Joint control method of exoskeleton robot, exoskeleton robot and electronic device

Abstract

The present application relates to a joint control method for an exoskeleton robot, an exoskeleton robot, and an electronic device, wherein the exoskeleton robot includes a joint assembly, the joint assembly being provided with a light sensor and an angle sensor, and a reflective sheet being provided at a preset limit position on the joint assembly; the joint control method comprises: obtaining an angle acquisition result of the angle sensor for the real-time motion angle of the joint assembly, and obtaining a detection result of the light sensor for the reflected signal of the reflective sheet; generating a motion abnormality result for the joint assembly based on the angle acquisition result and the detection result, and controlling the joint assembly to stop moving based on the motion abnormality result. Through this application, the problem of low safety and reliability of exoskeleton robot joint control is solved.

Description

Technical Field

[0001] The present application relates to the technical field of exoskeleton robots, and in particular to a joint control method of an exoskeleton robot, an exoskeleton robot, and an electronic device. Background Art

[0002] An exoskeleton robot is a wearable device with motion support and protection functions, which can effectively assist users with limb dysfunction to train their lower limbs. Among them, the basic working mode of the lower limb exoskeleton robot is to use the robot's movement to drive the user wearing or tied to the robot to perform lower limb movements. The motion joints of the lower limb exoskeleton robot are the power source of the robot's movement. They need to have a range of motion consistent with the human leg joints to ensure the safety of the robot, and they must also conform to the movement laws of the human body during movement. The desired movement gait is achieved through the combined control of the movement of multiple joints, allowing the wearer to move smoothly. However, in related technologies, the joint rotation angle is limited by relying entirely on the operation of setting soft limits on the motor, which makes the safety and reliability of the exoskeleton robot joint control not high.

[0003] Currently, no effective solution has been proposed to the problem of low safety and reliability of exoskeleton robot joint control in related technologies. Summary of the Invention

[0004] In a first aspect, an embodiment of the present application provides a joint control method for an exoskeleton robot, wherein the exoskeleton robot includes a joint assembly, wherein the joint assembly is provided with a light sensor and an angle sensor, and a reflective sheet is provided at a preset limit position on the joint assembly; the method comprises:

[0005] Obtaining an angle acquisition result of the angle sensor for the real-time motion angle of the joint assembly, and obtaining a detection result of the light sensor for the reflection signal of the reflective sheet;

[0006] A motion abnormality result for the joint component is generated according to the angle acquisition result and the detection result, and the joint component is controlled to stop moving according to the motion abnormality result.

[0007] In some embodiments, generating a motion abnormality result for the joint component based on the angle acquisition result and the detection result includes:

[0008] The abnormal motion result is generated when the angle acquisition result indicates that the joint assembly moves beyond a preset angle range, and / or the detection result indicates that the joint assembly moves until the light sensor coincides with the reflective sheet.

[0009] In some embodiments, generating a motion abnormality result for the joint component based on the angle acquisition result and the detection result includes:

[0010] Acquire the difference between the current motion angle of the joint component and the preset angle range according to the angle acquisition result;

[0011] When it is detected that the difference information is less than a preset difference threshold, the angle difference information collected by the angle sensor is obtained; wherein the angle difference information is used to indicate the angle difference between the left joint and the right joint of the exoskeleton robot;

[0012] When it is detected that the angle difference information exceeds a preset angle difference threshold, the motion abnormality result is generated.

[0013] In some embodiments, the exoskeleton robot further includes a power module, and the power module is connected to the joint assembly; generating a motion abnormality result for the joint assembly based on the angle acquisition result and the detection result, and controlling the joint assembly to stop moving based on the motion abnormality result includes:

[0014] Calculating a joint motion trend result of the joint component according to the angle acquisition result and the detection result;

[0015] When it is detected that the joint movement trend result indicates that the joint component is constantly moving in a single direction, the speed information corresponding to the joint component is calculated according to the angle acquisition result;

[0016] When it is detected that the speed information exceeds a preset speed threshold, the motion abnormality result is generated, and the power supply module is controlled to stop supplying power to the joint assembly according to the motion abnormality result, and when it is detected that the current time reaches a preset time threshold, the power supply module is controlled to resupply power.

[0017] In some embodiments, the joint assembly further includes a preset storage unit; the joint movement trend result of the joint assembly calculated based on the angle acquisition result and the detection result includes:

[0018] Sending the angle acquisition result and the detection result to the preset storage unit, so that the preset storage unit stores the angle acquisition result and the detection result as motion angle information corresponding to the joint component;

[0019] The joint movement trend result is calculated based on the movement angle information.

