Active power-assisted exoskeleton digital twinning sensing control system and control method

Abstract

The invention provides an active power-assisted exoskeleton digital twinning sensing control system and method, and the system comprises an exoskeleton physical entity worn on a human body, a sensing feedback module which is used for obtaining the posture information of the exoskeleton physical entity, and an intelligent control module which is used for carrying out the data processing of the posture information. The digital twin module is used for receiving second data information processed by the intelligent control module, adjusting the posture of a virtual exoskeleton simulating an exoskeleton physical entity according to the second data information, and fitting the posture into a downloadable real-time curve for algorithm optimization iteration of the intelligent control module. The precision and the response speed of the identification and assistance algorithm are improved; according to the method, by combining mutual mapping and feedback control between the digital twin and the physical entity, reliable data information and optimization parameters are provided for production, design, debugging and use stages of the exoskeleton physical entity, and both wearing comfort and assistance efficiency of the exoskeleton physical entity are achieved.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to an active power-assisted exoskeleton digital twin perception control system and control method. Background Art

[0002] With the continuous development of science and technology, the demand for technological integration and innovation in various fields is growing, such as military, industry, and medical care. Workers are facing heavy physical labor and high-intensity work pressure. Active power exoskeleton, as a technology that can enhance human strength and reduce physical exertion, has significant application value. Digital twin technology is the key to the interactive system platform to achieve deep interaction between the physical world and the virtual world. Digital twins can create virtual copies corresponding to physical equipment in virtual space, and integrate optimization and precise modeling of the multi-disciplinary, multi-physical quantity, and multi-scale simulation processes of real objects to achieve accurate mapping and simulation of the entire life cycle of physical equipment.

[0003] Currently, most of the active assisted exoskeleton interaction systems on the market focus on providing physical support and enhancement. The integration of exoskeletons and digital twin technologies is not close enough, making it difficult to achieve efficient information transmission and collaborative work. Summary of the invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, the present application aims to provide an active assisted exoskeleton digital twin perception control system and control method.

[0005] In the first aspect, the present application proposes an active power-assisted exoskeleton digital twin perception control system, comprising: An exoskeleton physical entity, the exoskeleton physical entity comprising a hip joint, two exoskeleton lower limbs hinged to the hip joint, and an exoskeleton back plate connected to the hip joint, the exoskeleton physical entity being worn on a human body, and the human body driving the exoskeleton physical entity to move; A perception feedback module, the perception feedback module is arranged on the exoskeleton physical entity, including a sensor group connected to the exoskeleton physical entity, and a collection unit connected to the sensor group, the sensor group includes a plurality of sensors for acquiring first data information of the exoskeleton physical entity, the collection unit is used to collect first data information measured by each of the sensors, the first data information includes posture information and battery power information; an intelligent control module, the intelligent control module being connected to the acquisition unit and configured to process the first data information to obtain second data information, and to obtain the motion state of the exoskeleton physical entity through the second data information; A digital twin module, the digital twin module is electrically connected to the intelligent control module, configured to construct and display a virtual exoskeleton model, the virtual exoskeleton model is used to simulate the exoskeleton physical entity, and is also configured to receive the second data information sent by the intelligent control module, and adjust the posture of the virtual exoskeleton model through the second data information to synchronize it with the exoskeleton object entity; and is also configured to fit the first data information and the second data information into a downloadable real-time curve for the intelligent control module to perform algorithm optimization iteration.

[0006] According to the technical solution provided in the embodiment of the present application, a driving module is also provided on the exoskeleton physical entity; the intelligent control module is also configured to send a power assist instruction to the driving module according to the motion state, and the driving module drives the exoskeleton physical entity to move according to the power assist instruction to achieve power assist compensation.

[0007] According to the technical solution provided in the embodiment of the present application, it also includes a terminal debugging module, which is electrically connected to the intelligent control module. The terminal debugging module is configured to receive the first data information sent by the intelligent control module during the debugging stage, and judge the reliability of the first data information based on actual measurement data.

[0008] In a second aspect, the present application proposes a control method for the active power-assisted exoskeleton digital twin perception control system as described above, comprising the following steps: S100. Constructing a virtual exoskeleton model, wherein the virtual exoskeleton model is used to simulate the physical entity of the exoskeleton; S200. Collecting first data information of the current exoskeleton physical entity in real time, the first data information includes posture information and battery power information; the posture information includes the inclination angle of the exoskeleton backboard, the swing angles of the two exoskeleton lower limbs and the torque values ​​of the two hip joints; S300. Calculate the second data information according to the first data information, and obtain the motion state according to the second data information, wherein the motion state includes the walking squat state and the walking standing state, and the second data information includes the exoskeleton backboard tilt angular velocity, the exoskeleton backboard tilt angular acceleration, the left leg angular velocity, the left leg angular acceleration, the right leg angular velocity, and the right leg angular acceleration; S400. Receive the first data information and the second data information, and adjust and display the posture of the virtual exoskeleton model according to the second data information so as to synchronize it with the physical entity of the exoskeleton.

