a core board, a control baseboard, a power control board and a plurality of functional modules. The power management chip determines whether an abnormality occurs in the functional module connected to the core board based on the first power detection result, and when an abnormality occurs, controls the corresponding functional module to be powered off and saves the first power detection result; and determines whether an abnormality occurs in the functional module connected to the control baseboard based on the second power detection result, and when an abnormality occurs, controls the corresponding functional module to be powered off and saves the second power detection result; and determines whether an abnormality occurs in the functional module connected to the power control board based on the third power detection result, and when an abnormality occurs, controls the corresponding functional module to be powered off and saves the third power detection result. When an abnormality occurs, the present invention controls the corresponding functional module to be powered off, thereby avoiding the whole machine from stopping working due to an abnormality in a single functional module.

Description

Technical Field

[0001] The present application relates to the technical field of mechanical exoskeleton, and in particular to an exoskeleton system, a control method and a storage medium. Background Art

[0002] Nowadays, there are a large number of various types of exoskeleton systems at home and abroad, such as exoskeleton arms, exoskeleton hip joints, exoskeleton upper limbs or lower limbs, etc. These exoskeleton systems are mostly used for human rehabilitation and a certain range of rehabilitation exercises such as walking assistance, and each exoskeleton system has multiple degrees of freedom of joints, so that the exoskeleton system can realize the wearer's body movement to make movements.

[0003] In the existing exoskeleton control system, the core board, control baseboard and power control board are integrated on the same PCB board, which leads to large processing loss of the single PCB board, interference between different signals and high price. In addition, when the exoskeleton system works abnormally, the whole machine can only be controlled to stop working. The entire circuit board needs to be replaced for maintenance, which has high after-sales cost. Summary of the invention

[0004] Based on this, it is necessary to provide an exoskeleton system, a control method and a storage medium to address the above technical problems.

[0005] In a first aspect, an embodiment of the present invention provides an exoskeleton system, the system comprising a core board, a control baseboard, a power control board, and a plurality of functional modules respectively connected to the core board, the control baseboard, and the power control board, wherein the core board is provided with a first power management module and a first control chip, the control baseboard 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 functional modules;

[0006] The power management chip determines whether an abnormality occurs in a functional module connected to the core board based on a first power detection result of the first power management module, and in the event of an abnormality, controls the corresponding functional module to be powered off and saves the first power detection result in the core board; and

[0007] Based on the second power supply detection result of the second power supply management module, determine whether the function module connected to the control baseboard is abnormal, and in the event of an abnormality, control the corresponding function module to be powered off and save the second power supply detection result in the control baseboard; and

[0008] Based on the third power detection result of the third power management module, determine whether the functional module connected to the power control board has an abnormality, and in the event of an abnormality, control the corresponding functional module to be powered off and save the third power detection result in the power control board.

[0009] In one embodiment, the system further comprises a main power supply and a backup power supply;

[0010] When the backup power supply meets the first power supply condition, the power management chip controls the main power supply to be powered off, and controls the backup power supply to be powered on.

[0011] In one embodiment, when the main power source meets the second power supply condition, the power management chip controls the backup power source to be powered off, and controls the main power source to be powered on.

[0012] In one embodiment, the main power supply is replaceable.

[0013] In one embodiment, the system further includes a standby power supply, and the control base plate is further provided with a clock chip;

[0014] When the standby power supply meets the third power supply condition, the power management chip controls the standby power supply to supply power to the clock chip.

[0015] In one embodiment, when the power management chip receives a power-on command, the second power management module and the third power management module are sequentially controlled to start;

[0016] The first control chip obtains startup information of the second power management module and the third power management module, and determines whether a startup requirement is met based on the startup information; if the startup requirement is met, the first control chip executes a startup command.