[0020] In some embodiments, the preset limit position includes a first limit position and a second limit position, and the first limit position and the second limit position are respectively provided with a reflective sheet; wherein the first limit position is fixedly provided on the joint assembly, and the second limit position is fixedly provided on a side of the joint assembly relatively away from the first limit position;

[0021] During the movement, the joint assembly drives the optical sensor to move between the first limit position and the second limit position.

[0022] In some embodiments, when the angle acquisition result indicates that the joint assembly has moved beyond the preset angle range, the method further includes:

[0023] Angle abnormality identification information corresponding to the joint component is generated and stored according to the angle acquisition result.

[0024] In a second aspect, an embodiment of the present application provides an exoskeleton robot, the exoskeleton robot comprising a control device and a joint assembly, the joint assembly being provided with a light sensor and an angle sensor, and reflective sheets being respectively provided at preset limit positions on the joint assembly;

[0025] The control device is used to obtain the angle acquisition result of the angle sensor for the real-time motion angle of the joint assembly, and obtain the detection result of the light sensor for the reflection signal of the reflective sheet;

[0026] The control device is further used to generate a motion abnormality result for the joint component based on the angle acquisition result and the detection result, and control the joint component to stop moving based on the motion abnormality result.

[0027] In some embodiments, the joint assembly includes a left hip joint assembly, a right hip joint assembly, a left knee joint assembly, and a right knee joint assembly; each joint assembly is respectively provided with the light sensor and the angle sensor.

[0028] In a third aspect, an embodiment of the present application provides an electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein when the processor executes the computer program, the joint control method of the exoskeleton robot as described in the first aspect above is implemented.

[0029] Compared with the related art, the embodiments of the present application provide a joint control method, an exoskeleton robot, and an electronic device for an exoskeleton robot. The exoskeleton robot includes a joint assembly, on which a light sensor and an angle sensor are provided, and a reflective sheet is provided at a preset extreme position on the joint assembly; by obtaining an angle acquisition result of the angle sensor for the real-time motion angle of the joint assembly, and obtaining a detection result of the light sensor for the reflection signal of the reflective sheet; a motion abnormality result for the joint assembly is generated based on the angle acquisition result and the detection result, and the joint assembly is controlled to stop moving based on the motion abnormality result, the problem of low safety and reliability of the joint control of the exoskeleton robot is solved.

[0030] The details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more readily apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0032] Figure 1 is a flow chart of a joint control method of an exoskeleton robot according to an embodiment of the present application;

[0033] Figure 2 is a flow chart of an angle detection method according to an embodiment of the present application;

[0034] Figure 3 is a flow chart of a control method for an abnormal initial stage according to an embodiment of the present application;

[0035] Figure 4 is a flow chart of another joint control method of an exoskeleton robot according to an embodiment of the present application;

[0036] Figure 5 This is a flow chart of a method for detecting and protecting a joint during rapid rotation according to an embodiment of the present application;

[0037] Figure 6 is a structural block diagram of an exoskeleton robot according to an embodiment of the present application;

[0038] Figure 7 This is a structural diagram of the interior of a computer device according to an embodiment of the present application. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is described and illustrated below in conjunction with the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for ordinary technicians in the field related to the contents disclosed in the present application, some changes such as design, manufacturing or production based on the technical contents disclosed in the present application are only conventional technical means and should not be understood as the contents disclosed in the present application being insufficient.

[0040] References to "embodiments" in this application mean that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it refer to independent or alternative embodiments that are mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described in this application may be combined with other embodiments unless there is a conflict.

[0041] Unless otherwise defined, the technical or scientific terms used in this application should have the ordinary meaning understood by a person of ordinary skill in the technical field to which this application belongs. The words "one", "a", "the" and the like used in this application do not indicate a limit on quantity and may indicate the singular or plural. The terms "include", "comprise", "have" and any variations thereof used in this application are intended to cover non-exclusive inclusions; for example, a process, method, system, product or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units that are not listed, or may also include other steps or units that are inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like used in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The word "multiple" used in this application means greater than or equal to two. "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, "A and / or B" can mean: A exists alone, A and B exist at the same time, and B exists alone. The terms "first", "second", "third" and the like involved in this application are merely used to distinguish similar objects and do not represent a specific ordering of the objects.

[0042] This embodiment provides a joint control method for an exoskeleton robot, wherein the exoskeleton robot includes a joint assembly, a light sensor and an angle sensor are provided on the joint assembly, and a reflective sheet is provided at a preset limit position on the joint assembly; Figure 1 FIG. 1 is a flow chart of a joint control method of an exoskeleton robot according to an embodiment of the present application. Figure 1 As shown, the process includes the following steps:

[0043] Step S110 , obtaining an angle acquisition result of the angle sensor for the real-time motion angle of the joint assembly, and obtaining a detection result of the light sensor for the reflection signal of the reflection sheet.

