Agricultural exoskeleton robot device and method

Abstract

The present disclosure relates to the technical field of agricultural exoskeleton, and in particular to an agricultural exoskeleton robot device and method. The present disclosure provides an agricultural exoskeleton robot device including a trunk exoskeleton unit, a lower limb exoskeleton unit, and a stress control processing device. The trunk exoskeleton unit and the lower limb exoskeleton unit are respectively used to be worn on the user's trunk and lower limbs. The trunk exoskeleton unit is connected to the lower limb exoskeleton unit through a joint, and the joint is used to provide assistance during the flexion movement of the user's lower limb; the stress control processing device is used to receive changes in human body movement and convert them into motion signals to send to the control processing device; the control processing device is used to adjust the output torque of the drive device. The present disclosure connects the trunk exoskeleton unit and the lower limb exoskeleton unit through a joint to form a motion assistance. The stress control processing device can identify the human body's movement intensity to adjust the size of the assistance provided by the joint, so as to meet the user's external assistance needs during agricultural operations.

Description

Technical Field

[0001] The present disclosure relates to the technical field of agricultural exoskeletons, and in particular to an agricultural exoskeleton robot device and method. Background Art

[0002] With the continuous advancement of science and technology, exoskeleton robots are the latest international cutting-edge technology, which helps to improve people's labor carrying capacity and is conducive to adapting to various slope terrains. It also plays an extraordinary role in agricultural picking operations.

[0003] At present, the aging of China's agricultural working population is also very serious. Exoskeleton technology can help elderly agricultural workers reduce their work burden and improve their work efficiency. There is an urgent need for an exoskeleton device that is easy to operate, simple in structure and low in cost to assist agricultural workers, so as to help the elderly, women and other agricultural workers with weaker strength, improve their work efficiency and reduce their work burden. Summary of the invention

[0004] In order to solve the above technical problems or at least partially solve the above technical problems, the present disclosure provides an agricultural exoskeleton robot device, including a trunk exoskeleton unit, a lower limb exoskeleton unit and a stress control processing device, wherein the trunk exoskeleton unit and the lower limb exoskeleton unit are respectively used to be worn on the trunk and lower limbs of a user, and the trunk exoskeleton unit is connected to the lower limb exoskeleton unit through a joint, wherein:

[0005] The joint assembly is used to provide assistance during the flexion movement of the user's lower limbs. The joint assembly includes a rotating part and a driving device. The rotating part includes a driving gear and a driven gear. The driving gear is arranged in the joint assembly, and the driven gear is arranged in the lower limb exoskeleton unit. The driving gear is meshed and connected with the driven gear.

[0006] The driving device is connected to the driving gear and drives the driving gear to rotate;

[0007] The stress control processing device includes a sensing device and a control processing device. The sensing device is arranged to be worn on the neck of a corresponding human body. The sensing device is used to receive changes in the neck of the human body and convert them into motion signals and send them to the control processing device; the control processing device is connected to the sensing device, and the control processing device is used to adjust the output torque of the driving device.

[0008] Optionally, the joint pair is also provided with an auxiliary power-assisting part, which includes a first elastic connecting rod and a first compression spring, one end of the first elastic connecting rod is arranged at the joint pair, and the other end is arranged in the lower limb exoskeleton unit, the first compression spring is arranged in the joint pair, and the first compression spring abuts between the first elastic connecting rod and the inner wall of the joint pair close to the lower limb exoskeleton unit.

[0009] Optionally, the deformation of the first compression spring is 5.2 cm and the torque is 93 kg.

[0010] Optionally, the trunk exoskeleton unit structure includes a main body and a waist belt, the main body corresponds to the area of ​​the human spine, the waist belt is connected to the main body, and the waist belt is used to fix the main body on the user's torso.

[0011] Optionally, the sensing device includes a neck collar and force sensors, there are four force sensors and they are arranged on the inner wall of the neck collar, two of the force sensors are arranged on the back of the neck, and the other two force sensors are arranged on both sides of the human neck respectively, the force sensors are connected to the control processing device via cables, and the control processing device is arranged on the torso exoskeleton unit.

