Method of controlling an exoskeleton device, exoskeleton device and storage medium

Abstract

The embodiment of the application discloses a kind of method for controlling exoskeleton device, exoskeleton device and storage medium, belong to the technical field of Internet of Things. Among them, the method comprises: after the initialization of exoskeleton device is completed, control exoskeleton device enters first state, wherein, exoskeleton device is in first state, and the power consumption of exoskeleton device is less than target threshold value;Target interrupt signal is acquired, control exoskeleton device is switched from first state to second state, and exoskeleton data is acquired;Control exoskeleton device is switched from second state to first state. Therefore, the technical effect of reducing the power consumption of exoskeleton device can be achieved by the embodiment of the application, and the technical problem of poor user experience caused by frequent charging is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of Internet of Things, in particular to a method for controlling an exoskeleton device, an exoskeleton device and a storage medium. BACKGROUND

[0002] In recent years, wearable exoskeleton devices have attracted more and more attention from many scholars and researchers at home and abroad, and have become a new research hotspot, and have begun to be gradually applied to military, medical, industrial and civilian fields. According to whether there is a driving unit such as a motor, a hydraulic unit, an exoskeleton can be divided into active exoskeleton and passive exoskeleton.

[0003] For passive exoskeleton, there is no large power supply device, so it is necessary to frequently charge the passive exoskeleton device, which is more troublesome, and there is a technical problem of poor user experience.

[0004] In view of the above problems, no effective solution has been proposed so far. SUMMARY

[0005] The embodiments of the present application provide a method for controlling an exoskeleton device, an exoskeleton device and a storage medium to at least solve the technical problem of poor user experience caused by frequent charging.

[0006] According to an aspect of an embodiment of the present application, a method for controlling an exoskeleton device is provided, comprising: after the initialization of the exoskeleton device is completed, controlling the exoskeleton device to enter a first state, wherein the power consumption of the exoskeleton device in the first state is less than a target threshold; obtaining a target interrupt signal, controlling the exoskeleton device to switch from the first state to a second state, and obtaining exoskeleton data; sending the exoskeleton data to a first server of a target operator through Internet of Things, wherein the exoskeleton device is forwarded by the first server to a second server through the Internet; controlling the exoskeleton device to switch from the second state to the first state.

[0007] Optionally, controlling the exoskeleton device to enter the first state comprises: controlling a detection device of the exoskeleton device to enter a sleep state; controlling a narrowband Internet of Things module in the exoskeleton device to enter a low-power mode, wherein the narrowband Internet of Things module is not connected to the Internet of Things in the low-power mode; and controlling a controller in the exoskeleton device to enter a deep sleep mode, wherein the controller is in the deep sleep mode, the system clock frequency of the controller is switched to a first frequency, and the data acquisition port and the peripheral clock port of the controller are closed.

[0008] Optionally, the target interrupt signal comprises a detection signal, the detection signal is used to represent a signal output by the detection device, the control of the exoskeleton device from the first state to the second state and the acquisition of the exoskeleton data comprises: controlling the narrowband Internet of Things module to enter a working mode, wherein the narrowband Internet of Things module is in the working mode, and the narrowband Internet of Things module is connected to the Internet of Things; controlling the system clock frequency of the controller to switch to a second frequency, and starting the data acquisition port and the peripheral clock port of the controller, wherein the second frequency is greater than the first frequency; acquiring the detection signal output by the detection device according to a preset period to obtain detection data; and generating the exoskeleton data based on the detection data and the device data of the exoskeleton device.

[0009] Optionally, after the exoskeleton data is generated based on the detection data and the device data of the exoskeleton device, the method comprises: acquiring a change rate of the detection data in a preset time period; in response to the change rate being less than a preset threshold, controlling the exoskeleton device to switch from the second state to the first state after the exoskeleton data is sent; and in response to the change rate being greater than the preset threshold, controlling the exoskeleton device to be in the second state after the exoskeleton data is sent.

[0010] Optionally, the target interrupt signal comprises a disassembly signal, the disassembly signal is used to represent a signal generated when the exoskeleton device is disassembled, the control of the exoskeleton device from the first state to the second state and the acquisition of the exoskeleton data comprises: controlling the narrowband Internet of Things module to enter a working mode, wherein the narrowband Internet of Things module is in the working mode, and the narrowband Internet of Things module is connected to the Internet of Things; controlling the system clock frequency of the controller to switch to a third frequency, wherein the third frequency is greater than the first frequency; and generating the exoskeleton data based on the disassembly signal.

[0011] Optionally, the target interrupt signal comprises a timing interrupt signal, the control of the exoskeleton device from the first state to the second state and the acquisition of the exoskeleton data comprises: controlling the narrowband Internet of Things module to enter a working mode, wherein the narrowband Internet of Things module is in the working mode, and the narrowband Internet of Things module is connected to the Internet of Things; controlling the system clock frequency of the controller to switch to a third frequency, and starting the data acquisition port and the peripheral clock port of the controller; acquiring a signal output by the detection device according to a preset period to obtain detection data; and generating the exoskeleton data based on the detection data and the device data of the exoskeleton device.

[0012] Optionally, the method further comprises: after the exoskeleton device is powered on or reset, switching a system clock frequency of the controller to a second frequency, and initializing a data acquisition port and a peripheral clock port of the controller; after the narrowband Internet of Things module connects to the Internet of Things, sending initialization data to the first server through the Internet of Things, wherein the initialization data carries identification information of the exoskeleton device, and the initialization data is sent to the second server by the first server through the Internet; obtaining a network time sent by the first server through the Internet of Things; and initializing a system clock of the narrowband Internet of Things module based on the network time.

[0013] Optionally, the method further comprises: sending a positioning request to a base station of a target operator through the Internet of Things; and receiving positioning information corresponding to the exoskeleton device returned by the base station.