[0044] The exoskeleton robot has multiple joint components, each of which is equipped with an angle sensor and a light sensor. It is understood that the angle sensor can be a sensor such as an angle magnetic encoder for collecting the real-time motion angle of the joint component; the light sensor can be an infrared reflective sensor for detecting the reflected signal from a reflective sheet to achieve joint motion limit. Through the above steps, a method is achieved by deploying only one light sensor and angle sensor per joint, thereby collecting accurate angle data and making the sensor data more precise. Furthermore, compared to the related art, where a single Omron proximity sensor costs hundreds of yuan and an exoskeleton robot device requires the installation of at least ten Omron proximity sensors, which is expensive, the embodiment of the present application utilizes a newly selected light sensor costing only a few yuan each and an angle sensor costing approximately 50 yuan each. Each of the four joints of an exoskeleton robot, for example, a lower limb exoskeleton robot, only requires one light sensor and angle sensor to achieve joint motion angle protection, resulting in a cost of less than 300 yuan. This significantly reduces the cost of joint control for the exoskeleton robot.

[0045] Step S120 , generating a motion abnormality result for the joint component according to the angle acquisition result and the detection result, and controlling the joint component to stop moving according to the motion abnormality result.

[0046] The angle sensor is used to detect whether the joint's motion angle exceeds a reasonable angle range. For example, the angle sensor can detect the joint's motion angle in real time and send the angle signal to the exoskeleton robot's control device. The control device analyzes the angle signal to generate an angle result. Based on the comparison between the angle result and the preset angle range, the control device determines whether the joint's motion angle is abnormal. If so, the angle abnormality position 1 in the abnormality identification code corresponding to the joint can be set. At the same time, when the joint moves to the extreme position, it will drive the optical sensor to overlap with the reflective sheet set at the preset extreme position. The reflected signal of the reflective sheet can be detected by the optical sensor, and the optical sensor can upload the collected detection signal to the control device. The control device analyzes the detection signal to generate a detection result and comprehensively analyzes whether the corresponding joint has moved to the extreme position. Specifically, based on the angle result and the detection result, the control device can determine whether the corresponding joint has experienced abnormal motion. If the determination result indicates a motion abnormality, that is, a motion abnormality result is generated, the control device can control the corresponding joint component to stop moving in a timely manner based on the motion abnormality result. It can be understood that, taking the exoskeleton robot as a lower limb exoskeleton robot as an example, the control device can also be connected to the leg signal acquisition board of the lower limb exoskeleton robot; the leg signal acquisition board can summarize the overall leg sensor data, including angle sensor data, torque sensor data, limit signal data, length adjustment data, etc., and upload it to the control device so that the control device can analyze it as a whole.

[0047] Through the above steps S110 to S120, by setting light sensors and angle sensors on the joint components, the corresponding joint components can be promptly controlled to stop moving when the light sensors and angle sensors detect that the exoskeleton robot has moved to an abnormal position, thereby solving the problem of low safety and reliability of the exoskeleton robot joint control and realizing an efficient and safe exoskeleton robot joint control method.

[0048] In some embodiments, the above-mentioned generation of the abnormal motion result for the joint component based on the angle acquisition result and the detection result also includes the following steps: when the angle acquisition result indicates that the joint component moves beyond a preset angle range, and / or the detection result indicates that the joint component moves to the point where the light sensor coincides with the reflective sheet, the abnormal motion result is generated.

[0049] The above-mentioned preset angle range refers to the angle value of the joint within the normal motion range set in advance by the staff, as shown in Table 1:

[0050] Table 1 Joint angle values

[0051]

[0052] The control device can then compare the acquired angle acquisition results with the preset angle range. If the comparison result indicates that the real-time movement angle of the corresponding joint exceeds the preset angle range, the control device can set the angle exceeding limit position in the corresponding abnormality identification code to 1. Based on the detection results, the control device can determine whether the current joint has reached the limit position corresponding to the reflector. Combined with the above analysis results, a comprehensive judgment can be made as to whether the corresponding joint has experienced abnormal movement. In other words, as long as the data from any one sensor is abnormal, a motion abnormality result can be generated and the joint can be controlled to stop moving.

[0053] Through the above embodiment, motion abnormality results are generated through angle acquisition results and detection results, so that as long as one of the angle sensor and light sensor set on a single joint is working normally, the angle limitation function can be accurately realized; that is to say, even if a single sensor is damaged, it will not cause the angle protection function of the exoskeleton robot to fail, thereby effectively improving the stability of the angle limitation protection function and improving the safety and reliability of the joint control of the exoskeleton robot.