[0009] According to the technical solution provided in the embodiment of the present application, the following steps are also included before step S100: S001. Obtain a motion state set, the motion state set includes all motion states; S002. Traversing the motion state set, controlling and driving the exoskeleton physical entity to move according to each of the motion states, and periodically collecting the posture information and the second data information of the exoskeleton physical entity; S003. Repeat step S002 and construct a motion parameter database, wherein the motion parameter database includes at least a motion state, and the posture information and the value of the second data information at each acquisition time under each motion state; S004. Based on the motion parameter database, a motion parameter curve database is obtained, wherein the motion parameter curve database includes the motion state, a motion parameter set corresponding to the motion state, the motion parameter set includes each of the posture information and the second data information, and a motion curve corresponding to each of the posture information and the second data information.

[0010] According to the technical solution provided in the embodiment of the present application, after step S300 and before step S400, the following steps are also included: S310. Repeat steps S200-S300 and construct a real-time database, wherein the current database includes at least the first data information and the second data information collected at the current collection time and each collection time before the current collection time; S320. According to the real-time database according to the state judgment strategy, the motion state at the current moment is obtained; S330. Calling the motion parameter curve database to obtain the motion curve corresponding to the motion state at the current moment; S340. Control and drive the exoskeleton physical entity to move according to the motion curve to achieve power compensation; S350. Repeat steps S200-S300 and update the real-time database; S360. Repeat steps S310-S360 to achieve continuous power assistance compensation.

[0011] According to the technical solution provided in the embodiment of the present application, after executing step S200 in step S350, the following steps are also included: S210. Determine whether an overload condition is met based on the first data information, and when the overload condition is met, control to reduce the input current driving the physical entity movement of the exoskeleton until the power-assisted state is exited.

[0012] According to the technical solution provided in the embodiment of the present application, judging whether the overload condition is met according to the first data information includes the following steps: S211. Obtaining the posture state of the exoskeleton physical entity at the current moment according to the inclination angle of the exoskeleton backboard and the swing angles of the two exoskeleton lower limbs in the posture information; S212. When it is determined that the torque value in the posture information is less than the safety threshold, or the posture state is different from the motion state obtained in step S320, it is determined that the overload condition is met.

[0013] According to the technical solution provided in the embodiment of the present application, step S400 also includes the following steps: judging whether the battery power is less than a preset power according to the battery power information, and when it is less than the preset power, generating and displaying a reminder instruction, wherein the reminder instruction is used to remind the user to charge.

[0014] According to the technical solution provided in the embodiment of the present application, the following steps are also included before step S100: S010. Obtaining posture information of the exoskeleton physical entity; S020. Filter the posture information to obtain stable parameter information; S030. Compare the stable parameter information with the actual measured parameter information. If the two are the same, continue to execute step S100.

[0015] In summary, the present application proposes an active power-assisted exoskeleton digital twin perception control system, including an exoskeleton physical entity worn on a human body, a perception feedback module connected thereto for obtaining its posture information and battery power information, an intelligent control module connected to the perception feedback module for data processing of the posture information, and a digital twin module connected to the intelligent control module, wherein the digital twin module receives the second data information processed by the intelligent control module, and adjusts the posture of the virtual exoskeleton used to simulate the exoskeleton physical entity according to the second data information, so that the motion posture of the virtual exoskeleton model and the exoskeleton physical entity are the same; and the first data information and the second data information are fitted into a downloadable real-time curve for algorithm optimization and iteration of the intelligent control module, so as to improve the accuracy and response speed of the recognition and power-assisted algorithms. The present application combines the mutual mapping between the digital twin and the physical entity, intuitive display and real-time feedback, and provides users with a more comfortable and efficient use experience; in addition, reliable data information and optimization parameters are provided for the production, design, debugging and use stages of the exoskeleton physical entity, so as to achieve the comfort of wearing and high efficiency of power-assisted exoskeleton physical entity. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of the structure of the exoskeleton physical entity provided in the embodiment of the present application; Figure 2 A schematic diagram of the interface of the digital twin module provided in the embodiment of the present application; Figure 3 A flow chart of a control method for an active assisted exoskeleton digital twin perception control system provided in an embodiment of the present application.