[0014] Optionally, the exoskeleton device is powered by a battery, and the exoskeleton device further comprises: a power supply control circuit, a control end of the power supply control circuit being connected to a first control end of the controller in the exoskeleton device, for controlling the battery to supply power to the exoskeleton device based on a power supply signal output by the controller.

[0015] Optionally, the power supply control circuit comprises: a first field effect transistor, a source of the first field effect transistor being connected to a first power supply, and a drain of the first field effect transistor being connected to a second power supply; and a second field effect transistor, a gate of the second field effect transistor being connected to the first control end of the controller, a source of the second field effect transistor being grounded, and a drain of the second field effect transistor being connected to a gate of the first field effect transistor.

[0016] Optionally, the power supply control circuit further comprises: a first resistor, connected between the source and the gate of the first field effect transistor; a second resistor, connected between the drain of the second field effect transistor and the gate of the first field effect transistor; a third resistor, connected between the gate of the second field effect transistor and the controller; and a fourth resistor, connected between the gate of the second field effect transistor and the ground.

[0017] Optionally, the exoskeleton device further comprises: a voltage detection circuit, a control end of the voltage detection circuit being connected to a second control end of the controller, for detecting a current power of the battery based on a detection signal output by the controller.

[0018] Optionally, the voltage detection circuit comprises: a third field effect transistor, a gate of the third field effect transistor being connected to the second control end of the controller, a source of the third field effect transistor being grounded, and a drain of the third field effect transistor being connected to a third power supply.

[0019] Optionally, the voltage detection circuit further comprises: a fifth resistor connected between the gate of the third field effect transistor and the second control end of the controller; a sixth resistor connected between the drain of the third field effect transistor and the third power supply; a seventh resistor connected between the gate of the third field effect transistor and the ground; an eighth resistor connected between the source of the third field effect transistor and the ground; and a capacitor connected between the source of the third field effect transistor and the ground.

[0020] According to another aspect of the embodiments of the present application, an exoskeleton device is also provided, comprising: a controller configured to control the exoskeleton device to enter a first state after initialization of the exoskeleton device is completed, wherein the power consumption of the exoskeleton device in the first state is less than a target threshold; a detection device connected to the controller and configured to output a detection signal; the controller is further configured to acquire a target interrupt signal, control the exoskeleton device to switch from the first state to a second state, and acquire exoskeleton data; and a narrowband Internet of Things module connected to the controller and configured to send the exoskeleton data to a first server of a target operator through the Internet of Things, wherein the exoskeleton device is forwarded by the first server to a second server through the Internet; and the controller is further configured to control the exoskeleton device to switch from the second state to the first state.

[0021] According to another aspect of the embodiments of the present application, a computer storage medium is also provided, which stores a plurality of instructions adapted to be loaded and executed by a processor to perform the method steps of any one of the above methods for controlling an exoskeleton device.

[0022] In the embodiments of the present application, after initialization of the exoskeleton device is completed, the exoskeleton device is controlled to enter a first state; after a target interrupt signal is acquired, the exoskeleton device is controlled to switch from the first state to a second state and acquire exoskeleton data; and after the acquired exoskeleton data is sent to a first server of a target operator, the exoskeleton device is controlled to switch to the first state again. It is easy to note that the exoskeleton device in the method provided by the present application is only in the second state and acquires exoskeleton data when the target interrupt signal is acquired, and does not stay in the second state for a long time. After the exoskeleton data is sent to the first server, the exoskeleton device is still in the first state which is more energy-saving, thereby realizing the technical effect of reducing the power consumption of the exoskeleton device, and further solving the technical problem of poor user experience caused by the need for frequent charging. BRIEF DESCRIPTION OF DRAWINGS

[0023] The accompanying drawings, which are included to provide a further understanding of the present application and are incorporated in and constitute a part of this application, illustrate embodiments of the present application and serve to explain the present application. In the drawings:

[0024] Figure 1is a flow chart of a method for controlling an exoskeleton device according to an embodiment of the present application;

[0025] Figure 2 is a schematic diagram of a passive load-bearing exoskeleton structure with Internet of Things function according to an embodiment of the present application;

[0026] Figure 3 is a schematic diagram of a system architecture of an exoskeleton device according to an embodiment of the present application;

[0027] Figure 4 is a schematic diagram of a power supply control circuit according to an embodiment of the present application;

[0028] Figure 5 is a schematic diagram of a voltage detection circuit according to an embodiment of the present application;

[0029] Figure 6 is a flow chart of a method for controlling an exoskeleton device according to a preferred embodiment of the present application;

[0030] Figure 7 is a schematic diagram of an exoskeleton device according to an embodiment of the present application;

[0031] Figure 8 is a schematic diagram of an exoskeleton device according to another embodiment of the present application. DETAILED DESCRIPTION

[0032] In order to enable persons skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work should fall within the scope of protection of the present application.

[0033] The following description refers to the accompanying drawings. Unless otherwise noted, like elements in different drawings represent the same or similar elements. The following examples are illustrative of the embodiments of the present application and are not intended to limit the scope of the application. Rather, they are intended to provide examples of apparatus and methods consistent with the present application, as described in the following claims.

[0034] It should be noted that the terms "first", "second", and the like in the description and claims of the application and the above drawings are used to distinguish between similar objects and are not necessarily used to describe a particular sequential or chronological order. It should be understood that the data thus used can be interchanged, where appropriate, so that the embodiments of the application described herein can be carried out in sequences other than those illustrated or described herein. Moreover, the terms "comprise" and "have", and any variations thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, system, product, or apparatus that comprises a list of steps or units is not necessarily limited to those steps or units that are clearly listed, but can include other steps or units that are not clearly listed or inherent to such processes, methods, products, or apparatuses. In addition, in the description of the application, "a plurality of" means two or more, unless otherwise specified. The term "and / or" describes the relationship between associated objects, which means that there can be three relationships, for example, A and / or B, which means that there are three cases: A alone, A and B together, and B alone. The character " / " generally represents an "or" relationship between the associated objects.