[0054] The following describes the embodiments of this application in detail in conjunction with actual application scenarios. Figure 2 is a flow chart of an angle detection method according to an embodiment of the present application. Figure 2 As shown, the process includes the following steps:

[0055] Step S201, start the process; start the action control thread and the data receiving thread.

[0056] Step S202 , waiting to receive device sensor data; wherein the device sensor data includes the angle detection signal collected by the angle sensor and the reflector detection signal collected by the light sensor.

[0057] Step S203, receiving and analyzing the device sensor data, and storing the sensor data of each joint; wherein, after receiving the above-mentioned angle detection signal and reflector detection signal through data reception, each sensor data can be analyzed and processed to obtain the above-mentioned angle acquisition result and the above-mentioned detection result, and stored as the sensor data of each joint.

[0058] Step S204: Fill the buffer with sensor data, wherein the sensor data filled in is the joint sensor data received, parsed and stored in the above step S203.

[0059] Step S205: Check the data of each joint sensor to determine whether the joint angle data exceeds the limit.

[0060] Step S206: If the judgment result of the above step S205 is yes, then the angle of the joint is set to over-limit position 1; if the judgment result of the above step S205 is no, then directly execute the subsequent step S207.

[0061] Step S207: determine whether a joint limit sensor is triggered.

[0062] Step S208: If the judgment result of the above step S207 is yes, the joint limit trigger position is set to 1; if the judgment result of the above step S207 is no, the subsequent step S209 is directly executed.

[0063] Step S209, whether there is any abnormality in the detection results of the above-mentioned angle over-limit and the above-mentioned joint limit trigger position, if not, continue to execute control and return to continue to execute the above-mentioned step S204; if so, exit control and end the process.

[0064] In some embodiments, generating the motion abnormality result for the joint component based on the angle acquisition result and the detection result further includes the following steps:

[0065] Step S121, obtain the difference information between the current movement angle of the joint component and the preset angle range based on the angle acquisition result; when it is detected that the difference information is less than the preset difference threshold, obtain the angle difference information collected by the angle sensor; wherein, the angle difference information is used to indicate the angle difference between the left joint and the right joint in the exoskeleton robot.

[0066] Among them, the above-mentioned exoskeleton robot has multiple joint components, and the angle collection results collected from each joint can be combined. When a single joint is out of control, that is, the joint moves abnormally after the control instruction is issued, or in the initial stage of abnormal movement, the difference in the angles of the two hip joints or the two knee joints can be compared to detect whether there is incorrect movement of the joint, thereby providing effective protection at the beginning of the abnormality.

[0067] The above-mentioned preset difference threshold can be set in advance according to actual conditions, for example, it can be set to 3°. The above-mentioned difference information can be the absolute value of the difference between the above-mentioned current motion angle and the preset angle range. Specifically, the control device can obtain the real-time motion angle of the current joint according to the above-mentioned angle acquisition result. For example, in the walking mode, the current motion angle of the left hip joint is 47°, and the current motion angle is compared with the preset angle range shown in Table 1, i.e. (-15°, 45°). The difference information obtained is 2°, indicating that the left hip joint is in the initial stage of abnormal motion at this time, and the angle difference between the left and right joint parts can be further obtained. Alternatively, the above-mentioned control device can also receive the motion control instruction input by the staff or the user. When the control device detects that the current motion angle exceeds the set angle in the motion control instruction based on the above-mentioned angle acquisition result, it also indicates that the corresponding joint is in the initial stage of abnormal motion at this time, and the above-mentioned angle difference is obtained.

[0068] Step S122: When it is detected that the angle difference information exceeds a preset angle difference threshold, the motion abnormality result is generated.

[0069] The preset angle difference threshold can be pre-set by the staff based on actual conditions, for example, it can be set to 15°. Specifically, taking the exoskeleton robot's standing up action as an example, the exoskeleton robot's standing up process can be divided into three stages: raising both hip joints, straightening both knee joints, and moving both hip joints to a position perpendicular to the ground. Since the hip movement parameters, including joint speed, acceleration, target position, etc., are set the same, and the knee movement parameters are set the same, under normal movement conditions, even if there is a certain angle difference at the beginning of the movement, at the end of the movement, the angle difference between the hip joints and the knee joints should be constant and gradually decrease. The control device can then record the angle difference between the hip joints at the beginning of the hip joint movement and the knee joints at the beginning of the knee joint movement. Taking into account factors such as the force during the movement, a certain angle difference can be allowed during the joint movement. The maximum angle difference set in the software should not exceed 15 degrees of the initial angle difference. The control device detects the real-time angle difference of the two hip joints and the two knee joints each time during the motion control process, generates a motion abnormality result when it detects that the angle difference exceeds 15°, and controls each joint to stop moving based on the motion abnormality result.

