Mechanical skeleton movement digital control method and control system

Abstract

The application provides a mechanical skeleton movement digital control method and a control system. The control method comprises the following steps: when the joints of the mechanical skeleton rotate to different positions, the main scanning circuit sends different first signals, the auxiliary scanning circuit sends different second signals, the first signals and the second signals are one-to-one corresponding, and the corresponding first signals and the second signals are the same group of signals; the real-time rotating position of the joint is acquired, and the first signals and the second signals sent by the main scanning circuit and the auxiliary scanning circuit are received; when the first signals and the second signals are the same group of signals, the communication circuit sends the signal of normal displacement to the controller of the mechanical skeleton; otherwise, the communication circuit sends the information of abnormal displacement to the controller of the mechanical skeleton. The control method and the control system can avoid the error caused by the influence of factors such as machinery, gravity and temperature during the movement of the mechanical skeleton.

Description

Technical Field

[0001] This invention relates to the field of mechanical skeleton control methods. More specifically, this invention relates to a digital control method and control system for mechanical skeleton motion. Background Technology

[0002] Currently, most robots and exoskeletons passively and indirectly acquire their current mechanical state through angle sensors. The current position is calculated by counting the sensor readings. Although algorithms exist to eliminate errors, the cumulative error from long-term calculations still leads to significant deviations. The system only passively collects information about the current mechanical state when the exoskeleton drives the angle sensors. It cannot actively collect information to understand the current mechanical state. Current robots and exoskeletons can only operate within a preset environment. Once unexpected interference occurs, causing the exoskeleton's movement to deviate from the predetermined program, and the exoskeleton cannot report the interference, the resulting error cannot be corrected by the system, ultimately leading to the paralysis or collapse of the entire system, causing irreparable consequences. For example, if a person wearing an exoskeleton falls, they cannot get up on their own. Exoskeletons used by humans can currently only operate according to preset programs. The precise mechanical movement and the actual, somewhat ambiguous, movement of the human body often mismatch, resulting in internal force consumption. This not only fails to achieve the effect of assisting the human body and outputting force equal to mechanical force plus human force, but also causes discomfort to the wearer, restricting the user in various ways, resulting in output force equal to mechanical force minus human force. Robots and exoskeletons require precise movement in some situations and fuzzy motion in others; current machinery cannot handle both simultaneously. If a robot loses a limb or deforms due to external forces, it is unaware of this and continues to operate according to its original program. Once manufactured, all parts of current robots are fixed, inseparable, and unchangeable. This results in robots with limited functionality and poor fault tolerance.

[0003] For robots to achieve a biomimetic state, similar to living organisms, and flexibly adapt to their surroundings, even temporarily altering their shape to cope with changing conditions, they cannot rely solely on passively transmitted data from sensors and system algorithms to adjust their mechanical state. This approach risks causing erroneous actions or program crashes if the robot encounters unexpected interference or enters a complex environment beyond its programmed parameters. For robots to cope with complex and ever-changing environments like natural organisms, the most fundamental requirement is that the robot's system understands the state of its skeleton, the relative states between skeletons, and their relative motion states during movement. During movement, the robot must be able to move to designated locations according to programmed instructions and activate corresponding program commands when external forces alter the motion states between skeletons. In some situations, the robot needs to perform precise micro-manipulation, such as threading a needle; in others, it needs to perform fuzzy movements based on instructions, such as running; and when the robot needs to change its body shape due to environmental changes, its skeleton must be disassembled and reassembled. Summary of the Invention

[0004] The purpose of this invention is to address the above-mentioned problems by providing a digital control method and control system for the movement of a mechanical skeleton.

[0005] To achieve these objectives and other advantages according to the present invention, a digital control method for the motion of a mechanical skeleton is provided, comprising the following steps:

[0006] A main scanning circuit 2 and an auxiliary scanning circuit 3 are set at the joints of the mechanical skeleton. When the joints of the mechanical skeleton rotate to different positions, the main scanning circuit 2 emits different first signals and the auxiliary scanning circuit 3 emits different second signals. The first signals and the second signals correspond one-to-one, and the corresponding first signals and second signals are the same set of signals.

[0007] The system acquires the real-time rotational position of the joint and receives the first signal and the second signal sent by the main scanning circuit 2 and the auxiliary scanning circuit 3, respectively. When the first signal and the second signal are the same set of signals, the system sends a signal indicating normal displacement to the controller of the mechanical skeleton through the communication circuit; otherwise, it sends information indicating abnormal displacement to the controller of the mechanical skeleton through the communication circuit.

