Current torque conversion method, device and rehabilitation robot

Abstract

The present invention provides a current-torque conversion method, device and rehabilitation robot, and relates to the technical field of current-torque conversion. The method is applied to the controller of the rehabilitation robot; the method includes: obtaining current data to be processed; based on the current data to be processed, searching for the conversion relationship corresponding to the current data to be processed from a pre-stored current conversion relationship table; wherein the current conversion relationship table stores at least one set of corresponding relationships between current data and conversion relationships; and using the conversion relationship to convert the current data to be processed into the corresponding target torque. The present invention can directly obtain the target torque by referring to the current data to be processed and the above-mentioned current conversion relationship table, without the need to install an additional torque measurement structure on the rehabilitation robot, thereby reducing weight and cost. In addition, torque detection is achieved through the current of the rehabilitation robot itself. Compared with the use of a torque sensor and a motor together, which affect each other, the torque detection of the present invention has high accuracy and good stability.

Description

Technical Field

[0001] The present invention relates to the technical field of current-torque conversion, and in particular to a current-torque conversion method, device and rehabilitation robot. Background Art

[0002] Most existing rehabilitation robots use separate torque sensors to detect the torsional force during user movement. However, torque sensors are expensive, and they are used together with the motors of the rehabilitation robots, which causes various running electrical equipment to be interconnected and influence each other in three ways: electromagnetic conduction, electromagnetic induction, and electromagnetic radiation. Under certain conditions, this will cause interference and influence on the running equipment, resulting in low detection accuracy of the torque sensor.

[0003] In addition, weight and wearing comfort are key factors in wearable rehabilitation robots, and the torque sensor and the mounting mechanical structure not only increase the total weight of the rehabilitation robot, but also make it difficult to wear, resulting in poor applicability of existing wearable rehabilitation robots. Summary of the invention

[0004] The object of the present invention is to provide a current-torque conversion method, device and rehabilitation robot to solve the problem of poor applicability of the above-mentioned existing wearable rehabilitation robots.

[0005] In the first aspect, an embodiment of the present invention provides a method for converting current into torque, which is applied to the controller of a rehabilitation robot; the method includes: obtaining current data to be processed; based on the current data to be processed, searching for a conversion relationship corresponding to the current data to be processed from a pre-stored current conversion relationship table; wherein the current conversion relationship table stores at least one set of corresponding relationships between current data and conversion relationships; and using the conversion relationship to convert the current data to be processed into the corresponding target torque.

[0006] In an optional embodiment, the ankle joint motor of the above-mentioned rehabilitation robot is configured with a weight, and the above-mentioned method also includes: collecting multiple current data generated after the weight is placed on the ankle joint motor; calculating the torque data corresponding to the current data generated by each weight according to the pre-stored mass data of the weight and the torque calculation formula; generating a current torque curve based on the current data and the torque data corresponding to the current data; extracting multiple linear torque intervals in the current torque curve; calculating the slope value of each linear torque interval, and saving the slope value as a conversion relationship corresponding to the linear torque interval; extracting the current value range of the linear torque interval on the current torque curve; and associating and saving the current value range and the conversion relationship to generate a current conversion relationship table.

[0007] In an optional embodiment, the above-mentioned step of searching for the conversion relationship corresponding to the current data to be processed from a pre-stored current conversion relationship table includes: searching for the current value range to which the current data to be processed belongs from the pre-stored current conversion relationship table; and determining the conversion relationship corresponding to the found current value range as the conversion relationship corresponding to the current data to be processed.

[0008] In an optional embodiment, the step of converting the current data to be processed into the corresponding target torque using the conversion relationship includes: generating a linear expression for current and torque conversion according to the conversion relationship; and converting the current data to be processed into the corresponding target torque through the linear expression.

[0009] In an optional embodiment, the step of collecting multiple current data generated after the weight is placed on the ankle joint motor includes: collecting multiple initial current data generated after the weight is placed on the ankle joint motor; filtering the initial current data to obtain current data.

[0010] In an optional embodiment, the above-mentioned step of filtering the initial current data to obtain current data includes: based on a preset sampling frequency, selecting a predetermined number of initial current data from multiple initial current data; sorting the predetermined number of initial current data, and removing boundary data from the sorted predetermined number of initial current data to obtain remaining current data; performing linear regression on the remaining current data; determining the mean of the remaining current data after the linear regression, and determining the mean as the current data.

[0011] In an optional embodiment, the above-mentioned step of performing linear regression on the residual current data includes: determining whether the difference between each two adjacent residual current data in the residual current data is greater than a preset standard deviation; if so, removing the residual current data close to the boundary of the two adjacent residual current data until the difference between each two adjacent residual current data of the residual current data meets the preset standard deviation.