[0017] The text annotations in the figure represent: 1. Exoskeleton back plate; 2. Hips; 3. Exoskeleton lower limbs; 4. Hip joints; 5. Nylon shoulder straps; 6. Waist buckles; 7. Backpack with back cover. DETAILED DESCRIPTION

[0018] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

[0019] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0020] Example 1 As mentioned in the background technology, the present application proposes an active power-assisted exoskeleton digital twin perception control system, including: An exoskeleton physical entity, the exoskeleton physical entity comprising a hip joint 4, two exoskeleton lower limbs 3 hinged to the hip joint 4, and an exoskeleton back plate 1 connected to the hip joint 4, the exoskeleton physical entity is worn on a human body, and the human body drives the exoskeleton physical entity to move; Among them, Figure 1 As shown, the exoskeleton physical entity includes an exoskeleton back plate 1, a hip 2, an exoskeleton lower limb 3, and a hip joint 4 connecting the hip 2 and the exoskeleton lower limb 3, wherein the hip joint 4 is hinged to the exoskeleton lower limb 3 and fixedly connected to the hip 2. A back cover backpack 7 is arranged behind the exoskeleton back plate 1, and a nylon shoulder strap 5 is arranged on the top thereof, and waist buckles 6 are arranged on both sides, and a close fit with the wearer is achieved through the nylon shoulder strap 5 and the waist buckle 6, so that the movement trend of the wearer and the exoskeleton physical entity is consistent.

[0021] In addition, the hip part 2 includes two opposite hip plates, the proximal ends of the two hip plates can slide horizontally on the exoskeleton back plate 1, and the other ends are respectively connected to the hip joints 4; by adjusting the width between the two hip plates, the applicability of the exoskeleton physical entity is further improved.

[0022] A perception feedback module, the perception feedback module is arranged on the exoskeleton physical entity, including a sensor group connected to the exoskeleton physical entity, and a collection unit connected to the sensor group, the sensor group includes a plurality of sensors for acquiring first data information of the exoskeleton physical entity, the collection unit is used to collect first data information measured by each of the sensors, the first data information includes posture information and battery power information; The sensor group includes an IMU tilt sensor disposed in the back cover backpack 7, and the IMU tilt sensor is used to measure the tilt amplitude and posture change of the exoskeleton back plate 1. It also includes an absolute encoder and a torque sensor disposed in the hip joint 4, the absolute encoder is used to measure the swing angle of the exoskeleton lower limbs, and the torque sensor is used to measure the torque of each hip joint 4; the posture of the exoskeleton physical entity can be obtained according to the tilt amplitude of the exoskeleton back plate 1 and the swing angle of the two exoskeleton lower limbs.

[0023] Furthermore, the exoskeleton physical entity is also provided with a safety emergency stop device, a relay, a transformer, a power supply protection cover, a power display and an operating mode indicator light.

[0024] an intelligent control module, the intelligent control module being connected to the acquisition unit and configured to process the first data information to obtain second data information, and to obtain the motion state of the exoskeleton physical entity through the second data information; Among them, the acquisition unit and the intelligent control module are both placed in the rear cover backpack 7. The intelligent control module obtains the second data information through a high-performance processor and an intelligent control algorithm. For example, by differentiating the inclination of the exoskeleton backboard 1 measured by the IMU inclination sensor based on time, the inclination acceleration of the exoskeleton backboard 1 can be obtained, that is, the second calculation information is calculated through the first data information.

[0025] A digital twin module, the digital twin module is electrically connected to the intelligent control module, configured to construct and display a virtual exoskeleton model, the virtual exoskeleton model is used to simulate the exoskeleton physical entity, and is also configured to receive the second data information sent by the intelligent control module, and adjust the posture of the virtual exoskeleton model through the second data information to synchronize it with the exoskeleton object entity; it is also configured to fit the first data information and the second data information into a downloadable real-time curve, and the real-time curve is used for the intelligent control module to perform algorithm optimization iteration.

[0026] The digital twin module builds a virtual exoskeleton model based on the Unity3D physics engine and can run on PCs and mobile phones. It is built based on the Unity3D physics engine and packaged as an APP that can run on mobile phones and other devices. It has strong compatibility and is used to visualize the working status of the exoskeleton physical entity. Building a virtual exoskeleton model includes five parts: virtual exoskeleton model construction, virtual assembly code writing, sensor data association, communication protocol construction, and AR image fusion processing.

[0027] Specifically, the virtual exoskeleton model is constructed and the virtual assembly code is written. The model is drawn using industrial 3D modeling software. The size of each component is the same as the physical entity of the exoskeleton, and the center of the object is reset through Blender to adapt to the Unity3D physics engine. The Unity3D physics engine establishes the parent-child relationship of parts, defines the coordinate origin, rotation center and sliding track, adds physical constraints, and writes control code to achieve assembly and operation logic consistent with the physical entity of the exoskeleton. Build a virtual environment in Unity 3D, add observation components such as lighting and cameras, as well as influencing factors such as gravity acceleration and object material, write the code to import the perspective rotation, create an unloaded object, mount the script to the mian camera, adjust the perspective movement rate and perspective range, and realize 360° visualization of the twin.