[0012] Optionally, the lower limb exoskeleton unit includes a thigh exoskeleton and a calf exoskeleton, the thigh exoskeleton is connected to the calf exoskeleton via a knee joint assist component, the knee joint assist component includes a second elastic connecting rod and a second compression spring, one end of the second elastic connecting rod is arranged in the thigh exoskeleton, and the other end is arranged in the calf exoskeleton, the second compression spring is arranged in the knee joint assist component, and the second compression spring abuts between the second elastic connecting rod and the inner wall of the knee exoskeleton close to the lower limb exoskeleton unit, and the knee joint assist component is used to provide assistance when the thigh exoskeleton and the calf exoskeleton are relatively flexed.

[0013] Optionally, the knee joint assist component is a rotating electromagnet.

[0014] Optionally, the torso exoskeleton unit is provided with a memory, which is connected to the sensing device and is used to store control signals during specific agricultural operations and the output torque of the driving device corresponding to the control signals.

[0015] Optionally, the torso exoskeleton unit is provided with a storage basket.

[0016] A method for using the above agricultural exoskeleton robot device comprises the following steps:

[0017] Step 1: Setting the external force value of the joint by the user jumping on the spot 10 times;

[0018] Step 2: During the picking process, the user jumps on the spot 3 times to change the value of the external force;

[0019] Step three: After the external force value is determined in step one and step two, the user triggers the force sensor at the back of the neck by lowering the head, and the joint starts to assist.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention forms motion assistance by setting up joint pairs to connect the trunk exoskeleton unit and the lower limb exoskeleton unit, and uses a stress control processing device to identify the human body's motion intensity and convert it into a motion signal to achieve the size of the joint assistance, thereby meeting the user's external assistance needs during agricultural operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0023] Figure 1 It is a schematic diagram of the structure of the trunk exoskeleton unit, stress control device and joint assembly disclosed in the present invention;

[0024] Figure 2 It is a schematic diagram of the structure of the lower limb exoskeleton unit and joints disclosed in the present invention.

[0025] Among them, 1-trunk exoskeleton unit; 11-main body; 12-waist belt; 2-lower limb exoskeleton unit; 21-thigh exoskeleton; 22-knee joint assist component 23-calf exoskeleton; 3-stress control processing device; 31-sensing device; 32-control processing device; 4-joint; 41-driving device; A-driving gear; B-driven gear; C-first elastic connecting rod; D-first compression spring; E-neck collar; F-force sensor; G-second elastic connecting rod; H-second compression spring. DETAILED DESCRIPTION

[0026] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0027] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0028] During the agricultural picking process, workers often need to carry fruit baskets to pick fruits. As the picking operation progresses, the items in the fruit baskets continue to increase. In order to increase the number of items picked at one time, workers will carry items that are heavier than their own weight.

[0029] Based on this, an embodiment of the present disclosure provides an agricultural exoskeleton robot device, which provides adjustable external assistance to agricultural workers as the weight of items increases during the picking process, thereby improving work efficiency and reducing work burden.

[0030] The agricultural exoskeleton robot device is described in detail below through a specific embodiment:

[0031] Reference Figures 1 to 2 As shown, this embodiment provides an agricultural exoskeleton robot device, including a torso exoskeleton unit 1, a lower limb exoskeleton unit 2 and a stress control processing device 3.