[0035] For the infinite transmission technology, 2G (The 2th Generation mobile communication technology, second generation mobile communication technology) GSM (Global System of Mobile communication, Global System for Mobile Communication) / GPRS (General Packer Radio Service, General Packet Radio Service) / CDMA (Code Division Multiple Access, Code Division Multiple Access) is usually used as the preferred technology, because the above-mentioned technology is smaller than 3G or 4G technology in terms of network coverage and transmission current. However, in the informatization process of exoskeleton equipment, whether using data service or short message service, the transmission current is large, especially when a small locator is arranged in the exoskeleton equipment, the standby time of the exoskeleton equipment is short, the charging is frequent, and the battery life is short, which is the biggest pain point of the exoskeleton equipment. Among them, especially for passive exoskeleton, because the passive exoskeleton does not have a large power supply device, it needs to be charged frequently during use, which is very inconvenient and greatly affects the user experience. In order to solve the above problems, the application provides a low-power method for controlling exoskeleton equipment, exoskeleton equipment and storage medium.

[0036] Embodiment 1

[0037] Figure 1 A method for controlling an exoskeleton device according to an embodiment of the application is shown in FIG. 1, which comprises the following steps: Figure 1 ​

[0038] Step S102, after the exoskeleton device initialization is completed, the exoskeleton device is controlled to enter a first state, wherein the power consumption of the exoskeleton device in the first state is less than a target threshold.

[0039] Specifically, the exoskeleton device described above can be an active exoskeleton or a passive exoskeleton, and the method provided by the present application can reduce the power consumption of the exoskeleton device. In the case of an active exoskeleton device, the technical effect of energy saving can be achieved. In the case of a passive exoskeleton device, by reducing the power consumption of the exoskeleton device, the exoskeleton device can be powered by a battery within the designed service life, avoiding battery replacement or charging, thereby improving the user experience. In addition, the exoskeleton device includes a controller, a detection device, and a narrow band internet of things (NB-IoT) module.

[0040] In an optional embodiment, the structure of the passive load-bearing exoskeleton with Internet of Things function can be as shown in Figure 2 The exoskeleton includes a back plate 201, a back support bar 202, a support plate 203, a motion intelligent monitoring module 204, a thigh support bar 205, a thigh baffle 206, a knee joint connection 207, a calf baffle 208, an ankle joint connection 209, a foot binding device 210, a pressure sensor 211, a waist support 212, a hip joint connection 213, an adjusting buckle 214, and a calf support bar 215. The motion intelligent monitoring module 204 is arranged on the lower side of the support plate 203. The pressure sensor 211 at the root of the support plate 203 is connected to the motion intelligent monitoring module 204 through embedded wires and is used for detecting the weight of the exoskeleton device and storing the detection data.

[0041] The initialization of the exoskeleton device includes powering on or resetting, initializing a driver and a system clock, and enabling the program to enter a NormalRun mode, wherein the initialization of the driver is stored in an MCU (Micro Control Unit), the initialization of the driver includes initializing an NB serial port, an IMU (Inertial Measurement Unit), an ADC (analog-to-digital converter), an LPTIM (Low-power timer), and a disassembly IO interface, and the system clock is a system clock in the MCU, and the MCU in the application adopts RCH4M as the system clock. The first state of the exoskeleton device is used to represent that the exoskeleton device is in a sleep state, including that a narrowband Internet of Things module is in a non-network connection state in a PSM (Power Saving Mode), the MCU is in an LP_SLEEP Mode, and the IMU is in a Suspend Mode, wherein the first state of the exoskeleton device is essentially a low-power running mode. The target threshold value can be a power consumption threshold value in any module or component of the exoskeleton device, for example, when the MCU is in the LP_SLEEP Mode, the target threshold value can be 5uA.

[0042] In addition, the exoskeleton device can adopt a low-power wide-area network (LPWAN) Internet of Things system. The LPWAN is a wireless connection technology for the Internet of Things, has the characteristics of wide coverage, low service cost, low power consumption, and convenient roaming point switching, is suitable for connection requirements in complex environments, and is an ideal Internet of Things connection method.

[0043] In step S104, the target interrupt signal is acquired, the exoskeleton device is switched from the first state to the second state, and exoskeleton data is acquired.

[0044] Specifically, the second state of the exoskeleton device includes at least one of the following: the narrowband Internet of Things module is in a network connection state in the PSM (Power Saving Mode), and the MCU enters the LP_RUN Mode (working mode). The target signal includes at least one of the following: a detection signal, a disassembly signal, and a timing interrupt signal, wherein the detection signal is used to represent a signal output by a detection device in the exoskeleton device, and the disassembly signal is used to represent a signal generated by disassembly of the exoskeleton device. It should be noted that, in use, the exoskeleton device can constantly monitor the signals generated in the use process, and in the case that the target interrupt signal is detected, the exoskeleton device is switched from the first state to the second state, and the exoskeleton data is uploaded to the server.

[0045] The detection device can be an IMU, which can be used to collect three-axis attitude angle (or angular rate) and acceleration of the exoskeleton device. The detection signal can be generated based on the IMU detection data collected in a preset period. When the change rate of the IMU detection data meets a certain threshold, the detection signal is generated, and the exoskeleton device is controlled to switch from the first state to the second state.

[0046] When the target interrupt signal is a disassembly signal, it indicates that the current exoskeleton device is being disassembled. After simple interference filtering, the exoskeleton device is controlled to switch from the first state to the second state.

[0047] The timing interrupt signal can be a signal generated by the RTC (Real Time Clock) every certain time, when the exoskeleton device does not monitor the disassembly signal and the detection signal for a certain time. When the timing interrupt signal is monitored, the exoskeleton device is controlled to switch from the first state to the second state. In an optional embodiment, if the exoskeleton device does not monitor the disassembly signal and the detection signal for 24 hours, the RTC can send a timing interrupt signal every 8 hours.