[0012] In an optional embodiment, the above-mentioned rehabilitation robot corresponds to a force arm length and an ankle joint movement angle, and a sitting and lying adjustment angle corresponding to the foot pedal of the rehabilitation robot; the step of calculating the torque data corresponding to the current data generated by each weight weight according to the pre-stored mass data of the weight weight and the torque calculation formula includes: obtaining the force arm length and ankle joint movement angle of the rehabilitation robot, and the sitting and lying adjustment angle corresponding to the foot pedal of the rehabilitation robot, and obtaining the influencing parameter value corresponding to the torque calculation formula; substituting the influencing parameter value and the mass data of the weight weight into the torque calculation formula for calculation, and obtaining the torque data corresponding to the current data generated by each weight weight; wherein, the torque calculation formula is: M=F*L*cos|(α-δ)|.

[0013] In a second aspect, the present invention provides a current-torque conversion device, which is applied to the controller of a rehabilitation robot; the device includes: a data acquisition module, used to acquire current data to be processed; a conversion relationship determination module, used to search for a conversion relationship corresponding to the current data to be processed from a pre-stored current conversion relationship table based on the current data to be processed; wherein the current conversion relationship table stores at least one set of corresponding relationships between current data and conversion relationships; a data conversion module, used to convert the current data to be processed into a corresponding target torque using the conversion relationship.

[0014] In a third aspect, the present invention provides a rehabilitation robot, which is equipped with the above-mentioned current-torque conversion device.

[0015] The embodiments of the present invention bring the following beneficial effects:

[0016] The present invention provides a current-torque conversion method, device and rehabilitation robot, which relate to the technical field of current-torque conversion. The method is applied to the controller of the rehabilitation robot; the method comprises: obtaining current data to be processed; based on the current data to be processed, searching for the conversion relationship corresponding to the current data to be processed from a pre-stored current conversion relationship table; wherein the current conversion relationship table stores at least one set of corresponding relationships between current data and conversion relationships; and using the conversion relationship to convert the current data to be processed into the corresponding target torque. The present invention can directly obtain the target torque by referring to the current data to be processed and the above-mentioned current conversion relationship table, without the need to additionally install a torque measurement structure on the rehabilitation robot, thereby reducing weight and cost.

[0017] In addition, when the motor is at any specific torque value, the motor current is constantly fluctuating. It is difficult to obtain the current value corresponding to a specific torque value, or the torque value corresponding to a specific current value using traditional methods, resulting in low control accuracy. And even for the same motor, in different intervals of torque, the relationship between its torque and current is not a stable single linear relationship. The current conversion relationship table of the present invention stores at least one set of corresponding relationships between current data and conversion relationships. When the current data obtained is different, the target torque obtained is a different torque interval, and the corresponding torque of the control is directly directed to the corresponding torque interval to ensure control accuracy.

[0018] The present invention realizes torque detection through the current of the rehabilitation robot itself. Compared with the torque sensor and the motor used together and influencing each other, the torque detection of the present invention has high precision and good stability.

[0019] Other features and advantages of the present invention will be set forth in the following description, or some features and advantages may be inferred or unambiguously determined from the description, or may be learned by implementing the above-mentioned technology of the present invention.

[0020] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are specifically listed below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 A flow chart of a current-torque conversion method provided by an embodiment of the present invention;

[0023] Figure 2 A flow chart of another current torque conversion method provided by an embodiment of the present invention;

[0024] Figure 3 A flow chart of another current torque conversion method provided by an embodiment of the present invention;

[0025] Figure 4 A schematic diagram of the structure of a current-torque conversion device provided by an embodiment of the present invention;

[0026] Figure 5 A schematic structural diagram of another current-torque conversion device provided by an embodiment of the present invention;

[0027] Figure 6 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention;

[0028] Figure 7 This is a zero-position state diagram of the rehabilitation robot provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0029] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] Most existing rehabilitation robots use separate torque sensors to detect the torsional force during user movement. However, torque sensors are expensive, and they are used together with the motors of the rehabilitation robots, which causes various running electrical equipment to be interconnected and influence each other in three ways: electromagnetic conduction, electromagnetic induction, and electromagnetic radiation. Under certain conditions, this will cause interference and influence on the running equipment, resulting in low detection accuracy of the torque sensor.

[0031] In addition, weight and wearing comfort are key factors in wearable rehabilitation robots, and torque sensors and mounting mechanical structures will increase the total weight and volume of the rehabilitation robot.

[0032] Based on the above problems, the embodiments of the present invention provide a current-torque conversion method, device and electronic equipment. The technology can be applied to the controller of a rehabilitation robot.

[0033] To facilitate understanding of this embodiment, a current-torque conversion method disclosed in an embodiment of the present invention is first described in detail. Figure 1 A flow chart of a current-torque conversion method is shown, as Figure 1 As shown, the method comprises the following steps:

[0034] Step S102, obtaining current data to be processed.

[0035] Specifically, after the user puts on the rehabilitation robot and starts using it, the ankle joint motor of the rehabilitation robot starts working. At this time, the current data fed back during the use process can be obtained, and these current data can be read through the program.

[0036] Step S104: based on the current data to be processed, searching a pre-stored current conversion relationship table for a conversion relationship corresponding to the current data to be processed.

[0037] Specifically, the above-mentioned current data to be processed all correspond to conversion relationships with target torques, and these conversion relationships are stored in a predetermined current conversion relationship table so that the target torque value of a given force can be directly corresponding to the data to be processed.