[0017] In a second aspect, an embodiment of the present invention provides a control method for an exoskeleton system, the system comprising a core board, a control baseboard, a power control board, and a plurality of functional modules respectively connected to the core board, the control baseboard, and the power control board, wherein the core board is provided with a first power management module and a first control chip, the control baseboard 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, the first power management module, the second power management module, and the third power management module are all used for abnormal detection of functional modules; the method comprises:

[0018] Based on the first power detection result of the first power management module, determine whether the functional module connected to the core board is abnormal, and in the event of an abnormality, control the corresponding functional module to be powered off and save the first power detection result in the core board; and

[0019] Based on the second power supply detection result of the second power supply management module, determine whether the function module connected to the control baseboard is abnormal, and in the event of an abnormality, control the corresponding function module to be powered off and save the second power supply detection result in the control baseboard; and

[0020] Based on the third power detection result of the third power management module, determine whether the functional module connected to the power control board has an abnormality, and in the event of an abnormality, control the corresponding functional module to be powered off and save the third power detection result in the power control board.

[0021] In one embodiment, the system further comprises a main power supply, a backup power supply and a standby power supply, and the control base plate is also provided with a clock chip;

[0022] When the backup power supply meets the first power supply condition, the power management chip controls the main power supply to be powered off, and controls the backup power supply to be powered on;

[0023] When the main power supply meets the second power supply condition, the power management chip controls the backup power supply to be powered off, and controls the main power supply to be powered on;

[0024] When the standby power supply meets the third power supply condition, the power management chip controls the standby power supply to supply power to the clock chip.

[0025] In one embodiment, the method further comprises:

[0026] When the power management chip receives a power-on command, it sequentially controls the second power management module and the third power management module to start;

[0027] The first control chip obtains startup information of the second power management module and the third power management module, and determines whether a startup requirement is met based on the startup information; if the startup requirement is met, the first control chip executes a startup command.

[0028] In a third aspect, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the method described in the second aspect are implemented.

[0029] Compared with the prior art, the system of the present invention includes a core board, a control baseboard, and a power control board. The corresponding circuit boards need to be replaced during maintenance, and the after-sales cost is low. 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 has an abnormality, and in the event of an abnormality, the corresponding functional module is controlled to be powered off, while other functional modules can operate normally, thereby avoiding the entire machine from stopping working due to an abnormality in a single functional module. At the same time, in the event of an abnormality, the power detection results are saved to facilitate the subsequent summary and analysis of abnormal information. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A schematic diagram of module connections of an exoskeleton system in one embodiment;

[0031] Figure 2 A schematic diagram of module connections of an exoskeleton system in another embodiment;

[0032] Figure 3 FIG. 4 is a schematic diagram of module connections of an exoskeleton system in yet another embodiment. DETAILED DESCRIPTION

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following is a brief introduction to the drawings required for the description of the embodiments. Obviously, the drawings described below are only some examples or embodiments of the present invention. For ordinary technicians in this field, the present invention can also be applied to other similar scenarios based on these drawings without creative work. Unless it is obvious from the language environment or otherwise explained, the same reference numerals in the figures represent the same structure or operation.

[0034] As shown in the present invention and claims, unless the context clearly indicates an exception, the words "a", "an", "an" and / or "the" do not refer to the singular, but also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list, and the method or device may also include other steps or elements.

[0035] Although the present invention makes various references to certain modules in the system according to an embodiment of the present invention, any number of different modules can be used and run on a computing device and / or processor. The modules are only illustrative, and different aspects of the system and method can use different modules.

[0036] It should be understood that when a unit or module is described as being "connected," "coupled" to other units, modules, or blocks, it may refer to being directly connected or coupled, or communicating with other units, modules, or blocks, or there may be intermediate units, modules, or blocks, unless the context clearly indicates otherwise. The term "and / or" as used herein may include any and all combinations of one or more of the associated listed items.

[0037] In one embodiment, if Figure 1 As shown, an exoskeleton system is provided, including a core board 10, a control base board 20, a power control board 30, and a plurality of functional modules 40 respectively connected to the core board 10, the control base board 20, and the power control board 30. Among them, the core board 10 is provided with a first power management module 101 and a first control chip 102, the control base board 20 is provided with a second power management module 201 and a second control chip 202, and the power control board 30 is provided with a third power management module 301 and a power management chip 302. The first power management module 101, the second power management module 201, and the third power management module 301 are all used for abnormal detection of the functional module 40.