[0048] In step S106, the exoskeleton data is sent to the first server of the target operator through the Internet of Things, wherein the exoskeleton device is forwarded to the second server by the first server through the Internet.

[0049] Specifically, the Internet of Things can be connected in an LPWAN manner. The target operator can be an operator that provides Internet of Things network services and is currently used by the exoskeleton device. The first server can be a cloud server that can receive the exoskeleton data uploaded by the exoskeleton device through the UDP (User Datagram Protocol). The second server can be a third-party server that can be accessed by the user through the browser or the APP (Application), and stores the exoskeleton data.

[0050] In an optional embodiment, as Figure 3As shown, the exoskeleton device can be installed with a telecommunications IoT card, after the detection data is collected, the exoskeleton data is uploaded to the telecommunications cloud server, and then the exoskeleton data in the telecommunications cloud is transmitted to the third-party cloud server through HTTP (Hyper Text Transfer Protocol, Hyper Text Transfer Protocol), then if the user wants to obtain the exoskeleton data through the APP or browser, the third-party server can also be accessed through HTTP to obtain the required data. The weight measurement unit can exchange data with the MCU through the ADC mode, and the inertial measurement unit IMU is connected with the MCU through the I2C mode. Among them, I2C is a serial transmission mode. In addition, the exoskeleton device is also installed with a lithium sub-battery for power supply, and a power detection unit is arranged to obtain the corresponding battery data.

[0051] Step S108, controlling the exoskeleton device to switch from the second state to the first state.

[0052] In the above embodiment of the present application, after the exoskeleton device initialization is completed, the exoskeleton device is controlled to enter the first state; after the target interrupt signal is obtained, the exoskeleton is controlled to switch from the first state to the second state, and the exoskeleton data is obtained, and after the obtained exoskeleton data is sent to the first server of the target operator, the exoskeleton device is controlled to switch to the first state again. It is easy to note that the exoskeleton device in the method provided by the present application is only in the second state and obtains the exoskeleton data when the target interrupt signal is obtained, and does not stay in the second state for a long time. The exoskeleton device is still in the first state after sending the exoskeleton data to the first server, thereby realizing the technical effect of reducing the power consumption of the exoskeleton device, and further solving the technical problem of poor use experience caused by the need for frequent charging.

[0053] Optionally, the control of the exoskeleton device into the first state comprises: controlling the detection device of the exoskeleton device to enter a sleep state; controlling the narrowband Internet of Things module in the exoskeleton device to enter a low-power mode, wherein the narrowband Internet of Things module is not connected to the Internet of Things in the low-power mode; and controlling the controller in the exoskeleton device to enter a deep sleep mode, wherein the system clock frequency of the controller is switched to a first frequency in the deep sleep mode, and the data acquisition port and the peripheral clock port of the controller are closed.

[0054] Specifically, the detection device includes sensors for collecting information in the exoskeleton device, such as an inertial measurement unit (IMU) and a weight measurement unit (load cell). The above-mentioned dormant state is used to characterize that the detection device is temporarily in an inactive state. The above-mentioned low-power mode can be the PSM mode of the narrowband Internet of Things module. When the narrowband Internet of Things module enters this working mode, only the RTC works, and the module is in a network non-connected state. The above-mentioned controller can be an MCU chip, and the deep sleep mode of the above-mentioned chip can be the LP_Sleep Mode mode of the MCU chip. When the MCU chip enters the deep sleep mode, its current is only about 5 uA, and the voltage is 3v. The above-mentioned clock can be an RTC, and the above-mentioned first frequency is used to characterize that the crystal frequency of the system clock is 32.768k.

[0055] In an optional embodiment, the above-mentioned controller can be a chip of the HC32L136 series of Huada MCU, which is an ultra-low-power, wide-voltage operating range MCU designed to extend the battery life of portable measurement systems. The integrated 12-bit ADC can realize weight signal sampling, and the integrated multi-channel UART, SPI, I2C and other rich communication peripherals have the characteristics of high integration, high anti-interference, high reliability and ultra-low power consumption.

[0056] In an optional embodiment, the narrowband Internet of Things module can be a CVTI-NC100Y communication module. In the PSM working mode, the current is as low as 0.7uA, and the module can be used to establish communication with the first server of the target operator and exchange data. In addition, the narrowband Internet of Things module includes three working modes, including Active (active state) mode, Idle (light sleep state) mode and PSM mode. Among them, when the narrowband Internet of Things module is in the Active mode, all functions are normally available, and it can be switched from this mode to the Idle mode or the PSM mode; in the case that the narrowband Internet of Things module is in the Idle mode, the narrowband Internet of Things module is in a network non-connected state, and no longer accepts the patrol message, and it can be switched from this mode to the Active mode or the PSM mode; if the narrowband Internet of Things module is in the PSM mode, when the module is in a network non-connected state, it no longer accepts the paging message, and only the RTC works. At this time, if the DTE (Data Terminal Equipment) actively sends a device or the timer T3412 times out, the module will be woken up and work.

[0057] Optionally, the target interrupt signal includes a detection signal, the detection signal is used to represent a signal output by a detection device, the control of the exoskeleton device from the first state to the second state, and the acquisition of the exoskeleton data, comprising: controlling the narrowband Internet of Things module to enter a working mode, wherein the narrowband Internet of Things module is in the working mode, and the narrowband Internet of Things module is connected to the Internet of Things; controlling the system clock frequency of the controller to switch to a second frequency, and turning on the data acquisition port and the peripheral clock port of the controller, wherein the second frequency is greater than the first frequency; collecting the detection signal output by the detection device according to a preset period to obtain detection data; and generating the exoskeleton data based on the detection data and device data of the exoskeleton device.