[0070] In related technologies, protection is typically only implemented when an exoskeleton robot experiences an abnormality and moves to the limit of its reasonable range, resulting in poor joint control safety. However, the present embodiment, through steps S121 and S122, obtains angle difference information collected by the angle sensor and, if the angle difference information exceeds a preset angle difference threshold, generates a motion abnormality result to control the joint to stop moving. This allows abnormal conditions to be detected at an early stage and angle restrictions and protection to be implemented in a timely manner, avoiding safety hazards caused by protection only being implemented after the exoskeleton robot's joints have reached their limits, further improving the safety and reliability of the exoskeleton robot's joint control.

[0071] The embodiments of the present application are described in detail below in conjunction with actual application scenarios, wherein the control method of the above-mentioned abnormal initial stage is mainly based on the fixed and predictable movements of the exoskeleton robot in various modes, that is, the angle to which the joint should move under a certain movement, the joint speed and acceleration under normal movement conditions are all clear. Figure 3 is a flow chart of a control method for the initial stage of abnormality according to an embodiment of the present application, such as Figure 3 As shown, the process includes the following steps:

[0072] Step S301, start the process; start the action control thread and the data receiving thread.

[0073] Step S302 , waiting to receive device sensor data; wherein the device sensor data includes the angle detection signal collected by the angle sensor and the reflector detection signal collected by the light sensor.

[0074] Step S303, receiving and analyzing the device sensor data, and storing the sensor data of each joint; wherein, after receiving the above-mentioned angle detection signal and reflector detection signal through data reception, each sensor data can be analyzed and processed to obtain the above-mentioned angle acquisition result and the above-mentioned detection result, and stored as the sensor data of each joint.

[0075] Step S304, control mode setting; recording the angle difference between the two hip joints and the angle difference between the two knee joints at the beginning of the movement.

[0076] Step S305: Single motion control begins.

[0077] Step S306: Check the angle difference between the two hip joints and determine whether the hip joint angle difference exceeds the limit.

[0078] Step S307: If the judgment result of the above step S306 is yes, the abnormal hip joint position is 1; if the judgment result of the above step S306 is no, the subsequent step S310 is directly executed.

[0079] Step S308: Check the angle difference between the two knee joints and determine whether the knee joint angle difference exceeds the limit.

[0080] Step S309: If the judgment result of the above step S308 is yes, the abnormal knee joint position is 1; if the judgment result of the above step S308 is no, the subsequent step S310 is directly executed.

[0081] Step S310 , based on the judgment results of the above steps S306 and S308 , check whether there is any movement abnormality.

[0082] Step S311: If the judgment result of the above step S310 is yes, continue to execute this control and return to the above step S305 to continue execution; if the judgment result of the above step S310 is no, exit the motion control and end the process.

[0083] In some embodiments, the exoskeleton robot further comprises a power module, and the power module is connected to the joint assembly; Figure 4 FIG. 1 is a flow chart of another joint control method of an exoskeleton robot according to an embodiment of the present application. Figure 4 As shown, the process includes Figure 1 The step S110 shown further includes the following steps:

[0084] Step S410, the joint movement trend result of the joint component is calculated based on the angle acquisition result and the detection result; when it is detected that the joint movement trend result indicates that the joint component moves constantly in a single direction, the speed information corresponding to the joint component is calculated based on the angle acquisition result.

[0085] Wherein, the angle change value of the corresponding joint is calculated according to the above-mentioned angle acquisition result, and the angle change value and the above-mentioned detection result are comprehensively analyzed to calculate the above-mentioned joint motion trend result. It is understandable that the joint motion state includes forward, reverse, forward and reverse reciprocating oscillation, and stop, and the joint motion trend is to maintain only one direction constant motion during the duration, including the two situations of clockwise constant motion or counterclockwise constant motion. When it is determined based on the joint trend result that the corresponding joint is in constant motion in one direction, that is, non-reciprocating motion and fixed, the acceleration of the joint is calculated by the change of the angle difference within a certain preset time, for example, 0.5s, and the motion speed is calculated by the angle difference between the preset time and the initial end, that is, the speed information of the above-mentioned joint component is generated.