[0032] The trunk exoskeleton unit 1 and the lower limb exoskeleton unit 2 are respectively used to be worn on the trunk and lower limbs of the operator, and the fixing method can be a method of using a strap or being designed as an integral part with the operator's work clothes. The trunk exoskeleton unit 1 disclosed in the present invention includes a main body 11 and a waist belt 12. The main body 11 corresponds to the area of ​​the human spine. Further, the main body 11 can be cooperatively provided with an adjustment structure, such as the main body 11 can be provided with a plate-like structure, and a certain curvature is provided in the range of the main body 11 corresponding to the physiological curvature of the human waist along with the physiological curvature of the human waist. More preferably, the entire plate type can be adjusted by a telescopic part to be divided into a multi-section structure so as to be applicable to operators of different body shapes, wherein the waist belt 12 is connected to the main body 11, and the waist belt 12 is used to fix the main body 11 on the user's trunk, and the waist belt 12 can be a sports waist guard or a strap; the lower limb exoskeleton unit 2 disclosed in the present invention includes a thigh exoskeleton The thigh exoskeleton 21 and the calf exoskeleton 23, the thigh exoskeleton 21 is connected to the calf exoskeleton 23 through the knee joint assisting part 22. When the operator flexes his knees, the knee joint assisting part 22 is used to provide assistance when the thigh exoskeleton 21 and the calf exoskeleton 23 are relatively flexed. The preferred knee joint assisting part 22 has a certain bending performance or elasticity. For example, an elastic weakened part is provided in the middle of the knee joint assisting part 22 to meet the operator's knee bending action. It can be effectively bent. Further, the knee joint assisting part 22 includes a second elastic connecting rod G and a second compression spring H. One end of the second elastic connecting rod G is arranged in the thigh exoskeleton 21, and the other end is arranged in the calf exoskeleton 23. The second compression spring H is arranged in the knee joint assisting part 22, and the second compression spring H abuts between the second elastic connecting rod G and the inner wall of the knee joint assisting part 22 close to the lower limb exoskeleton unit. In another embodiment, a rotating electromagnet is used inside the knee joint assist component of the present invention to drive the calf exoskeleton to flex relative to the knee joint. The setting method is a well-known technology in the field and will not be elaborated here. More preferably, the rotating electromagnet, the second elastic connecting rod G and the second compression spring H can be used simultaneously to improve the accuracy of the external assistance and the movement process.

[0033] The trunk exoskeleton unit 1 is connected to the lower limb exoskeleton unit 2 through the joint 4. It should be noted that the lower limb exoskeleton unit 2 corresponds to the two lower limbs of the human body. The embodiment of the present disclosure is described with a single lower limb. The joint 4 of the present disclosure can be set as an integral connection of the two lower limb exoskeleton units 2, or it can be set as two separate joints 4 connected to the lower limb exoskeleton unit 2. The trunk exoskeleton unit 1 and the lower limb exoskeleton unit 2 of the present disclosure can be used in combination or separately. When the lower limb exoskeleton unit 2 is used alone, it can provide external assistance to the legs; when the upper limb is used alone, it mainly protects the lumbar spine. When the trunk exoskeleton unit 1 and the lower limb exoskeleton unit 2 are used at the same time, the joint 4 provides external assistance during the flexion movement of the user's lower limbs (when walking), and the stress control processing device 3 can be used to adjust the size of the external assistance of the joint when the operator carries different weights.

[0034] The joint support disclosed in the present invention is used for picking citrus fruits in the field when the user is working. The specific fixed action is preset in the controller, and the bending of the waist drives the flexion movement of the lower limbs to provide assistance. The joint support 4 includes a driving device 41, a rotating part and an auxiliary assistance member, wherein the auxiliary assistance member includes a first elastic connecting rod C and a first compression spring D. The joint support 4 and the lower limb exoskeleton unit 2 are connected by the first elastic connecting rod C. The preferred first elastic connecting rod C can be a spring lever or a metal connecting rod that can be bent and rebounded at the connection between the joint support 4 and the thigh exoskeleton 21. The present invention specifically uses a spring lever, and the first compression spring D is set In the joint pair 4, the first compression spring D abuts against the first elastic connecting rod C and the inner wall of the joint pair 4 close to the lower limb exoskeleton unit. When the joint pair 4 of the present invention does not provide external assistance, the elastic connecting member C is bent by the operator's leg movements during walking and applies pressure to the first compression spring D, which plays a role in assisting movement and buffering the pressure of the lower limbs. Furthermore, the deformation of the first compression spring is 5.2 cm and the torque is 93 kg to better produce the effect of assisting movement. If the deformation and torque are too small, the auxiliary effect is not obvious; if the deformation and torque are too large, it will be inconvenient for the operator to walk.

[0035] The rotating part of the present invention plays the role of active external assistance, and the rotating part includes a driving gear A and a driven gear B. The driving gear A is arranged in the joint pair 4, and the driven gear B is arranged in the lower limb exoskeleton unit 2, and the driving gear A is meshed with the driven gear B. When no active external assistance is provided, the driving gear A and the driven gear B can also rotate, and their rotational energy is generated by the operator's own walking; when active external assistance is required, the driving device 41 drives the driving gear A to rotate in the stress control processing device 3 to provide external assistance.