[0038] Step S106: convert the current data to be processed into the corresponding target torque using the conversion relationship.

[0039] Specifically, the above conversion relationship is the conversion condition between the current data to be processed and the torque data. Therefore, according to the determined conversion relationship, the target torque corresponding to the current data to be processed can be directly obtained without the need to install an additional torque sensor, thereby reducing the weight of the above rehabilitation robot and reducing costs.

[0040] In a specific implementation, the current conversion relationship table stores at least one set of corresponding relationships between current data and conversion relationships. When the values ​​of the current data to be processed are different, the conversion relationships corresponding to the current data to be processed are different, and different target torques can be obtained according to different conversion relationships.

[0041] An embodiment of the present invention provides a current-torque conversion method, which can process the current data to be processed and directly obtain the target torque according to a pre-stored current conversion relationship table without the need to additionally install a torque measurement structure on the rehabilitation robot, thereby reducing weight and costs. In addition, torque detection is achieved through the current of the rehabilitation robot itself. Compared with the use of torque sensors and motors together and their mutual influence, the torque detection of the present invention has high accuracy and good stability.

[0042] Furthermore, in order to obtain the above-mentioned current conversion relationship table in the embodiment of the present invention, the embodiment of the present invention also provides another current-torque conversion method, which is implemented on the basis of the above-mentioned method. In the specific implementation, the ankle motor of the rehabilitation robot is configured with a cantilever and a weight, and the cantilever is coaxially arranged with the rotating shaft of the above-mentioned ankle motor. Specifically, a scale mark is set on the above-mentioned cantilever, and the minimum unit of the scale mark length can be set as needed. In some embodiments, it can be set to 10mm. The above-mentioned weight is suspended at different scale mark positions of the above-mentioned cantilever to determine the torque required in the above-mentioned current conversion relationship table according to the length corresponding to the corresponding scale mark. Specifically, as Figure 2 The flowchart of another current torque conversion method shown in FIG. 1 comprises the following steps:

[0043] Step S202, collecting a plurality of current data generated after the weight is placed on the ankle joint motor.

[0044] In a specific implementation, the above current data is determined by the following steps 10-11:

[0045] Step 10, collecting a plurality of initial current data generated after the weight is placed on the ankle joint motor.

[0046] Specifically, weights of different masses can be used to determine different current data corresponding to the ankle motor. In specific implementation, after the weights of known mass are placed on the cantilever of the ankle motor, the weights will provide a force torque to the ankle motor. For the motor, the greater the force torque, the greater the load when the motor is running, the greater the corresponding power loss, and the internal closed loop will generate a greater feedback current. Therefore, the current data collected at this time is the current data corresponding to the weights of known mass.

[0047] Furthermore, when the above-mentioned ankle joint motor is working, the current corresponding to the ankle joint motor is in a continuous fluctuating state, and these currents will be collected by the sensor to obtain the above-mentioned multiple initial current data.

[0048] Furthermore, the above-mentioned multiple initial current data also include some current data affected by external factors, and these current data cannot accurately represent the current data corresponding to the weight. At this time, what needs to be collected is the current data that is not affected by external factors.

[0049] In a specific implementation, the above-mentioned external factors may be the current data when the above-mentioned weights are applied. The current data cannot accurately represent the current data corresponding to the weights. Therefore, the multiple initial current data collected are the current data when the force torque of the above-mentioned ankle joint motor tends to be stable, so as to obtain the current data that can represent the current data affected only by the above-mentioned weights.

[0050] Step 11, filtering the initial current data to obtain current data.

[0051] Specifically, the initial current data is filtered and the current data is determined by the following steps 20-23:

[0052] Step 20 : collecting a predetermined number of initial current data from a plurality of initial current data based on a preset sampling frequency.

[0053] In specific implementation, the preset sampling frequency can be set by the user according to needs, and the preset number can be the number corresponding to the current data that the sensor needs to collect manually. Furthermore, the preset number can be 50, that is, the sensor needs to collect 50 current data.

[0054] Specifically, the sensor may collect the current of the ankle motor according to the preset sampling frequency until the number of collected data meets the predetermined number, and then stop collecting data to process the collected current data.

[0055] Step 21 , sorting a predetermined number of initial current data, and removing boundary data from the sorted predetermined number of initial current data to obtain remaining current data.

[0056] Specifically, the predetermined number of initial current data are discrete data, and their sizes are all different, so these current data need to be sorted first. In addition, in order to obtain more accurate data among the discrete data, the boundary data in the sorted current data also needs to be filtered out.

[0057] In a specific implementation, the above initial current data can be sorted from small to large, and then the 10 largest current data and the 10 smallest current data among the 50 collected initial current data can be screened out. At this time, only 30 current data remain after the initial current data are screened out, and the 30 current data are the above remaining current data.

[0058] Step 22: Perform linear regression on the residual current data.

[0059] Specifically, there may be some relatively discrete current data in the above residual current data. In this case, these residual current data need to be processed to obtain more accurate current data. In this case, linear regression processing is performed on the above residual current data.