[0058] Specifically, the second frequency can be a crystal frequency of a clock of 4M HZ (the minimum system clock for IMU data acquisition). The working mode of the narrowband Internet of Things module can be a PSM mode, and the controller is controlled to turn on the data acquisition port and the peripheral clock port in the case that the current narrowband Internet of Things module is currently in a network connection state. The detection signal can be a signal output by the detection device within a preset period. The detection device can be an IMU, and the detection data can be data collected by the IMU and human motion information detected by the IMU. The device data of the exoskeleton device includes but is not limited to device state information and positioning information of the exoskeleton device. After the above information is acquired, the detection data and the device data are synthesized to obtain the exoskeleton data.

[0059] Optionally, after the exoskeleton data is generated based on the detection data and the device data of the exoskeleton device, the method comprises: acquiring a change rate of the detection data within a preset time period; in response to the change rate being less than a preset threshold, controlling the exoskeleton device to switch from the second state to the first state after the exoskeleton data is sent; and in response to the change rate being greater than the preset threshold, controlling the exoskeleton device to be in the second state after the exoskeleton data is sent.

[0060] Specifically, the detection data includes acceleration collected by the IMU, and the change rate of the acceleration is detected within a preset time period. If the change rate is less than a preset threshold, the exoskeleton device is controlled to switch from the second state to the first state after the exoskeleton data is sent. If the change rate of the acceleration is greater than the preset threshold, the exoskeleton device is controlled to be in the second state after the exoskeleton data is sent.

[0061] Optionally, the target interrupt signal includes a disassembly signal, the disassembly signal is used to represent a signal generated by the exoskeleton device being disassembled, the control of the exoskeleton device from the first state to the second state, and the acquisition of the exoskeleton data, comprising: controlling the narrowband Internet of Things module to enter a working mode, wherein the narrowband Internet of Things module is in the working mode, and the narrowband Internet of Things module is connected to the Internet of Things; controlling the system clock frequency of the controller to switch to a third frequency, wherein the third frequency is greater than the first frequency; and generating the exoskeleton data based on the disassembly signal.

[0062] Specifically, the working mode can be a PSM mode, and the current narrowband Internet of Things module is currently in a network connection state. The third frequency can be 16M Hz, and the second frequency can be 4M Hz when it is detected that the target interrupt signal is a disassembly signal. Then, in response to the disassembly signal, the narrowband Internet of Things module is woken up, detection data of the detection device is obtained, and exoskeleton data is generated.

[0063] Optionally, the target interrupt signal includes a timing interrupt signal, the exoskeleton device is controlled to switch from the first state to the second state, and the exoskeleton data is obtained, including: controlling the narrowband Internet of Things module to enter a working mode, wherein the narrowband Internet of Things module is in the working mode, and the narrowband Internet of Things module is connected to the Internet of Things; controlling the system clock frequency of the controller to switch to a third frequency, and starting the data acquisition port and the peripheral clock port of the controller; collecting signals output by the detection device according to a preset period to obtain detection data; and generating exoskeleton data based on the detection data and device data of the exoskeleton device.

[0064] Specifically, the working mode can be a PSM mode, and the current narrowband Internet of Things module is currently in a network connection state. The third frequency can be 16M Hz, and the second frequency can be 4M Hz when it is detected that the target interrupt signal is a disassembly signal. Then, in response to the disassembly signal, the narrowband Internet of Things module is woken up, detection data of the detection device is obtained, and exoskeleton data is generated.

[0065] In an optional embodiment, if the exoskeleton device does not monitor the disassembly signal and the detection signal within 24 hours, a timing interrupt signal can be sent by the RTC every 8 hours.

[0066] Optionally, the method further includes: after the exoskeleton device is powered on or reset, the system clock frequency of the controller is controlled to switch to a second frequency, and the data acquisition port and the peripheral clock port of the controller are initialized; after the narrowband Internet of Things module is connected to the Internet of Things, initialization data is sent to a first server through the Internet of Things, wherein the initialization data carries identification information of the exoskeleton device, the initialization data is sent to a second server by the first server through the Internet, network time sent by the first server is obtained through the Internet of Things, and the system clock of the narrowband Internet of Things module is initialized based on the network time.

[0067] In particular, the representation information of the exoskeleton device can be a SIM unique identification code.

[0068] In an optional embodiment, a telecommunication IoT card is installed in the exoskeleton device, and at initialization, the SIM card unique identification is sent to the first server of the target service provider, and the SIM card unique identification in the first server is transmitted to the third-party cloud server through HTTP (Hyper Text Transfer Protocol), and the network time is obtained, and the network time is used to update the local clock system of the narrowband Internet of Things module, and the power-on state is updated.

[0069] Optionally, the method further comprises: sending a positioning request to a base station of a target operator through the Internet of Things; and receiving positioning information corresponding to the exoskeleton device returned by the base station.

[0070] In particular, data communication between the exoskeleton device and the third-party cloud server is realized through the NB-IoT network built by the operator, and the positioning of the exoskeleton is realized through the base station, so that the use of GPS and other positioning methods can be avoided, and the purpose of reducing power consumption can be achieved.

[0071] Optionally, the exoskeleton device is powered by a battery, and the exoskeleton device further comprises: a power supply control circuit, a control end of the power supply control circuit being connected with a first control end of a controller in the exoskeleton device, for controlling the battery to supply power to the exoskeleton device based on a power supply signal output by the controller.

[0072] Optionally, the power supply control circuit comprises: a first field effect transistor, a source of the first field effect transistor being connected with a first power supply, and a drain of the first field effect transistor being connected with a second power supply; and a second field effect transistor, a gate of the second field effect transistor being connected with the first control end of the controller, a source of the second field effect transistor being grounded, and a drain of the second field effect transistor being connected with a gate of the first field effect transistor.

[0073] Optionally, the power supply control circuit further comprises: a first resistor, connected between the source and the gate of the first field effect transistor; a second resistor, connected between the drain of the second field effect transistor and the gate of the first field effect transistor; a third resistor, connected between the gate of the second field effect transistor and the controller; and a fourth resistor, connected between the gate of the second field effect transistor and the ground.