[0086] In some embodiments, the above-mentioned joint component also includes a preset storage unit; the above-mentioned calculation of the joint movement trend of the joint component based on the angle acquisition information and the detection result also includes the following steps: sending the angle acquisition result and the detection result to the preset storage unit, so that the preset storage unit stores the angle acquisition result and the detection result as the movement angle information corresponding to the joint component; and calculating the joint movement trend result based on the movement angle information.

[0087] Among them, each joint is provided with a specific storage space, that is, the above-mentioned preset storage unit is used as a data buffer, through which information such as the movement angle of each joint within a certain period of time, for example, within 0.5s, can be stored; the above-mentioned control device can read the corresponding sensor data from the fixed storage space of each joint and perform various instruction operations. In this embodiment, the control device can read the angle collection results and detection results from the above-mentioned preset storage unit, and parse and generate movement angle information for storage. Specifically, the control device can determine the joint movement trend by detecting the angle changes in the buffer within a certain period of time.

[0088] Step S420, when it is detected that the speed information exceeds the preset speed threshold, the motion abnormality result is generated, and the power supply module is controlled to stop supplying power to the joint component according to the motion abnormality result, and when it is detected that the current time reaches the preset time threshold, the power supply module is controlled to re-supply.

[0089] Among them, if it is detected that the speed, acceleration and other values in the above speed information all meet the requirements of flying or have significantly exceeded the preset speed threshold, protection will be implemented. That is, the above control device can immediately cut off the power supply to the lower limb circuit; because the motor does not receive new control instructions when it is flying, the power outage can immediately stop the motor's rotation and force, avoiding further safety issues. When the power is cut off, a timer will start. After reaching the above preset time, for example, 3 seconds, the leg circuit will be powered again and the previous leg parameters will be re-issued to ensure normal use in the future.

[0090] Through the above steps S410 to S420, the speed information is calculated by the angle acquisition results, and the power supply module is controlled to be disconnected when the speed or acceleration exceeds the limit, thereby realizing the detection of abnormal movements or high-speed / high-acceleration movements. Accurate detection can be achieved in cases of poor drive communication, motor flying, high-speed pursuit of the target position after the motor rotation is blocked, etc., ensuring motion protection during joint flying, and can effectively protect the safety of users during training, thereby further effectively improving the safety of the joint control of the exoskeleton robot.

[0091] The following describes the embodiments of this application in detail in conjunction with actual application scenarios. Figure 5This is a flow chart of a detection and protection method for a joint during rapid rotation according to an embodiment of the present application. Figure 5 As shown, the process includes the following steps:

[0092] Step S501, start the process; start the action control thread and the data receiving thread.

[0093] Step S502 , waiting to receive device sensor data; wherein the device sensor data includes the angle detection signal collected by the angle sensor and the reflector detection signal collected by the light sensor.

[0094] Step S503, receiving and analyzing the device sensor data, and storing the sensor data of each joint; wherein, after receiving the above-mentioned angle detection signal and reflector detection signal through data reception, each sensor data can be analyzed and processed to obtain the above-mentioned angle acquisition result and the above-mentioned detection result, and stored as the sensor data of each joint.

[0095] Step S504: Fill the buffer with sensor data, wherein the sensor data filled in is the joint sensor data received, parsed and stored in the above step S203.

[0096] Step S505 , calculating the velocity and acceleration of each joint, and determining whether any joint velocity or acceleration exceeds a limit.

[0097] Step S506: If the judgment result of the above step S505 is yes, the leg circuit is powered off and the current leg parameters are recorded to exit the motion control; if the judgment result of the above step S505 is no, the control is continued and returns to the above step S504.

[0098] Step S507, start timing.

[0099] Step S508: Check the current time and determine whether the current time has exceeded the preset time.

[0100] Step S509: If the judgment result of the above step S508 is yes, the leg is powered on again to restore control, and the parameters are pushed to the leg microcontroller; if the judgment result of the above step S508 is no, return to the above step S508 to continue execution.

[0101] In some embodiments, the above-mentioned preset limit position includes a first limit position and a second limit position, and the first limit position and the second limit position are respectively provided with a reflective sheet; wherein, the first limit position is fixedly set on the joint assembly, and the second limit position is fixedly set on a side of the joint assembly relatively away from the first limit position; during the movement, the joint assembly drives the light sensor to move between the first limit position and the second limit position.

[0102] Through the above embodiment, a reflector is set at two opposite extreme positions on the joint assembly, so that when the reflection signal is triggered, it can be timely and accurately detected whether the current joint movement is to the forward limit angle or the reverse limit angle, so that the staff can further adjust it, effectively improving the accuracy of the joint control of the exoskeleton robot.