[0060] In specific implementation, the process of linear regression of residual current data is as follows:

[0061] (1) Determine whether the difference between every two adjacent residual current data in the residual current data is greater than a preset standard deviation.

[0062] (2) If yes, remove the residual current data close to the boundary of two adjacent residual current data until the difference between every two adjacent residual current data satisfies the preset standard deviation.

[0063] Specifically, the above residual current data are all sorted current data, and in the linear regression process, the comparison can be started from the minimum value of the sorted current data to the maximum value, or from the maximum value to the minimum value. Then, it is determined whether the difference between each two adjacent residual current data is greater than a preset standard deviation, wherein the preset standard deviation can be determined according to user needs and is not limited here.

[0064] In the specific implementation, the values ​​corresponding to two adjacent residual current data are compared one by one from the minimum value to the maximum value, and it is determined whether the two values ​​differ greatly. When the two values ​​differ greatly, the residual current data corresponding to the smaller value is screened out; and the values ​​corresponding to two adjacent residual current data are compared one by one from the maximum value to the minimum value. When the two values ​​differ greatly, the residual current data corresponding to the larger value is screened out. These residual current data are saved until the difference between each two adjacent residual current data in the above residual current data is not large.

[0065] Step 23, determining the mean value of the residual current data after linear regression, and determining the mean value as the current data.

[0066] Specifically, after obtaining the above-mentioned residual current data after linear regression, the average value of these residual current data will also be determined. At this time, the average value is the current data corresponding to the current known mass of the weight.

[0067] Step S204, calculating the torque data corresponding to the current data generated by each weight according to the pre-stored mass data of the weight and the torque calculation formula.

[0068] Specifically, the mass data of the weight only indicates the torque value of the contact point between the ankle joint motor of the rehabilitation robot and the machine. In actual use, it is also necessary to dynamically balance the torque of the user and the rehabilitation robot itself to obtain the "net torque" applied by the rehabilitation robot to the ankle joint. Specifically, during the movement of the ankle joint, the above "net torque" is also related to the arm length of the rehabilitation robot, the ankle joint movement angle, and the sitting and lying adjustment angle corresponding to the foot pedal of the rehabilitation robot.

[0069] Therefore, in the specific implementation, it is necessary to obtain the ankle joint movement angle δ of the rehabilitation robot and the sitting and lying adjustment angle α corresponding to the foot pedal of the rehabilitation robot, as well as the corresponding lever arm length of the rehabilitation robot, wherein the lever arm length can be determined by converting the length of the above-mentioned weight after being suspended on the above-mentioned cantilever. These data are used to convert the mass data of the weight into torque data during actual use. Therefore, the above-mentioned data are the influencing parameter values ​​of the torque data, that is, the influencing parameter values ​​corresponding to the torque calculation formula.

[0070] Substitute the influencing parameter values ​​and the mass data of the weight into the torque calculation formula to calculate, and obtain the actual torque data of the rehabilitation robot corresponding to the above current data;

[0071] The torque calculation formula is: M = F*L*cos|(α-δ)|, specifically, M is the balancing torque required for dynamic zeroing during movement, that is, the torque data corresponding to the above current data. Further, for ease of understanding, this embodiment shows the following example. Figure 7 The zero position state diagram of the rehabilitation robot shown in FIG. 1 is shown in FIG. 1 . Specifically, α in the above torque calculation formula is the sitting and lying adjustment angle, and δ is the ankle joint movement angle. The positive and negative values ​​of the sitting and lying adjustment angle α and the ankle joint movement angle δ are based on the following formula: Figure 7 The angle δ shown is determined by the rotation condition when it is 90 degrees, when it rotates upward, it is a positive angle, and when it rotates downward, it is a negative angle. Further, the numerical value of the sitting and lying adjustment angle α and the numerical value of the ankle joint movement angle δ are determined based on the angle of rotation.

[0072] F is the weight added when the rehabilitation robot is used without exerting force. Specifically, when determining the above current conversion relationship table, the value corresponding to the above F can be the value obtained by multiplying the mass corresponding to the above weight by 0.98. L is the length indicated by the scale mark corresponding to the hanging position after the above weight is hung on the cantilever of the ankle joint motor.

[0073] In a specific implementation, the value corresponding to the above M is the torque value determined when α=0°, δ=0° and the ankle height is determined.

[0074] Further, Figure 7 The above-mentioned sitting and lying adjustment angle α and ankle joint movement angle δ are shown in FIG. Specifically, when the rehabilitation robot is turned on, the machine will automatically return to the position shown in FIG. Figure 7 The zero position is shown.

[0075] Wherein, when using the above-mentioned rehabilitation robot, the above-mentioned sitting and lying adjustment angle α can be read by the encoder at the sitting and lying adjustment joint of the rehabilitation robot, and the specific value of the above-mentioned sitting and lying adjustment angle α can be obtained, and the above-mentioned ankle joint movement angle δ can be read by the ankle joint encoder of the rehabilitation robot, and the specific value of the above-mentioned ankle joint movement angle δ can be obtained, wherein, when the user uses the rehabilitation robot and lifts the foot, the angle of the above-mentioned ankle joint movement angle δ is a positive value, and when the user uses the rehabilitation robot and puts the foot down, the angle of the above-mentioned ankle joint movement angle δ is a negative value.