[0036] The stress control processing device 3 disclosed in the present invention includes a sensing device 31 and a control processing device 32. The sensing device is used to receive changes in human body motion and convert them into motion signals and send them to the control processing device 32; the control processing device 32 is used to adjust the output torque of the joint 4. Exemplarily, the sensing device 31 includes a neck collar E and a force sensor F. The number of force sensors F is four and they are arranged on the inner wall of the neck collar E, two of which are arranged on the back of the neck, and the other two force sensors F are arranged on both sides of the human neck, so as to fully sense the changes in the operator's motion intensity. The working principle of the force sensor F disclosed in the present invention is to respond to the applied force and convert the force value into a measurable quantity. For example, a force-sensitive resistor is used. By observing the change in the resistance value of the force-sensitive resistor, the applied force can be calculated. The force sensor F is connected to the control processing device through a cable. The control processing device matches the corresponding movement intensity by processing and analyzing the motion signal (resistance value of the force sensitive resistor) sent by the force sensor F. Different force sensitive resistor values ​​correspond to different drive device output torques, thereby controlling the drive device 41 of the joint 4 to adjust the output torque to provide appropriate external force. In order to facilitate the operator's operation, the control processing device 32 is set on the torso exoskeleton unit 1, and the preferred setting position is the operator's back.

[0037] In some embodiments, the trunk exoskeleton unit 1 is provided with a memory, which is connected to the sensing device 31, and the memory is used to store and access the motion signal converted by the sensing device. The power value of the drive device 41 can be pre-set according to the operator's movement habits, so as to be more compatible with the operator. The memory can be set with multiple storage modules, such as corresponding to citrus picking, kiwi picking, tea picking, etc. When the operator performs one of them, such as citrus picking, the memory is adjusted to the citrus picking module for storage. It can store the neck movement signal received by the sensing device 31 and the external power torque value at the corresponding joint, so as to facilitate the subsequent adjustment of the preset output torque value of the drive device 41 under a certain type of action, so as to more accurately adapt to the operator. Preferably, a storage basket can be directly set on the trunk exoskeleton unit 1.

[0038] The present disclosure also provides a method for using the agricultural exoskeleton robot device, comprising the following steps:

[0039] Step 1: Set the external force value of joint 4 by jumping on the spot 10 times;

[0040] Step 2: During the picking process, the user jumps on the spot 3 times to change the value of the external force. The principle is to determine an average bearing pressure value through three times of air conditioning. Different bearing pressures reflect different resistance values ​​of the force-sensitive resistor on the human body. After determining an average pressure value, the output torque value of the driving device 41 corresponding to different resistance values ​​of the force-sensitive resistor is used to achieve accurate external force.

[0041] Step three: After determining the external assistance value in steps one and two, the user triggers the force sensor F at the back of the neck by lowering his head, and joint 4 starts assisting. When the user lowers his head, two force sensors F are set behind the neck, and according to the anatomical structure of the human body, the muscles behind the neck can better trigger the force sensor F.

[0042] The calculation formula is:

[0043] Q=(Z-20)xS

[0044] Q: value of external force; Z: weight of agricultural products, unit: kg; S: external force coefficient, ranging from 1.2-1.35; select the specific value of the external force coefficient according to the individual application situation, for example, 1.35 is for the elderly.