[0103] In some embodiments, when the angle acquisition result indicates that the joint assembly has moved beyond the preset angle range, the joint control method of the exoskeleton robot further includes the following steps: generating angle abnormality identification information corresponding to the joint assembly based on the angle acquisition result and storing the information. Specifically, the angle abnormality identification information can be pre-set as a 16-bit abnormality code. The four joints, namely the double hip joints and the double knee joints, are each provided with two types of sensors, that is, the eight sensors each correspond to an eight-bit abnormality code, and the remaining eight bits can be reserved for future abnormality codes. When the control device detects that the angle sensor provided in one of the four joints exceeds the angle range, the corresponding one-bit abnormality code is set to 1; when the control device detects that one of the light sensors has acquired a reflected signal, the corresponding one-bit abnormality code is set to 1. Through the above embodiments, the angle abnormality identification information corresponding to the joint assembly is generated and stored based on the angle acquisition result, which can facilitate the software control of the joint points of the exoskeleton robot and effectively improve the efficiency and accuracy of the joint control of the exoskeleton robot.

[0104] It should be noted that the steps shown in the above process or the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0105] This embodiment also provides an exoskeleton robot, Figure 6 This is a structural block diagram of an exoskeleton robot according to an embodiment of the present application. Figure 6 As shown, the exoskeleton robot includes a control device 61 and a joint assembly 62, and the joint assembly 62 is provided with a light sensor 621 and an angle sensor, and reflective sheets are respectively provided at preset extreme positions on the joint assembly 62; the control device 61 is used to obtain the angle acquisition results of the angle sensor and 622 for the real-time motion angle of the joint assembly 62, and obtain the detection results of the reflection signal of the light sensor and 621 for the reflective sheet; the control device 61 is also used to generate a motion abnormality result for the joint assembly 62 based on the angle acquisition result and the detection result, and control the joint assembly 62 to stop moving based on the motion abnormality result.

[0106] Through the above embodiment, by setting light sensors and 621 and angle sensors and 622 on the joint component 62, it is possible to timely control the corresponding joint component 62 to stop moving when the light sensors and 621 and angle sensors and 622 detect that the exoskeleton robot moves to an abnormal position, thereby solving the problem of low safety and reliability of the exoskeleton robot joint control.

[0107] In some embodiments, the joint assembly includes a left hip joint assembly, a right hip joint assembly, a left knee joint assembly, and a right knee joint assembly; each joint assembly is respectively provided with the light sensor 621 and the angle sensor 622.

[0108] In some embodiments, the control device 61 is also used to generate the abnormal motion result when the angle acquisition result indicates that the joint assembly 62 moves beyond a preset angle range, and / or when the detection result indicates that the joint assembly 62 moves to the point where the light sensor and 621 coincide with the reflective sheet.

[0109] In some embodiments, the control device 61 is further configured to obtain the difference information between the current motion angle of the joint assembly 62 and the preset angle range based on the angle acquisition result; the control device 61 obtains the angle difference information collected by the angle sensor and 622 when detecting that the difference information is less than a preset difference threshold; wherein the angle difference information is used to indicate the angle difference between the left joint and the right joint in the exoskeleton robot; the control device 61 generates the motion abnormality result when detecting that the angle difference information exceeds the preset angle difference threshold.

[0110] In some embodiments, the exoskeleton robot further includes a power module, and the power module is connected to the joint assembly 62; the control device 61 is further used to calculate the joint motion trend result of the joint assembly 62 based on the angle acquisition result and the detection result; when the control device 61 detects that the joint motion trend result indicates that the joint assembly 62 is constantly moving in a single direction, the control device 61 calculates the speed information corresponding to the joint assembly 62 based on the angle acquisition result; when the control device 61 detects that the speed information exceeds a preset speed threshold, it generates the motion abnormality result, controls the power module to stop supplying power to the joint assembly 62 based on the motion abnormality result, and controls the power module to re-supply power when it detects that the current time reaches a preset time threshold.

[0111] In some embodiments, the joint component 62 also includes a preset storage unit; the control device 61 is also used to send the angle acquisition result and the detection result to the preset storage unit, so that the preset storage unit stores the angle acquisition result and the detection result as the motion angle information corresponding to the joint component 62; the control device 61 calculates the joint motion trend result based on the motion angle information.

[0112] In some embodiments, the preset limit position includes a first limit position and a second limit position, and the first limit position and the second limit position are respectively provided with a reflective sheet; wherein, the first limit position is fixedly set on the joint assembly 62, and the second limit position is fixedly set on a side of the joint assembly 62 relatively away from the first limit position; the joint assembly 62 drives the light sensor and 621 to move between the first limit position and the second limit position during the movement.