[0076] Step S206: generating a current-torque curve based on the current data and the torque data corresponding to the current data.

[0077] Specifically, the torque data corresponding to the above-mentioned current data is the M value obtained by substituting the mass corresponding to the above-mentioned known mass of the weight into the above-mentioned torque calculation formula. Thereafter, the M value is corresponded to the current data corresponding to the above-mentioned known mass of the weight, and a one-to-one mapping relationship between the current data and the torque data can be obtained. Since the current data is obtained after data processing of continuously fluctuating discrete data, there is no stable single linear relationship between the current data corresponding to different torque data.

[0078] Furthermore, current data corresponding to a plurality of weights of different masses and torque data corresponding to a weight of each mass can be determined. At this time, the mapping relationship between each current data and each torque data can form a current torque curve.

[0079] In the specific implementation, in the process of determining the above-mentioned current torque curve, the torque data corresponding to the above-mentioned current data is actually the torque data obtained by substituting a weight of known mass into the above-mentioned torque calculation formula when the above-mentioned sitting and lying adjustment angle α=0° and the ankle joint movement angle δ=0°.

[0080] Step S208: extract multiple linear torque intervals in the current torque curve.

[0081] Step S210, calculating the slope value of each linear torque interval, and saving the slope value as a conversion relationship corresponding to the linear torque interval.

[0082] Specifically, when the motor is at any specific torque value, the motor current is constantly fluctuating. Traditional methods make it difficult to obtain the current value corresponding to a specific torque value, or the torque value corresponding to a specific current value, resulting in low control accuracy. And even for the same motor, in different torque intervals, the relationship between its torque and current is not a stable single linear relationship. Therefore, in different torque intervals, there is a different functional relationship between current and torque.

[0083] In the specific implementation, the corresponding current data is obtained according to the above-mentioned known mass weight, and the torque data corresponding to the weight weight is obtained according to the weight weight, as well as the arm length L, ankle joint motion angle δ and sitting and lying adjustment angle α of the above-mentioned rehabilitation robot. After the current data and the torque data have a one-to-one mapping relationship, since the torque data is affected by the above-mentioned influencing parameter values, the same torque data may correspond to multiple current data, and these current data have small fluctuations and are distributed in a certain interval. Therefore, it is necessary to extract multiple linear torque intervals from the above-mentioned current torque curve to determine the slope value between the current data and the torque data in each linear torque interval, so as to obtain different functional relationships between current and torque in different torque intervals.

[0084] In a specific implementation, the above-mentioned linear torque interval can be a torque interval corresponding to multiple torque data selected by the user according to needs. In this torque interval, there are multiple current data corresponding to each torque data in the torque interval. The multiple current data corresponding to each torque data can form a current data set, and there are maximum and minimum values ​​of the current data in the current data set. At this time, the difference between the maximum and minimum values ​​of the current data and the ratio between the torque value corresponding to the above-mentioned torque interval are determined as the above-mentioned slope value.

[0085] Specifically, the slope value k can be determined by the following formula: k = (y max -y min ) / (F 2 -F 1 ), where y max is the maximum value of the current data in the above current data set, y min is the minimum value of the current data in the above current data set, F 1 is the minimum torque data value in the above torque range, F 2It is the maximum torque data value in the above torque range.

[0086] In specific implementation, a coordinate system can be established based on the above current data and torque data, with the current data as the y-axis and the torque data as the x-axis. After data measurement, a curve based on the current data-torque data and some discrete points on the curve can be obtained. These discrete points conform to the linear law as a whole. Among them, when the discrete points conform to the linear law as a whole, the corresponding certain linear torque interval can be used as the above linear torque interval. Each linear torque interval can be measured and corresponded to the corresponding current-torque conversion expression: y=f(x).

[0087] Furthermore, the above slope value can be used as the conversion relationship of the above conversion expression, that is, the functional relationship of the conversion expression between the current data and the torque data.

[0088] Step S212, extracting the current value range of the linear torque interval on the current torque curve.

[0089] Step S214, the current value range and the conversion relationship are associated and saved to generate a current conversion relationship table.

[0090] Specifically, since the above slope value is obtained based on the maximum and minimum values ​​of the current data in the above current data set, there is a current value range corresponding to the maximum and minimum values. Therefore, it is also necessary to associate the slope value with the value range of the above current data and save it to obtain a current conversion relationship table, so that in the process of using the rehabilitation robot, the collected current data can be directly matched to the preset torque interval according to the above current conversion relationship table to obtain the required torque data.

[0091] An embodiment of the present invention provides another current-torque conversion method, which obtains the processed current data and torque data corresponding to the weight by hanging a weight of known mass on the ankle joint motor, so that the current data and the torque data correspond one-to-one to obtain the corresponding target torque based on the current data, and the torque determination method is fast and convenient.