[0038] In this embodiment, the core board 10, the control base board 20, and the power control board 30 use separate PCB boards, and the single PCB processing loss is small, and the interference between different signals can be reduced. When repairing, the corresponding circuit board needs to be replaced, and the after-sales cost is low.

[0039] It should be noted that the functional module 40 includes but is not limited to a liquid crystal screen, a speaker, an emergency stop switch, a nine-axis module and an execution module, wherein the execution module may be a walking mechanism and the like.

[0040] The LCD screen is used as the human-computer interaction interface. It adopts a touch LCD screen and can be used for control operations, parameter input, interface display, information output, etc. The speaker serves as the operation guidance and alarm prompt of the exoskeleton system. When an abnormal situation occurs, the emergency stop switch can be used to quickly stop the current action to protect the user's safety. The nine-axis module is used to detect the posture of the system when it is working, including pitch angle, acceleration, direction, etc., which are used as parameters for exoskeleton system control detection, and can also detect whether the exoskeleton has fallen.

[0041] 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 short circuit, overcurrent, overvoltage and other abnormality detection.

[0042] The power management chip 302 determines whether an abnormality occurs in the functional module 40 connected to the core board 10 based on the first power detection result of the first power management module 101, and in the event of an abnormality, controls the corresponding functional module 40 to be powered off and saves the first power detection result in the core board 10; and determines whether an abnormality occurs in the functional module 40 connected to the control baseboard 20 based on the second power detection result of the second power management module 201, and in the event of an abnormality, controls the corresponding functional module 40 to be powered off and saves the second power detection result in the control baseboard 20; and determines whether an abnormality occurs in the functional module 40 connected to the power control board 30 based on the third power detection result of the third power management module 301, and in the event of an abnormality, controls the corresponding functional module 40 to be powered off and saves the third power detection result in the power control board 30.

[0043] In this embodiment, the power management chip 302 determines whether the connected functional module 40 has an abnormality 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 cut off power when an abnormality occurs, while other functional modules 40 can operate normally, thereby avoiding the entire machine from stopping working due to an abnormality in a single functional module 40.

[0044] It should also be noted that in the event of an abnormality, the power supply test results are saved to facilitate the later summary and analysis of abnormal information. The power supply test results can be read during the next startup, return maintenance, etc., to facilitate the analysis of abnormal situations.

[0045] In one embodiment, if Figure 2 As shown, the exoskeleton system further includes a main power source 50 and a backup power source 60 .

[0046] When the backup power supply 60 meets the first power supply condition, the power management chip 302 controls the main power supply 50 to power off and controls the backup power supply 60 to power on. When the main power supply 50 meets the second power supply condition, the power management chip 302 controls the backup power supply 60 to power off and controls the main power supply 50 to power on.

[0047] The main power supply 50 provides the main power supply for the exoskeleton system. After the exoskeleton system is turned on, all power supplies are supplied by the main power supply 50.

[0048] When the exoskeleton system is in the power-on state, when the main power supply 50 is powered off due to abnormal power failure or the battery power needs to be replaced, the power management chip 302 will switch to the backup power supply 60 for power supply. The backup power supply 60 can be divided into the system maintaining the original working state or the power part stopping working and only maintaining the normal working state of the control part. When the main power supply 50 returns to normal or the battery replacement is completed, and the power 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 and restore the normal working state of the system.

[0049] In this embodiment, by providing a backup power supply 60, it can be ensured that the system still works normally when an abnormal situation occurs in the main power supply 50, or the system does not need to be restarted when the battery is replaced. The user does not need to wait for too long or need to put on the device again, thereby improving the user experience.

[0050] In one embodiment, the main power source 50 is replaceable with a lithium battery, so that the main power source 50 can be quickly replaced.

[0051] In one embodiment, if Figure 3 As shown, the exoskeleton system further includes a standby power supply 70, and a clock chip is also provided on the control base plate 20. When the standby power supply 70 meets the third power supply condition, the power management chip 302 controls the standby power supply to supply power to the clock chip.