[0074] In an optional embodiment, Figure 4 is a structural schematic diagram of the power supply control circuit in the present application, as Figure 4As shown, the power supply control circuit comprises a first field effect transistor Q1, a second field effect transistor Q2, a first resistor R1, a second resistor R2, a third resistor R3 and a fourth resistor R4, wherein the source S of the Q1 is connected with a first power supply VBAT, the drain D of the Q1 is connected with a second power supply VCC, the source S and the gate G of the Q1 are connected in series with the R1, the gate G of the Q1 is connected with the drain D of the Q2 through the R2, the gate G of the Q2 is connected with a first control end PWR Ctrl of the controller through the R3, the source S of the Q2 is grounded, and the source S and the gate G of the Q2 are connected in series with the R4. The first field effect transistor Q1 can be a P-channel depletion MOS tube, and the second field effect transistor can be an N-channel depletion MOS tube.

[0075] It is easily noticed that the exoskeleton device adopts the above-mentioned circuit for power supply, and the NMOS tube in the control circuit is not a triode current control device, so that the technical effect of reducing power consumption can be achieved. In addition, by adopting the above-mentioned circuit, the power supply can be cut off when the external device does not need to work, so that the power consumption of the whole exoskeleton device is reduced.

[0076] Optionally, the exoskeleton device further comprises a voltage detection circuit, a control end of the voltage detection circuit being connected with a second control end of the controller, for detecting the current power of the battery based on a detection signal output by the controller.

[0077] Optionally, the voltage detection circuit comprises a third field effect transistor, a gate of the third field effect transistor being connected with the second control end of the controller, a source of the third field effect transistor being grounded, and a drain of the third field effect transistor being connected with a third power supply.

[0078] Optionally, the voltage detection circuit further comprises a fifth resistor connected between the gate of the third field effect transistor and the second control end of the controller, a sixth resistor connected between the drain of the third field effect transistor and the third power supply, a seventh resistor connected between the gate of the third field effect transistor and the ground, an eighth resistor connected between the source of the third field effect transistor and the ground, and a capacitor connected between the source of the third field effect transistor and the ground.

[0079] In an optional embodiment, Figure 5 is a structural schematic diagram of the voltage detection circuit in the present application, and the voltage detection circuit comprises a third field effect transistor Q3, a fifth resistor R5, a sixth resistor R6, a seventh resistor R7, an eighth resistor R8 and a capacitor C1. The source S of the Q3 is grounded through the parallel connection of the R8 and the C1, the drain D of the Q3 is connected with a third power supply BATT through the sixth resistor R6, the gate G of the Q3 is connected with a second end BAT_S_C of the controller through the fifth resistor R5, and the gate G of the Q3 is grounded through the seventh resistor R7. The third field effect transistor Q3 can be an N-channel depletion transistor.

[0080] In a preferred embodiment, such as Figure 6 As shown, after the MCU powers on or resets, it initializes the system clock and drivers, including: the MCU uses RCH4M as the system clock, and initializes the drivers for the NB serial port, IMU, ADC, LPTIM, and teardown I / O. Subsequently, the NB-IoT module connects to the IoT network and sends the SIM unique identification code to the first server, while simultaneously obtaining the network time, initializing the NB-IoT module's local clock system, and updating the power-on status. Then, the IMU enters SuspendMode, and the NB-IoT module is also in PSM mode. The ADC and other peripheral clock interfaces are disabled, leaving only LPTIM running, putting the MCU in Deep Sleep mode with power consumption below 5uA. It then waits to be woken up by receiving target interrupt signals, including: IMU wake-up, teardown signal, and RTC wake-up. First, it checks if an IMU signal has been received. If an IMU signal is received (YSE in the diagram represents "yes"), the system clock is switched to 4MHz, and IMU data is sampled at regular time intervals. If the rate of change of the sampled IMU data reaches a preset threshold within a certain time, the system clock is switched to 32.768kHz, and the ADC and other peripherals are turned off, putting the MCU in LP_RUN mode. Then, it checks if the exoskeleton has remained still for a set time threshold. If it has, the MCU is switched back to Deep Sleep mode, and the ADC and other peripheral clock interfaces are turned off, leaving only LPTIM working. If the exoskeleton has not remained still for the set threshold, the system clock is switched back to 4MHz, and IMU data is sampled at regular intervals. If no IMU signal is received, the MCU can be woken up by the RTC every 8 hours, the system clock is switched to RCH16MHz, the NB-IoT is woken up, and the exoskeleton data is uploaded to the first server. It should be noted that the exoskeleton data is sent to the first server as a complete data frame. If the required wake-up time for the RTC is not reached, and the RTC fails to wake up the MCU, but receives a disassembly signal, it will still wake up the MCU, switch the system clock to RCH16M, wake up the NB-IoT, and upload the exoskeleton data to the first server. After uploading the exoskeleton data to the first server, the MCU switches back to Deep Sleep mode and disables the ADC and other peripheral clock interfaces, keeping only LPTIM running.

[0081] According to the embodiments of this application, an embodiment of an exoskeleton device is also provided. The specific implementation method in this embodiment is similar to or the same as that in the above embodiments, and will not be described again.

[0082] Figure 7 This is a schematic diagram of the structure of an exoskeleton device according to an embodiment of the present invention, as shown below. Figure 7As shown, the exoskeleton device includes:

[0083] The controller 70 is used to control the exoskeleton device to enter a first state after the exoskeleton device is initialized. In the first state, the power consumption of the exoskeleton device is less than a target threshold.

[0084] The detection device 72 is connected to the controller and is used to output detection signals; the controller is also used to acquire target interrupt signals, control the exoskeleton device to switch from the first state to the second state, and acquire exoskeleton data.

[0085] Narrowband IoT module 74, connected to the controller, is used to send exoskeleton data to the first server of the target operator via IoT, wherein the exoskeleton device is forwarded by the first server to the second server via the Internet; the controller is also used to control the exoskeleton device to switch from the second state to the first state.