[0092] Furthermore, the embodiment of the present invention also filters the obtained current data to be processed to solve the problem of low data accuracy caused by data discreteness. Moreover, the above-mentioned target torque is not only determined according to the weight, but also determined according to the influencing parameter values ​​corresponding to the user and the rehabilitation robot device. The above-mentioned torque data can be balanced into torque data in the process of using the rehabilitation robot, so that the conversion between torque and current is more in line with the actual use process.

[0093] Further, for ease of understanding, an embodiment of the present invention also provides another current torque conversion method, which is implemented on the basis of the above method. The method focuses on describing the process of searching the conversion relationship corresponding to the current data to be processed from the pre-stored current conversion relationship table (implemented by the following steps S304-S306), and the process of converting the current data to be processed into the corresponding target torque using the conversion relationship (implemented by the following steps S308-S310), such as Figure 3 A flow chart of a current torque conversion method is shown, the method comprising the following specific steps:

[0094] Step S302, obtaining current data to be processed.

[0095] Specifically, after the user puts on the rehabilitation robot and starts using it, the ankle joint motor of the rehabilitation robot starts working. At this time, the current data fed back during the use process can be obtained, and these current data are collected by sensors.

[0096] Step S304: searching the current value range to which the current data to be processed belongs from the pre-stored current conversion relationship table.

[0097] After the current data are collected, the current value range to which the current data belongs can be found from the above-mentioned stored current conversion relationship table.

[0098] Step S306: determine the conversion relationship corresponding to the found current value range as the conversion relationship corresponding to the current data to be processed.

[0099] After the corresponding current value ranges are found according to the current data, these current value ranges will correspond to corresponding conversion relationships, and this conversion relationship can also be expressed as the conversion relationship corresponding to the current data to be processed.

[0100] Step S308, generating a linear expression for current and torque conversion according to the conversion relationship.

[0101] Specifically, since the conversion relationship is determined based on the corresponding linear torque interval, the corresponding linear torque interval can also be obtained after the conversion relationship is obtained. The conversion expression y=f(x) corresponding to this linear torque interval is the linear expression for the conversion of current data and torque data generated according to the conversion relationship.

[0102] Step S310: convert the current data to be processed into the corresponding target torque through a linear expression.

[0103] Once the corresponding linear expression is obtained, it can be directly converted into the corresponding target torque according to the current data to be processed.

[0104] Another current-torque conversion method provided by an embodiment of the present invention obtains the current value range to which the current data to be processed belongs based on the obtained current data to be processed, and obtains the corresponding conversion relationship based on the current value range, so as to obtain the corresponding linear expression based on the conversion relationship, and then obtains the torque corresponding to the current data to be processed. That is, the embodiment of the present invention determines different torques according to the current value ranges corresponding to different data to be processed, and even if the current and the torque are not a single linear relationship, the accurate torque range can be directly determined, and the control accuracy is high.

[0105] Further, corresponding to the above Figure 1 A current-torque conversion method is shown in the embodiment of the present invention. The embodiment of the present invention also provides a current-torque conversion device, which is applied to the controller of the rehabilitation robot; Figure 4 The schematic diagram of the structure of a current-torque conversion device shown in FIG. 1 includes the following structures:

[0106] The data acquisition module 401 is used to acquire current data to be processed.

[0107] The conversion relationship determination module 402 is used to search for the conversion relationship corresponding to the current data to be processed from a pre-stored current conversion relationship table based on the current data to be processed; wherein the current conversion relationship table stores at least one set of corresponding relationships between current data and conversion relationships.

[0108] The data conversion module 403 is used to convert the current data to be processed into a corresponding target torque by using the conversion relationship.

[0109] Furthermore, the conversion relationship determination module 402 is further configured to search the current value range to which the current data to be processed belongs from a pre-stored current conversion relationship table; and determine the conversion relationship corresponding to the searched current value range as the conversion relationship corresponding to the current data to be processed.

[0110] The data conversion module 403 is further used to generate a linear expression for current-torque conversion according to the conversion relationship; and convert the current data to be processed into a corresponding target torque through the linear expression.

[0111] Further, corresponding to the above Figure 2 The flowchart of another current-torque conversion method shown in FIG. 1 is a flow chart of another current-torque conversion method shown in FIG. 1 . The embodiment of the present invention also provides another current-torque conversion device, such as Figure 5 The structural schematic diagram of another current torque conversion device shown includes the following structures:

[0112] The current acquisition module 501 is used to collect a plurality of current data generated after the weight is placed on the ankle joint motor.

[0113] The calculation module 502 calculates the torque data corresponding to the current data generated by each weight according to the pre-stored mass data of the weight and the torque calculation formula.

[0114] The curve generating module 503 generates a current torque curve based on the current data and the torque data corresponding to the current data.

[0115] The interval extraction module 504 extracts a plurality of linear torque intervals from the current torque curve.

[0116] The relationship determination module 505 calculates the slope value of each linear torque interval and saves the slope value as a conversion relationship corresponding to the linear torque interval.