[0052] Specifically, when the system is shut down and neither the main power supply 50 nor the backup power supply 60 provides power, the power supply of the clock chip is switched to the standby power supply 70 to maintain the clock chip in a working state and ensure that the system clock data is not lost due to power failure or shutdown.

[0053] In one embodiment, when the power management chip 302 receives a power-on command, it controls the second power management module 201 and the third power management module 301 to start in sequence; the first control chip 102 obtains the startup information of the second power management module 201 and the third power management module 301, and determines whether the power-on requirements are met based on the startup information; if the power-on requirements are met, the first control chip 102 executes the power-on command.

[0054] Specifically, when the power button is pressed, the power control board 30 is powered on, the power management chip 302 starts working, and the main power supply 50 completes the startup function. After the power management chip 302 is turned on, it controls the second power management module 201 and the third power management module 301 to start up in sequence. The startup information of the second power management module 201 and the third power management module 301 is aggregated to the first control chip 102, and the first control chip 102 comprehensively detects whether all the startup information meets the startup requirements. If the startup requirements are met, the normal startup procedure is completed and the LCD screen interface is displayed to indicate that the startup is normal.

[0055] In this embodiment, whether the startup information of the second power management module 201 and the third power management module 301 meets the startup requirements is determined to avoid failures caused by startup without meeting the startup conditions.

[0056] After the shutdown button is pressed, the power management chip 302 detects the shutdown command and sends it to the second control chip 202 through the protocol. The second control chip 202 then sends the shutdown command to the first control chip 102. After the first control chip 102 detects the shutdown command, it executes the shutdown program. After the core board 10 completes the shutdown program, it notifies the second control chip 202 through the protocol to complete the shutdown command. The second control chip 202 executes the shutdown program, and after the execution is completed, it notifies the power management chip 302 of the shutdown completion information. After the power management chip 302 detects that the second control chip 202 completes the shutdown command, it executes the shutdown program and turns off the power of the core board 10, the control baseboard 20, and the power control board 30 in turn. The shutdown is completed and the LCD screen is turned off.

[0057] In order to ensure the stable operation of the exoskeleton system, various communication control methods are established in each part, and normal operation is guaranteed according to a certain working method. The power control board 30 communicates with the control base board 20 via RS232 serial port communication, which is mainly used for management communication of the power supply part. Communications such as 2.4G, NFC, and external data acquisition are connected to the second control chip 202. The data communication rate is low, and the data freeze can be avoided by means of a single-chip microcomputer, and data aggregation can be achieved. For WIFI, Bluetooth, audio, USB, CAN communications, etc. with high external speed requirements, direct communication with the core board 10 can ensure high-speed processing capabilities.

[0058] It should be noted that each module in the above exoskeleton system can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0059] In one embodiment, a control method for an exoskeleton system is provided, which is applied to the exoskeleton system in the above embodiment, comprising:

[0060] Based on the first power detection result of the first power management module, determine whether the functional module connected to the core board has an abnormality, and in the event of an abnormality, control the corresponding functional module to be powered off and save the first power detection result in the core board; and based on the second power detection result of the second power management module, determine whether the functional module connected to the control baseboard has an abnormality, and in the event of an abnormality, control the corresponding functional module to be powered off and save the second power detection result in the control baseboard; and based on the third power detection result of the third power management module, determine whether the functional module connected to the power control board has an abnormality, and in the event of an abnormality, control the corresponding functional module to be powered off and save the third power detection result in the power control board.

[0061] 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 an abnormality, the corresponding functional module is controlled to be powered off, while other functional modules can operate normally, thereby avoiding the whole machine from stopping working due to an abnormality of a single functional module. At the same time, in the case of an abnormality, the power detection results are saved to facilitate the later summary and analysis of abnormal information.

[0062] In one embodiment, when the backup power source meets the first power supply condition, the power management chip controls the main power source to be powered off, and controls the backup power source to be powered on.

[0063] In one embodiment, when the main power source meets the second power supply condition, the power management chip controls the backup power source to be powered off, and controls the main power source to be powered on.

[0064] In one 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.