[0008] Preferably, the main scanning circuit 2 has a main detection position, and the auxiliary scanning circuit 3 has an auxiliary detection position. When the joints of the mechanical skeleton rotate to different positions, the main detection positions at the joints are connected in different ways and emit different first signals, and the auxiliary detection positions at the joints are connected in different ways and emit different second signals.

[0009] Preferably, in the aforementioned digital control method for mechanical skeleton motion, the main detection position has one first connection point and multiple second connection points, and the auxiliary detection position has one third connection point and multiple fourth connection points. The number of fourth connection points is equal to the number of second connection points, and they correspond one-to-one. When the joints of the mechanical skeleton rotate to different positions, the first connection point at the joint is connected to different second connection points to form a path for the main scanning circuit 2 and emit different first signals. The second connection point at the joint is connected to different fourth connection points to form a path for the auxiliary scanning circuit 3 and emit different second signals.

[0010] Preferably, the aforementioned digital control method for mechanical skeleton movement further includes receiving data information acquired by a temporary scanning circuit 4. The temporary scanning circuit 4 has at least one first contact point and multiple second contact points. The first contact point and multiple second contact points are located at different positions on the mechanical skeleton shell. During the movement of the mechanical skeleton, any first contact point can be connected to any second contact point to form a path for the temporary scanning circuit 4.

[0011] This invention also provides a digital control system for the movement of a mechanical skeleton, including a main control circuit 1, multiple main scanning circuits 2, and multiple auxiliary scanning circuits 3, which are equal in number and correspond one-to-one with the main scanning circuits 2. Each joint of the mechanical skeleton is provided with the main scanning circuit 2 and the corresponding auxiliary scanning circuit 3. The main scanning circuits 2 and the auxiliary scanning circuits 3 are electrically connected to the main control circuit 1 to send the scanned data information to the control circuit. The main control circuit 1 is electrically connected to the controller of the mechanical skeleton through a communication circuit. The main scanning circuits 2 have multiple different connection modes, and the auxiliary scanning circuits 3 have multiple different connection modes, which are equal in number and correspond one-to-one with the corresponding scanning circuits. When the joints of the mechanical skeleton rotate to different positions, the main scanning circuits 2 at the joints are connected in different connection modes, and the auxiliary scanning circuits 3 are connected in a connection mode corresponding to the connection mode of the corresponding main scanning circuit 2.

[0012] Preferably, in the aforementioned digital control system for mechanical skeleton motion, the main scanning circuit 2 has a main detection position, and the auxiliary scanning circuit 3 has an auxiliary detection position. When the joints of the mechanical skeleton rotate to different positions, the main detection positions at the joints are connected in different connection forms, and the corresponding auxiliary detection positions are connected in the same connection form as the main detection positions.

[0013] Preferably, in the aforementioned digital control system for mechanical skeleton motion, the main detection position has a first connection point and multiple second connection points, and the auxiliary detection position has a third connection point and multiple fourth connection points. The number of fourth connection points is equal to the number of second connection points, and they correspond one-to-one. When the joints of the mechanical skeleton rotate to different positions, the first connection point at the joint connects to different second connection points to form a path for the main scanning circuit 2. The fourth connection point corresponding to the second connection point connected to the first connection point connects to the third connection point to form a path for the auxiliary scanning circuit 3.

[0014] Preferably, the aforementioned digital control system for mechanical skeleton motion further includes a temporary scanning circuit 4, which is electrically connected to the main control circuit 1 to send the scanned data information to the control circuit. The temporary scanning circuit 4 has at least one first contact point and multiple second contact points, which are located at different positions on the mechanical skeleton shell. During the movement of the mechanical skeleton, any first contact point can be connected to any second contact point to form a path for the temporary scanning circuit 4.

[0015] The beneficial effects of this invention are:

[0016] 1. The relative motion state between bones is determined by collecting analog signals in real time. The sampling frequency of the analog signal digitization is set according to the accuracy requirements of different environments (heart rate). The state of the mechanical skeleton and joints is monitored in real time, which makes it easier to move the joints to the specified position accurately.

[0017] 2. It avoids errors caused by mechanical factors, gravity, temperature, etc., during the movement of the mechanical skeleton. At the same time, based on the signals sent by the main scanning circuit 2 and the auxiliary scanning circuit 3, the offset error of the entire analog signal value can be determined, which facilitates the subsequent correction of the mechanical movement, thereby adjusting the corresponding anchor points and calculating the offset.