[0045] It should be noted that, in this article, relational terms such as "first compression spring" and "second compression spring" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including a..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0046] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An agricultural exoskeleton robot device, characterized in that: The invention comprises a trunk exoskeleton unit (1), a lower limb exoskeleton unit (2) and a stress control processing device (3), wherein the trunk exoskeleton unit (1) and the lower limb exoskeleton unit (2) are respectively used to be worn on the trunk and lower limbs of a user, and the trunk exoskeleton unit (1) is connected to the lower limb exoskeleton unit (2) via a joint (4), wherein: The joint assembly (4) is used to provide assistance during the flexion movement of the user's lower limbs. The joint assembly (4) comprises a rotating part and a driving device (41). The rotating part comprises a driving gear (A) and a driven gear (B). The driving gear (A) is arranged in the joint assembly (4), and the driven gear (B) is arranged in the lower limb exoskeleton unit (2). The driving gear (A) is meshedly connected with the driven gear (B). The driving device (41) is connected to the driving gear (A) and drives the driving gear (A) to rotate; The stress control processing device (3) comprises a sensing device (31) and a control processing device (32), wherein the sensing device (31) is arranged to be worn on the neck of a corresponding human body, and is used to receive changes in the neck of the human body and convert them into motion signals and send them to the control processing device (32); the control processing device (32) is connected to the sensing device (31), and the control processing device (32) is used to adjust the output torque of the driving device (41), the sensing device (31) comprises a neck collar (E) and a force sensor (F), the force sensors (F) are four in number and are arranged on the inner wall of the neck collar (E), two of the force sensors (F) are arranged on the back of the neck, and the other two of the force sensors (F) are respectively arranged on both sides of the neck of the human body, the force sensors (F) are connected to the control processing device via a cable, and the control processing device (32) is arranged on the trunk exoskeleton unit (1); The lower limb exoskeleton unit (2) includes a thigh exoskeleton (21) and a calf exoskeleton (23), wherein the thigh exoskeleton (21) is connected to the calf exoskeleton (23) via a knee joint assisting member (22), wherein the knee joint assisting member (22) includes a second elastic connecting rod (G) and a second compression spring (H), wherein one end of the second elastic connecting rod (G) is arranged in the thigh exoskeleton (21), and the other end is arranged in the calf exoskeleton (23), wherein the second compression spring (H) is arranged in the knee joint assisting member (22), and the second compression spring (H) abuts between the second elastic connecting rod (G) and the inner wall of the knee joint assisting member (22) close to the lower limb exoskeleton unit (2), and the knee joint assisting member (22) is used to provide assistance when the thigh exoskeleton (21) and the calf exoskeleton (23) are relatively flexed; The user triggers the force sensor (F) at the back of the neck by lowering the head, and the joint (4) starts the external force. The calculation formula of the external force value is: Q = (Z-20) x S; Q: value of external force; Z: weight of agricultural products, in kg; S: external force coefficient, ranging from 1.2-1.35; The joint pair (4) is also provided with an auxiliary power-assisting member, which includes a first elastic connecting rod (C) and a first compression spring (D). One end of the first elastic connecting rod (C) is arranged on the joint pair (4), and the other end is arranged in the lower limb exoskeleton unit (2). The first compression spring (D) is arranged in the joint pair (4), and the first compression spring (D) abuts between the first elastic connecting rod (C) and the inner wall of the joint pair (4) close to the lower limb exoskeleton unit (2).

2. The agricultural exoskeleton robot device according to claim 1, characterized in that: The deformation of the first compression spring is 5.2 cm and the torque is 93 kg.

3. The agricultural exoskeleton robot device according to claim 1, characterized in that: The trunk exoskeleton unit structure (1) comprises a main body (11) and a waist belt (12), wherein the main body (11) corresponds to the area of ​​the human spine, and the waist belt (12) is connected to the main body (11), and the waist belt (12) is used to fix the main body (11) on the user's trunk.

4. The agricultural exoskeleton robot device according to claim 1, characterized in that: The knee joint assisting member (22) is a rotating electromagnet.

5. The agricultural exoskeleton robot device according to claim 1, characterized in that: The trunk exoskeleton unit (1) is provided with a memory, which is connected to the sensing device and is used to store control signals during specific agricultural operations and the output torque of the driving device (41) corresponding to the control signals.

6. The agricultural exoskeleton robot device according to claim 1, characterized in that: The trunk exoskeleton unit (1) is provided with a storage basket.

7. A method for using the agricultural exoskeleton robot device according to any one of claims 1 to 6, characterized in that: The following steps are included: Step 1: Setting the external force value of the joint force (4) by the user jumping on the spot 10 times; Step 2: During the picking process, the user jumps on the spot 3 times to change the value of the external force; Step three: After the external force value is determined in step one and step two, the user triggers the force sensor (F) at the back of the neck by lowering the head, and the joint (4) starts to assist.

Images