[0117] The extraction module 506 extracts the current value range of the linear torque interval on the current torque curve.

[0118] The relationship table generating module 507 associates and stores the current value range and the conversion relationship to generate a current conversion relationship table.

[0119] Furthermore, the current acquisition module 501 is also used to collect a plurality of initial current data generated after the weight is placed on the ankle joint motor; and filter the initial current data to obtain current data.

[0120] The above-mentioned current acquisition module 501 is also used to select a predetermined number of initial current data from multiple initial current data based on a preset sampling frequency; sort the predetermined number of initial current data, and remove the boundary data in the sorted predetermined number of initial current data to obtain remaining current data; perform linear regression on the remaining current data; determine the mean of the remaining current data after linear regression, and determine the mean as the current data.

[0121] The above-mentioned current acquisition module 501 is also used to determine whether the difference between every two adjacent residual current data in the residual current data is greater than a preset standard deviation; if so, remove the residual current data close to the boundary of the two adjacent residual current data until the difference between every two adjacent residual current data of the residual current data meets the preset standard deviation.

[0122] The above-mentioned calculation module 502 is also used to obtain the arm length and ankle joint movement angle of the rehabilitation robot, as well as the sitting and lying adjustment angle corresponding to the foot pedal of the rehabilitation robot and the weight borne at the foot pedal, to obtain the influencing parameter value corresponding to the torque calculation formula; the influencing parameter value and the mass data of the weight are substituted into the torque calculation formula for calculation, to obtain the torque data corresponding to the current data generated by each weight; wherein, the torque calculation formula is: M=F*L*cos|(α-δ)|.

[0123] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0124] With respect to the above-mentioned embodiment of the current-torque conversion device, the embodiment of the present invention further provides a rehabilitation robot, which is equipped with the above-mentioned current-torque conversion device. The description of the rehabilitation robot can refer to the above-mentioned embodiment of the current-torque conversion device, which will not be repeated here.

[0125] An embodiment of the present invention further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the above Figure 1 , Figure 2 or Figure 3 The steps of the method are shown.

[0126] The embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor. Figure 1 , Figure 2 or Figure 3 The steps of the method are shown.

[0127] The embodiment of the present invention also provides a schematic diagram of the structure of an electronic device, such as Figure 6 FIG. 5 is a schematic diagram of the structure of the electronic device, wherein the electronic device includes a processor 51 and a memory 50, the memory 50 stores computer executable instructions that can be executed by the processor 51, and the processor 51 executes the computer executable instructions to implement the above Figure 1 , Figure 2 or Figure 3 The method shown.

[0128] exist Figure 6 In the illustrated embodiment, the electronic device further includes a bus 52 and a communication interface 53 , wherein the processor 51 , the communication interface 53 and the memory 50 are connected via the bus 52 .

[0129] Among them, the memory 50 may include a high-speed random access memory (RAM), and may also include a non-volatile memory (non-volatile memory), such as at least one disk storage. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 53 (which can be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. can be used. The bus 52 can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus 52 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0130] The processor 51 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 51. The above processor 51 can be a general processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The general processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in the embodiment of the present application can be directly embodied as a hardware decoding processor to execute, or the hardware and software modules in the decoding processor are combined and executed. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor 51 reads the information in the memory and combines its hardware to complete the above Figure 1 , Figure 2 or Figure 3 The method shown.

[0131] The current-torque conversion method, device and computer program product of a rehabilitation robot provided in the embodiments of the present invention include a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods described in the previous method embodiments. The specific implementation can be found in the method embodiments, which will not be repeated here.

[0132] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program codes.

[0133] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for converting current torque, characterized in that: The method is applied to a controller of a rehabilitation robot; the method comprises: Acquire current data to be processed; Based on the current data to be processed, searching for a conversion relationship corresponding to the current data to be processed from a pre-stored current conversion relationship table; wherein the current conversion relationship table stores at least one set of corresponding relationships between current data and conversion relationships; Using the conversion relationship, the current data to be processed is converted into a corresponding target torque; Wherein, the ankle joint motor of the rehabilitation robot is configured with a weight, and the method further comprises: Collecting a plurality of current data generated after the weight is placed on the ankle joint motor; Calculate the torque data corresponding to the current data generated by each of the weights according to the pre-stored mass data of the weights and the torque calculation formula; generating a current-torque curve based on the current data and the torque data corresponding to the current data; Extracting a plurality of linear torque intervals from the current torque curve; Calculating the slope value of each linear torque interval, and saving the slope value as a conversion relationship corresponding to the linear torque interval; Extracting the current value range of the linear torque interval on the current torque curve; The current value range and the conversion relationship are associated and saved to generate the current conversion relationship table; The rehabilitation robot corresponds to a strong arm length and an ankle joint movement angle, and a sitting and lying adjustment angle corresponding to a foot pedal of the rehabilitation robot; the step of calculating the torque data corresponding to the current data generated by each weight according to the pre-stored mass data of the weight and the torque calculation formula comprises: Obtaining the arm length and ankle joint motion angle of the rehabilitation robot, and the sitting and lying adjustment angles corresponding to the foot pedals of the rehabilitation robot, and obtaining the influencing parameter values ​​corresponding to the torque calculation formula; Substituting the influencing parameter value and the mass data of the weight into the torque calculation formula for calculation, to obtain the torque data corresponding to the current data generated by each weight; The torque calculation formula is: M=F*L*cos|(α-δ)|; wherein α is the sitting and lying adjustment angle, δ is the ankle joint movement angle, and M is the torque data corresponding to the current data; F is the weight added when the rehabilitation robot is used without applying force; L is the length indicated by the scale mark corresponding to the hanging position after the weight is hung on the cantilever of the ankle joint motor; Among them, the value corresponding to F includes the value obtained by multiplying the mass corresponding to the weight by 0.