[0018] Other advantages, objectives and features of the present invention will become apparent in part from the following description, and in part from those skilled in the art through study and practice of the invention. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the digital motion control system for the mechanical skeleton described in this invention;

[0020] Figure 2 This is a schematic diagram of the structure of a digital control system for mechanical skeleton motion in one embodiment of the present invention;

[0021] Figure 3This is a schematic diagram of the structure of the digital control system for mechanical skeleton motion in another embodiment of the present invention;

[0022] Figure 4 This is a schematic diagram of the structure of the digital control system for mechanical skeleton motion in another embodiment of the present invention;

[0023] Figure 5 This is a schematic diagram of the structure of the digital control system for mechanical skeleton motion in another embodiment of the present invention. Detailed Implementation

[0024] The present invention will now be described in further detail with reference to the accompanying drawings, so that those skilled in the art can implement it based on the description.

[0025] It should be noted that in the description of this invention, the terms "lateral", "longitudinal", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0026] An embodiment of the present invention provides a digital control method for the movement of a mechanical skeleton, comprising the following steps:

[0027] A main scanning circuit 2 and an auxiliary scanning circuit 3 are set at the joints of the mechanical skeleton. When the joints of the mechanical skeleton rotate to different positions, the main scanning circuit 2 emits different first signals and the auxiliary scanning circuit 3 emits different second signals. The first signals and the second signals correspond one-to-one, and the corresponding first signals and second signals are the same set of signals.

[0028] The system acquires the real-time rotational position of the joint and receives the first signal and the second signal sent by the main scanning circuit 2 and the auxiliary scanning circuit 3, respectively. When the first signal and the second signal are the same set of signals, the system sends a signal indicating normal displacement to the controller of the mechanical skeleton through the communication circuit; otherwise, it sends information indicating abnormal displacement to the controller of the mechanical skeleton through the communication circuit.

[0029] In this embodiment, as the joints of the mechanical skeleton rotate to different positions, the main scanning circuit 2 sends different first signals. This allows the system to determine the joint's position based on the received first signals. To ensure the accuracy of joint position detection and prevent inaccurate scan results due to malfunctions in the main scanning circuit 2, an auxiliary scanning circuit 3 is installed at the joints of the mechanical skeleton. As the joints rotate to different positions, the auxiliary scanning circuit 3 sends different second signals. The first and second signals are matched one-to-one, with corresponding signals considered as the same set of signals. Specifically, when the joints of the mechanical skeleton rotate to any position, the main scanning circuit 2 and the auxiliary scanning circuit 3 send the first and second signals respectively. These signals are then detected. If they are the same set of signals, the scan results of both the main scanning circuit 2 and the auxiliary scanning circuit 3 are considered normal, and the communication circuit sends a signal indicating normal displacement to the mechanical skeleton's controller. Conversely, if the first and second signals are not the same set of signals, one of the scan results is abnormal, and the communication circuit sends a signal indicating abnormal displacement to the mechanical skeleton's controller. Since both the first and second signals can correspond to different positions of the joints of the mechanical skeleton, the main scanning circuit 2 and the auxiliary scanning circuit 3 are equivalent to detecting the position of the mechanical skeleton joints twice, ensuring that the joints have moved to the target position when a normal displacement signal is sent to the mechanical skeleton controller.

[0030] Preferably, in another embodiment of the present invention, the main scanning circuit 2 has a main detection position, and the auxiliary scanning circuit 3 has an auxiliary detection position. When the joints of the mechanical skeleton rotate to different positions, the main detection positions at the joints are connected in different connection forms and emit different first signals, and the auxiliary detection positions at the joints are connected in different connection forms and emit different second signals.

[0031] In this embodiment, by setting a main detection position in the main scanning circuit 2, when the joints of the mechanical skeleton rotate to different positions, the main detection position is connected in different ways, and the first signal emitted by the main scanning circuit 2 is different. Specifically, the main detection position has one first connection point and multiple second connection points. When the joints of the mechanical skeleton rotate to different positions, the first connection point at the joint connects with different second connection points to form a path in the main scanning circuit 2 and emit different first signals. In this way, the different connection methods of the detection position can be mapped one-to-one with multiple different positions of the mechanical skeleton joint. Similarly, for the auxiliary scanning circuit 3, an auxiliary detection position is set, which has one third connection point and multiple fourth connection points. The number of fourth connection points is equal to the number of second connection points and they correspond one-to-one. When the joints of the mechanical skeleton rotate to different positions, the third connection point at the joint connects with different fourth connection points to form a path in the auxiliary scanning circuit 3 and emit different second signals.