[0113] In some embodiments, the control device 61 is further configured to generate and store angle abnormality identification information corresponding to the joint component 62 based on the angle acquisition result.

[0114] This embodiment also provides a computer device, which may be a server. Figure 7 This is a structural diagram of the internal structure of a computer device according to an embodiment of the present application. Figure 7 As shown. The computer device includes a processor, a memory, a network interface and a database connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store abnormal motion results. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, the above-mentioned joint control method of the exoskeleton robot is implemented.

[0115] Those skilled in the art will understand that Figure 7 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0116] This embodiment further provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0117] Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0118] Optionally, in this embodiment, the processor may be configured to execute the following steps through a computer program:

[0119] S1, obtaining an angle acquisition result of the angle sensor for the real-time motion angle of the joint component, and obtaining a detection result of the light sensor for the reflection signal of the reflection sheet.

[0120] S2, generating a motion abnormality result for the joint component according to the angle acquisition result and the detection result, and controlling the joint component to stop moving according to the motion abnormality result.

[0121] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be repeated here.

[0122] In addition, in conjunction with the joint control method for an exoskeleton robot in the above embodiments, embodiments of the present application may provide a storage medium for implementation. The storage medium stores a computer program; when the computer program is executed by a processor, it implements any of the joint control methods for an exoskeleton robot in the above embodiments.

[0123] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. 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 non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0124] Those skilled in the art should understand that the various technical features of the above-described embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the various technical features in the above-described 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.

[0125] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A joint control method for an exoskeleton robot, characterized in that: The exoskeleton robot includes a joint assembly, the joint assembly is provided with a light sensor and an angle sensor, and a reflective sheet is provided at a preset limit position on the joint assembly; the exoskeleton robot also includes a power module, and the power module is connected to the joint assembly; the method includes: Obtaining an angle acquisition result of the angle sensor for the real-time motion angle of the joint assembly, and obtaining a detection result of the light sensor for the reflection signal of the reflective sheet; Generating a motion abnormality result for the joint component according to the angle acquisition result and the detection result, and controlling the joint component to stop moving according to the motion abnormality result, including: Calculating a joint motion trend result of the joint component according to the angle acquisition result and the detection result; When it is detected that the joint movement trend result indicates that the joint component is constantly moving in a single direction, the speed information corresponding to the joint component is calculated according to the angle acquisition result; When it is detected that the speed information exceeds a preset speed threshold, the motion abnormality result is generated, and according to the motion abnormality result, the power supply module is controlled to stop supplying power to the joint assembly, and when it is detected that the current time reaches a preset time threshold, the power supply module is controlled to re-supply power; The generating of the motion abnormality result for the joint component according to the angle acquisition result and the detection result further includes: Acquire the difference between the current motion angle of the joint component and the preset angle range according to the angle acquisition result; When it is detected that the difference information is less than a preset difference threshold, the angle difference information collected by the angle sensor is obtained; wherein the angle difference information is used to indicate the angle difference between the left joint and the right joint of the exoskeleton robot; When it is detected that the angle difference information exceeds a preset angle difference threshold, the motion abnormality result is generated.

2. The joint control method according to claim 1, characterized in that: Generating a motion abnormality result for the joint component according to the angle acquisition result and the detection result includes: The abnormal motion result is generated when the angle acquisition result indicates that the joint assembly moves beyond a preset angle range, and / or the detection result indicates that the joint assembly moves until the light sensor coincides with the reflective sheet.

3. The joint control method according to claim 1, characterized in that: The joint assembly further includes a preset storage unit; the joint movement trend result of the joint assembly calculated according to the angle acquisition result and the detection result includes: Sending the angle acquisition result and the detection result to the preset storage unit, so that the preset storage unit stores the angle acquisition result and the detection result as motion angle information corresponding to the joint component; The joint movement trend result is calculated based on the movement angle information.

4. The joint control method according to claim 1, characterized in that: The preset limit positions include a first limit position and a second limit position, each of which is provided with a reflective sheet; wherein the first limit position is fixedly provided on the joint assembly, and the second limit position is fixedly provided on a side of the joint assembly relatively away from the first limit position; During the movement, the joint assembly drives the optical sensor to move between the first limit position and the second limit position.

5. The joint control method according to claim 2, characterized in that: When the angle acquisition result indicates that the joint assembly has moved beyond the preset angle range, the method further includes: Angle abnormality identification information corresponding to the joint component is generated and stored according to the angle acquisition result.

6. An electronic device comprising a memory and a processor, characterized in that: The memory stores a computer program, and the processor is configured to run the computer program to execute the joint control method for an exoskeleton robot according to any one of claims 1 to 5.

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