[0065] In one embodiment, when the power management chip receives a power-on command, it controls the second power management module and the third power management module to start up in sequence; the first control chip obtains the startup information of the second power management module and the third power management module, and determines whether the power-on requirements are met based on the startup information; if the power-on requirements are met, the first control chip executes the power-on command.

[0066] For specific limitations on the control method of the exoskeleton system, please refer to the limitations on the exoskeleton system above, which will not be repeated here.

[0067] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in any of the above-mentioned video conference privacy protection method embodiments are implemented.

[0068] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application 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 or optical memory, etc. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0069] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0070] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. An exoskeleton system, characterized in that: The system comprises a core board, a control baseboard, a power control board, and a plurality of functional modules respectively connected to the core board, the control baseboard, and the power control board, wherein the core board is provided with a first power management module and a first control chip, the control baseboard 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 abnormal detection of functional modules; The power management chip determines whether an abnormality occurs in a functional module connected to the core board based on a first power detection result of the first power management module, and in the event of an abnormality, controls the corresponding functional module to be powered off and saves the first power detection result in the core board; and Based on the second power supply detection result of the second power supply management module, determine whether the function module connected to the control baseboard is abnormal, and in the event of an abnormality, control the corresponding function module to be powered off and save the second power supply detection result in the control baseboard; and Based on the third power detection result of the third power management module, determine whether the functional module connected to the power control board has an abnormality, and in the event of an abnormality, control the corresponding functional module to be powered off and save the third power detection result in the power control board.

2. The system according to claim 1, characterized in that The system also includes a main power supply and a backup power supply; When the backup power supply meets the first power supply condition, the power management chip controls the main power supply to be powered off, and controls the backup power supply to be powered on.

3. The system according to claim 2, characterized in that When the main power supply meets the second power supply condition, the power management chip controls the backup power supply to be powered off, and controls the main power supply to be powered on.

4. The system according to claim 2 or 3, characterized in that: The main power supply is replaceable.

5. The system according to claim 2, characterized in that The system also includes a standby power supply, and the control base plate is also provided with a clock chip; When the standby power supply meets the third power supply condition, the power management chip controls the standby power supply to supply power to the clock chip.

6. The system according to claim 1, characterized in that When the power management chip receives a power-on command, it sequentially controls the second power management module and the third power management module to start; The first control chip obtains startup information of the second power management module and the third power management module, and determines whether a startup requirement is met based on the startup information; if the startup requirement is met, the first control chip executes a startup command.

7. A control method for an exoskeleton system, the system comprising a core board, a control baseboard, a power control board, and a plurality of functional modules connected to the core board, the control baseboard, and the power control board respectively, wherein: The core board is provided with a first power management module and a first control chip, the control base 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 abnormal detection of functional modules; characterized in that the method comprises: Based on the first power detection result of the first power management module, determine whether the functional module connected to the core board is abnormal, and in the event of an abnormality, control the corresponding functional module to be powered off and save the first power detection result in the core board; and Based on the second power supply detection result of the second power supply management module, determine whether the function module connected to the control baseboard is abnormal, and in the event of an abnormality, control the corresponding function module to be powered off and save the second power supply detection result in the control baseboard; and Based on the third power detection result of the third power management module, determine whether the functional module connected to the power control board has an abnormality, and in the event of an abnormality, control the corresponding functional module to be powered off and save the third power detection result in the power control board.

8. The method according to claim 7, characterized in that The system also includes a main power supply, a backup power supply and a standby power supply, and the control baseboard is also provided with a clock chip; When the backup power supply meets the first power supply condition, the power management chip controls the main power supply to be powered off, and controls the backup power supply to be powered on; When the main power supply meets the second power supply condition, 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 standby power supply meets the third power supply condition, the power management chip controls the standby power supply to supply power to the clock chip.

9. The method according to claim 7, characterized in that: The method further comprises: When the power management chip receives a power-on command, it sequentially controls the second power management module and the third power management module to start; The first control chip obtains startup information of the second power management module and the third power management module, and determines whether a startup requirement is met based on the startup information; if the startup requirement is met, the first control chip executes a startup command.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 7 to 9 are implemented.

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