[0032] Preferably, as another embodiment of the present invention, it further includes receiving data information acquired by the temporary scanning circuit 4. The temporary scanning circuit 4 has at least one first contact point and multiple second contact points. The first contact point and multiple second contact points are located at different positions on the mechanical skeleton shell. During the movement of the mechanical skeleton, any first contact point can be connected to any second contact point to form a path for the temporary scanning circuit 4.

[0033] In this embodiment, when the temporary scanning circuit 4 is connected by one of the first contact point and multiple second contact points to form a path, the temporary scanning circuit 4 sends different data information. The types of data information are the same as the types of the first signal. The data information and the first signal are matched one by one. The position of the joint of the mechanical skeleton is detected and confirmed again by the temporary scanning circuit 4.

[0034] like Figure 1As shown, the present invention also provides a digital control system for the movement of a mechanical skeleton, including a main control circuit 1, multiple main scanning circuits 2, and multiple auxiliary scanning circuits 3, which are equal in number and correspond one-to-one with the main scanning circuits 2. Each joint of the mechanical skeleton is provided with the main scanning circuit 2 and the corresponding auxiliary scanning circuit 3. The main scanning circuits 2 and the auxiliary scanning circuits 3 are electrically connected to the main control circuit 1 to send the scanned data information to the control circuit. The main control circuit 1 is electrically connected to the controller of the mechanical skeleton through a communication circuit. The main scanning circuits 2 have multiple different connection modes, and the auxiliary scanning circuits 3 have multiple different connection modes, which are equal in number and correspond one-to-one with the corresponding scanning circuits. When the joints of the mechanical skeleton rotate to different positions, the main scanning circuits 2 at the joints are connected in different connection modes, and the auxiliary scanning circuits 3 are connected in a connection mode corresponding to the connection mode of the corresponding main scanning circuit 2.

[0035] Preferably, in another embodiment of the present invention, the main scanning circuit 2 has a main detection position, and the auxiliary scanning circuit 3 has an auxiliary detection position. When the joints of the mechanical skeleton rotate to different positions, the main detection positions at the joints are connected in different connection forms, and the corresponding auxiliary detection positions are connected in the same connection form as the main detection positions.

[0036] Preferably, in another embodiment of the present invention, the main detection position has a first connection point and a plurality of second connection points, and the auxiliary detection position has a third connection point and a plurality of fourth connection points, wherein the number of fourth connection points is equal to that of the second connection points and they correspond one-to-one. When the joints of the mechanical skeleton rotate to different positions, the first connection point at the joint is connected to different second connection points to form a path for the main scanning circuit 2, and the fourth connection point corresponding to the second connection point connected to the first connection point is connected to the third connection point to form a path for the auxiliary scanning circuit 3.

[0037] like Figure 2 In the circuit of the control system shown, the first connection point and the second connection point are connected to form a first signal; the third connection point and the fourth connection point form a second signal. The second signal forms an anchor point for the first signal. When the mecha deforms, the change in the second connection point will cause a change in the first signal. At the same time, the signal corresponding to the anchor point marked by the second signal will malfunction, thereby detecting the problem with the mecha.

[0038] like Figure 3 The circuit of the control system shown follows the same principle. Figure 2The circuit of the control system shown is the same. The first connection point of the circuit is replaced with a resistive material similar to the second connection point; one contact at the third connection point is replaced with several contacts. The first signal will generate more and more accurate signals. The mutual reference between the anchor points of the second signal will avoid displacement errors.

[0039] like Figure 4 In the circuit of the control system shown, Figure 3 In the circuit of the control system shown, the chain contact points of the first and fourth connection points are exchanged. This forms... Figure 4 The circuit of the control system shown has a new first signal point and a second signal point; such a first signal point and a second signal point have the same structure, forming a model difference, and it is necessary to make a difference in the material of the second connection point and the fourth connection point.

[0040] Preferably, as another embodiment of the present invention, a temporary scanning circuit 4 is further included. The temporary scanning circuit 4 is electrically connected to the main control circuit 1 to send the data information it scans to the control circuit. The temporary scanning circuit 4 has at least one first contact point and multiple second contact points. The first contact point and multiple second contact points are located at different positions on the mechanical skeleton shell. During the movement of the mechanical skeleton, any first contact point can be connected to any second contact point to form a path for the temporary scanning circuit 4.

[0041] like Figure 5 In the circuit of the control system shown, the first and third connection points are connected to the main control circuit 1 on the left; the second and fourth connection points are connected to the temporary scanning circuit 4 on the right. The first and second connection points form the first temporary signal point, and the third and fourth connection points form the second temporary signal point. The structures of the first and second temporary signal points are identical, and after splitting, several groups can be combined and used at the splittable joints.