98.

2. The method according to claim 1, characterized in that The step of searching a pre-stored current conversion relationship table for a conversion relationship corresponding to the current data to be processed comprises: Searching the current value range to which the current data to be processed belongs from a pre-stored current conversion relationship table; The conversion relationship corresponding to the current value range found is determined as the conversion relationship corresponding to the current data to be processed.

3. The method according to claim 1, characterized in that The step of converting the current data to be processed into a corresponding target torque by using the conversion relationship comprises: Generate a linear expression for current and torque conversion according to the conversion relationship; The current data to be processed is converted into a corresponding target torque through the linear expression.

4. The method according to claim 1, characterized in that: The step of collecting a plurality of current data generated after the weight is placed on the ankle joint motor comprises: Collecting a plurality of initial current data generated after the weight is placed on the ankle joint motor; The initial current data is filtered to obtain the current data.

5. The method according to claim 4, characterized in that The step of filtering the initial current data to obtain the current data comprises: Based on a preset sampling frequency, selecting a predetermined number of initial current data from the plurality of initial current data; Sorting the predetermined number of initial current data, and removing boundary data from the sorted predetermined number of initial current data to obtain remaining current data; Performing linear regression on the residual current data; A mean value of the residual current data after the linear regression is determined, and the mean value is determined as the current data.

6. The method according to claim 5, characterized in that The step of performing linear regression on the residual current data comprises: Determine whether a difference between every two adjacent residual current data in the residual current data is greater than a preset standard deviation; If yes, the residual current data close to the boundary of two adjacent residual current data are removed until the difference between every two adjacent residual current data of the residual current data meets the preset standard deviation.

7. A current-torque conversion device, characterized in that: The device is applied to a controller of a rehabilitation robot; the device comprises: A data acquisition module, used for acquiring current data to be processed; A conversion relationship determination module, used to search for a conversion relationship corresponding to the current data to be processed from a pre-stored current conversion relationship table based on the current data to be processed; wherein the current conversion relationship table stores at least one set of corresponding relationships between current data and conversion relationships; A data conversion module, used to convert the current data to be processed into a corresponding target torque by using the conversion relationship; Wherein, the ankle joint motor of the rehabilitation robot is equipped with a weight-bearing weight, and the device further comprises: A current acquisition module, used for acquiring a plurality of current data generated after the weight is placed on the ankle joint motor; A calculation module, for calculating the torque data corresponding to the current data generated by each of the weights according to the pre-stored mass data of the weights and the torque calculation formula; A curve generating module, used for generating a current torque curve based on the current data and the torque data corresponding to the current data; An interval extraction module, used for extracting a plurality of linear torque intervals in the current torque curve; A relationship determination module, used for calculating the slope value of each linear torque interval, and saving the slope value as a conversion relationship corresponding to the linear torque interval; An extraction module, used for extracting the current value range of the linear torque interval on the current torque curve; A relationship table generating module, used for associating and saving the current value range and the conversion relationship to generate the current conversion relationship table; Among them, the rehabilitation robot corresponds to the arm length and ankle joint movement angle, as well as the sitting and lying adjustment angle corresponding to the foot pedal of the rehabilitation robot; the calculation module is also used to obtain the arm length and ankle joint movement angle of the rehabilitation robot, as well as the sitting and lying adjustment angle corresponding to the foot pedal of the rehabilitation robot, and obtain the influencing parameter value corresponding to the torque calculation formula; the influencing parameter value and the mass data of the weight weight are substituted into the torque calculation formula for calculation to obtain the torque data corresponding to the current data generated by each weight weight; the torque calculation formula is: M=F*L*cos|(α-δ)|; wherein α is the sitting and lying adjustment angle, δ is the ankle joint movement angle, and M is the torque data corresponding to the current data; F is the weight added when the rehabilitation robot is used without applying force; L is the length indicated by the scale mark corresponding to the hanging position after the above-mentioned weight weight is hung on the cantilever of the ankle joint motor; wherein the value corresponding to F includes the value obtained by multiplying the mass corresponding to the weight weight by 0.

98.

8. A rehabilitation robot, characterized in that: The rehabilitation robot is equipped with the current-torque conversion device described in claim 7, which is used to execute the current-torque conversion method described in any one of claims 1 to 6.

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