[0086] In this embodiment, after the exoskeleton device is initialized, it is controlled to enter a first state. Upon receiving a target interrupt signal, the exoskeleton is controlled to switch from the first state to a second state and acquire exoskeleton data. After sending the acquired exoskeleton data to the first server of the target operator, the exoskeleton device is controlled to switch back to the first state. It is noteworthy that the exoskeleton device in the method provided in this application is only in the second state and acquires exoskeleton data when a target interrupt signal is received. It does not remain in the power-consuming second state for extended periods. After sending the exoskeleton data to the first server, the exoskeleton device remains in the more energy-efficient first state, thereby achieving the technical effect of reducing the power consumption of the exoskeleton device and solving the technical problem of poor user experience caused by frequent charging.

[0087] Example 2

[0088] This application also provides a computer storage medium that can store multiple instructions, which are adapted to be loaded and executed by a processor as described above. Figures 1-6 The method steps of the illustrated embodiment can be found in the following documentation for detailed execution. Figures 1-6 The specific details of the illustrated embodiments will not be elaborated here.

[0089] The storage medium can be located on an exoskeleton device.

[0090] Example 3

[0091] like Figure 8 As shown, the exoskeleton device 1000 may include: at least one processor 1001, at least one network interface 1004, a user interface 1003, a memory 1005, and at least one communication bus 1002.

[0092] The communication bus 1002 is configured to realize the connection communication between the components.

[0093] The user interface 1003 can include a display and a camera. Optionally, the user interface 1003 can further include a standard wired interface and a wireless interface.

[0094] The network interface 1004 can include a standard wired interface and a wireless interface (e.g., a WI-FI interface).

[0095] The processor 1001 can include one or more processing cores. The processor 1001 is connected to various parts of the exoskeleton device 1000 through various interfaces and lines, and performs various functions of the exoskeleton device 1000 and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 1005, and calling data stored in the memory 1005. Optionally, the processor 1001 can be implemented in at least one of a digital signal processing (DSP), a field-programmable gate array (FPGA), and a programmable logic array (PLA). The processor 1001 can be integrated with a combination of one or more of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. The CPU is mainly used to process an operating system, a user interface, and an application program. The GPU is used to render and draw the content to be displayed on the display. The modem is used to process wireless communication. It can be understood that the above-mentioned modem can also not be integrated into the processor 1001, but can be implemented by a separate chip.

[0096] The memory 1005 can include a Random Access Memory (RAM) and can also include a Read-Only Memory (ROM). Optionally, the memory 1005 includes a non-transitory computer-readable storage medium. The memory 1005 can be used to store instructions, programs, codes, code sets, or instruction sets. The memory 1005 can include a program storage area and a data storage area, where the program storage area can store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the above various method embodiments, etc.; the data storage area can store data involved in the above various method embodiments, etc. The memory 1005 can optionally be at least one storage device located away from the aforementioned processor 1001. As shown in Figure 8 The memory 1005 as a computer storage medium can include an operating system, a network communication module, a user interface module, and an operating application program of the exoskeleton device.

[0097] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) containing computer-usable program code.

[0098] The present application is described with reference to flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and combinations of flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing apparatus to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing apparatus produce a device that implements the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in a flow or multiple flows and / or blocks Figure 1 The functions specified in a flow or multiple flows and / or blocks

[0099] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the Figure 1 function specified in the flow or flows and / or blocks Figure 1 of the block or blocks.

[0100] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions that are executed on the computer or other programmable apparatus provide steps for implementing the Figure 1 function specified in the flow or flows and / or blocks Figure 1 of the block or blocks.

[0101] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0102] The memory can include non-persistent memory and / or volatile memory, such as a random access memory (RAM) including a cache area for the temporary storage of data. The memory can also include non-volatile memory, such as read only memory (ROM), electrically programmable read only memory (EPROM), electrically erasable programmable read only memory (EEPROM), flash memory, or a combination of non-volatile memories in different forms. The memory is an example of computer readable storage media.

[0103] Computer readable media includes permanent and non-permanent, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), electrically programmable read only memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital versatile disc (DVD), or other optical storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer readable media does not include transitory media, such as modulated data signals and carrier waves.

[0104] It should also be noted that the terms "comprising", "comprises" or other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0105] The above embodiments are only used to illustrate the present application, but not to limit it. Instead of the above, various modifications and changes can be made to the application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application shall fall into the scope of the claims of the application.

Claims

1. A method for controlling an exoskeleton device, characterized in that, include: After the exoskeleton device is initialized, the exoskeleton device is controlled to enter a first state, wherein the power consumption of the exoskeleton device is less than a target threshold when the exoskeleton device is in the first state. Obtain the target interrupt signal, control the exoskeleton device to switch from the first state to the second state, and acquire exoskeleton data; The exoskeleton data is sent to a first server of the target operator via the Internet of Things, wherein the exoskeleton data is forwarded by the first server to a second server via the Internet; Control the exoskeleton device to switch from the second state to the first state; The target interrupt signal includes a disassembly signal, which characterizes the signal generated when the exoskeleton device is disassembled. Controlling the exoskeleton device to switch from a first state to a second state and acquiring exoskeleton data includes: controlling the narrowband IoT module in the exoskeleton device to enter a working mode, wherein the narrowband IoT module is connected to the Internet of Things (IoT); controlling the system clock frequency of the controller in the exoskeleton device to switch to a third frequency, wherein the third frequency is greater than the first frequency, and the first frequency is the system clock frequency of the controller in deep sleep mode; and generating the exoskeleton data based on the disassembly signal.

2. The method according to claim 1, characterized in that, Controlling the exoskeleton device to enter a first state includes: The detection device of the exoskeleton device is controlled to enter a sleep state; The narrowband IoT module in the exoskeleton device is controlled to enter a low-power mode, wherein the narrowband IoT module is not connected to the Internet of Things in the low-power mode; The controller in the exoskeleton device is controlled to enter the deep sleep mode. In the deep sleep mode, the system clock frequency of the controller is switched to a first frequency, and the data acquisition port and peripheral clock port of the controller are turned off.