[0042] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and embodiments shown and described herein.

Claims

1. A digital control method for the motion of a mechanical skeleton, characterized in that, Includes the following steps: A main scanning circuit (2) and an auxiliary scanning circuit (3) are set at the joints of the mechanical skeleton. When the joints of the mechanical skeleton rotate to different positions, the main scanning circuit (2) emits different first signals and the auxiliary scanning circuit (3) emits different second signals. The first signals and the second signals correspond one-to-one, and the corresponding first signals and second signals are the same set of signals. The real-time rotation position of the joint is obtained, and the first signal and the second signal sent by the main scanning circuit (2) and the auxiliary scanning circuit (3) are received respectively. When the first signal and the second signal are the same set of signals, a normal displacement signal is sent to the controller of the mechanical skeleton through the communication circuit; otherwise, an abnormal displacement information is sent to the controller of the mechanical skeleton through the communication circuit. The main scanning circuit (2) has a main detection position, and the auxiliary scanning circuit (3) has an auxiliary detection position. When the joints of the mechanical skeleton rotate to different positions, the main detection positions at the joints are connected in different connection forms and emit different first signals, and the auxiliary detection positions at the joints are connected in different connection forms and emit different second signals. The main detection position has a first connection point and multiple second connection points, and the auxiliary detection position has a third connection point and multiple fourth connection points. The number of fourth connection points is equal to that of the second connection points and they correspond one-to-one. When the joints of the mechanical skeleton rotate to different positions, the first connection point at the joint is connected to different second connection points so that the main scanning circuit (2) forms a path and emits different first signals. The third connection point at the joint is connected to different fourth connection points so that the auxiliary scanning circuit (3) forms a path and emits different second signals.

2. The digital control method for mechanical skeleton motion as described in claim 1, characterized in that, It also includes receiving the scanned data information sent by the temporary scanning circuit (4), which has at least one first contact point and multiple second contact points. The first contact point and multiple second contact points are located at different positions on the mechanical skeleton shell. During the movement of the mechanical skeleton, any first contact point can be connected to any second contact point to form a path for the temporary scanning circuit (4).

3. A digital control system for the motion of a mechanical skeleton, characterized in that, The system includes a main control circuit (1), multiple main scanning circuits (2), and multiple auxiliary scanning circuits (3) that are equal in number and correspond one-to-one with the main scanning circuits (2). Each joint of the mechanical skeleton is provided with the main scanning circuit (2) and the corresponding auxiliary scanning circuit (3). The main scanning circuit (2) and the auxiliary scanning circuit (3) are electrically connected to the main control circuit (1) to send the data information obtained by scanning to the main control circuit (1). The main control circuit (1) is electrically connected to the controller of the mechanical skeleton through a communication circuit. The main scanning circuit (2) has multiple different connection modes. The auxiliary scanning circuit (3) has multiple different connection modes that are equal in number and correspond one-to-one with the main scanning circuits (2) corresponding to it. When the joint of the mechanical skeleton rotates to different positions, the main scanning circuits (2) at the joint are connected in different connection modes, and the auxiliary scanning circuits (3) are connected in a connection mode corresponding to the connection mode of the corresponding main scanning circuit (2). The main scanning circuit (2) has a main detection position, and the auxiliary scanning circuit (3) has an auxiliary detection position. When the joints of the mechanical skeleton rotate to different positions, the main detection positions at the joints are connected in different connection forms, and the corresponding auxiliary detection positions are connected in the same connection form as the main detection positions. The main detection position has a first connection point and multiple second connection points, and the auxiliary detection position has a third connection point and multiple fourth connection points. The number of fourth connection points is equal to that of the second connection points and they correspond one-to-one. When the joints of the mechanical skeleton rotate to different positions, the first connection point at the joint is connected to different second connection points to form a path for the main scanning circuit (2). The fourth connection point corresponding to the second connection point connected to the first connection point is connected to the third connection point to form a path for the auxiliary scanning circuit (3).

4. The digital control system for mechanical skeleton motion as described in claim 3, characterized in that, It also includes a temporary scanning circuit (4), which is electrically connected to the main control circuit (1) to send the data information it scans to the main control circuit (1). The temporary scanning circuit (4) has at least one first contact point and multiple second contact points. The first contact point and multiple second contact points are located at different positions on the shell of the mechanical skeleton. During the movement of the mechanical skeleton, any first contact point can be connected to any second contact point to form a path for the temporary scanning circuit (4).

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