3. The method according to claim 2, characterized in that, The target interruption signal includes a detection signal, which characterizes the signal output by the detection device, controls the exoskeleton device to switch from the first state to the second state, and acquires exoskeleton data, including: The narrowband IoT module is controlled to enter a working mode, wherein the narrowband IoT module is connected to the Internet of Things (IoT) while in the working mode; The system clock frequency of the controller is switched to a second frequency, and the data acquisition port and peripheral clock port of the controller are turned on, wherein the second frequency is greater than the first frequency; The detection signal output by the detection device is collected according to a preset cycle to obtain detection data; The exoskeleton data is generated based on the detection data and the device data of the exoskeleton device.

4. The method according to claim 3, characterized in that, After generating the exoskeleton data based on the detection data and the device data of the exoskeleton device, the method includes: Obtain the rate of change of the detected data within a preset time period; In response to the rate of change being less than a preset threshold, after sending the exoskeleton data, the exoskeleton device is controlled to switch from the second state to the first state; In response to the rate of change being greater than the preset threshold, after sending the exoskeleton data, the exoskeleton device is controlled to enter the second state.

5. The method according to claim 2, characterized in that, The target interrupt signal includes a timed interrupt signal, which controls the exoskeleton device to switch from the first state to the second state and acquires exoskeleton data, including: The narrowband IoT module is controlled to enter a working mode, wherein the narrowband IoT module is connected to the Internet of Things (IoT) while in the working mode; The system clock frequency of the controller is switched to the third frequency, and the data acquisition port and peripheral clock port of the controller are turned on. The detection data is obtained by collecting the signal output by the detection device according to a preset cycle. The exoskeleton data is generated based on the detection data and the device data of the exoskeleton device.

6. The method according to any one of claims 2 to 5, characterized in that, The method further includes: After the exoskeleton device is powered on or reset, the system clock frequency of the controller is switched to the second frequency, and the data acquisition port and peripheral clock port of the controller are initialized. After the narrowband IoT module is connected to the Internet of Things (IoT), it sends initialization data to the first server via the IoT. The initialization data carries the identification information of the exoskeleton device. The initialization data is sent from the first server to the second server via the Internet. The network time sent by the first server is obtained through the Internet of Things; The system clock of the narrowband IoT module is initialized based on the network time.

7. The method according to claim 1, characterized in that, The method further includes: A location request is sent to the target operator's base station via the Internet of Things; Receive the location information corresponding to the exoskeleton device returned by the base station.

8. The method according to claim 1, characterized in that, The exoskeleton device is powered by a battery, and the exoskeleton device also includes: A power supply control circuit, wherein the control terminal of the power supply control circuit is connected to the first control terminal of the controller in the exoskeleton device, and is used to control the battery to supply power to the exoskeleton device based on the power supply signal output by the controller.

9. The method according to claim 8, characterized in that, The power supply control circuit includes: The first field-effect transistor has its source connected to a first power supply and its drain connected to a second power supply. The second field-effect transistor has its gate connected to the first control terminal of the controller, its source grounded, and its drain connected to the gate of the first field-effect transistor.

10. The method according to claim 9, characterized in that, The power supply control circuit also includes: A first resistor is connected between the source and the gate of the first field-effect transistor; The second resistor is connected between the drain of the second field-effect transistor and the gate of the first field-effect transistor. A third resistor is connected between the gate of the second field-effect transistor and the controller; The fourth resistor is connected between the gate of the second field-effect transistor and ground.

11. The method according to claim 8, characterized in that, The exoskeleton device also includes: A voltage detection circuit, wherein the control terminal of the voltage detection circuit is connected to the second control terminal of the controller, is used to detect the current charge level of the battery based on the detection signal output by the controller.

12. The method according to claim 11, characterized in that, The voltage detection circuit includes: The third field-effect transistor has its gate connected to the second control terminal of the controller, its source grounded, and its drain connected to a third power supply.

13. The method according to claim 12, characterized in that, The voltage detection circuit further includes: The fifth resistor is connected between the gate of the third field-effect transistor and the second control terminal of the controller; The sixth resistor is connected between the drain of the third field-effect transistor and the third power supply. The seventh resistor is connected between the gate of the third field-effect transistor and ground; The eighth resistor is connected between the source of the third field-effect transistor and ground; A capacitor is connected between the source of the third field-effect transistor and ground.

14. An exoskeleton device, characterized in that, include: The controller is used to control the exoskeleton device to enter a first state after the exoskeleton device initialization is completed, wherein the power consumption of the exoskeleton device is less than a target threshold when the exoskeleton device is in the first state. A detection device, connected to the controller, is used to output a detection signal; The controller is also used to acquire a target interrupt signal, control the exoskeleton device to switch from the first state to the second state, and acquire exoskeleton data; A narrowband IoT module, connected to the controller, is used to send the exoskeleton data to a first server of a target operator via the Internet, wherein the exoskeleton data is forwarded by the first server to a second server via the Internet; The controller is also used to control the exoskeleton device to switch from the second state to the first state; The target interrupt signal includes a disassembly signal, which characterizes the signal generated when the exoskeleton device is disassembled. The exoskeleton device is also used to: control the narrowband IoT module in the exoskeleton device to enter a working mode, wherein the narrowband IoT module is connected to the Internet of Things (IoT) in the working mode; control the system clock frequency of the controller in the exoskeleton device to switch to a third frequency, wherein the third frequency is greater than the first frequency, and the first frequency is the system clock frequency of the controller in deep sleep mode; and generate the exoskeleton data based on the disassembly signal.

15. A computer storage medium, characterized in that, The computer storage medium stores a plurality of instructions adapted for loading by a processor and executing the method steps as claimed in any one of claims 1 to 13.

16. An exoskeleton device, characterized in that, include: A processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to execute the method steps as claimed in any one of claims 1 to 13.

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