[0028] Specifically, add canvas background and slider, run, stop, scene switch and exit buttons, write GUI association code through visual studio code to associate the motion state of the virtual exoskeleton model with the UI, realize the two-way mapping between the control UI and the virtual exoskeleton model, create text blank text, and associate output variables. The interface of the digital twin module is as follows: Figure 2 shown.

[0029] A series of variables are defined on the digital twin module to store angle values ​​and acceleration values, as well as the GUT display elements corresponding to these values; the data values ​​of each sensor are obtained through the Send_GUIData method, which represents the angles and angular velocities of the two hip joints 4 and the exoskeleton backplate 1, as well as the IMU tilt angle of the back. Use these values ​​to update the rotation angle of the corresponding virtual exoskeleton model. Use Time.deltaTime to rotate smoothly to ensure that the rotation speed is independent of the frame rate. Format the angle and angular velocity as a string and set it to the text attribute of the GUI element for display on the interface. Use the Return method to load another scene, which is used for navigation between scenes in the digital twin module. Use the Quit method to exit the Unity application.

[0030] Specifically, the digital twin module communicates through the serial port and TCP protocol to achieve electrical connection with the intelligent control module, and uses Playmaker to build a state machine and visual programming, and realizes the UI display of sensor data through C language code. AR image fusion processing is implemented through the Vuforia Engine plug-in, creating an identification object and importing pictures (Target Manager) and downloading the AR function package file. Unity imports the model and Vuforia Engine to create AR Camera and Target. Import the certificate code in ARCamera. Finally, import the package file of the identification object and install it on Target to realize the recognition and accurate overlap of the 3D physical model. The digital twin module is equipped with an exoskeleton teaching function to assist staff in understanding the relevant functions of the exoskeleton and visual learning operations.

[0031] In summary, this application uses AR imaging technology, combined with the mutual mapping between digital twins and physical entities, intuitive display and real-time feedback, which reduces the difficulty of operation, reduces training costs and time, and thus provides users with a more comfortable and efficient use experience; in addition, through real-time curves, the intelligent control module performs algorithm optimization and iteration, improves recognition accuracy, and provides reliable data information and optimization parameters for the production, design, debugging and use stages of the exoskeleton physical entity.

[0032] In a preferred embodiment, a driving module is also provided on the exoskeleton physical entity; the intelligent control module is further configured to send a power assist instruction to the driving module according to the motion state, and the driving module drives the exoskeleton physical entity to move according to the power assist instruction to achieve power assist compensation.

[0033] Wherein, the driving module is a servo motor arranged in the hip joint 4, and the intelligent control module controls the servo motor through the CAN bus communication protocol to perform power compensation; and the intelligent control module and the perception feedback module communicate through RS485 to obtain the first data information. When the wearer drives the physical entity of the exoskeleton to move, the first data information is obtained through the perception feedback module, including the inclination angle of the exoskeleton backboard (including the IMU X-axis inclination angle, the IMU Y-axis inclination angle, and the IMU Z-axis inclination angle), the swing angle of the two exoskeleton lower limbs 3, and the torque value of the two hip joints 4; the intelligent control module converts the first data information into the second data information through the internal algorithm, and the second data information includes the IMU X-axis angular velocity of the exoskeleton backboard 1, the IMU X-axis angular acceleration, the IMU Y-axis angular velocity, the IMU Y-axis angular acceleration, the IMU Z-axis angular velocity, the IMU Z-axis angular acceleration, the left leg angular velocity, the left leg angular acceleration, the right leg angular velocity, the right leg angular acceleration, etc. The digital twin module will fit the real-time curve for the intelligent control room module to perform algorithm optimization and iteration, which also improves the accuracy and response speed of the power assistance algorithm, achieving both the wearing comfort of the exoskeleton physical entity and the high efficiency of power assistance.

[0034] Optionally, the internal algorithm of the intelligent control module is controlled and written based on the Matlab Simulink plug-in. According to the communication protocol of each sensor, the data acquisition and solution functions are integrated to output the physical quantity data measured by the sensor; the Matlab Simulink plug-in establishes a data transmission link with Unity 3D through the TCP communication protocol, and Matlab Simulink builds a transceiver module, defines the IP based on the host open port, and the parameters such as the port number, and runs the C# script program to realize the data stream synchronous transmission function. The user enters the server's IP address, port number and message to be sent through the GUI interface. Click the "Start Listening" button, and the server starts listening for connection requests from the specified IP address and port. After the client connects to the server, the server creates threads for receiving and sending data for each connection. The receiving thread continuously receives the data sent by the client and displays it through the UI and log. The user clicks the "Send Data" button, and the server sends the specified message to the client. When the Unity component is disabled, the server closes all Socket connections and releases resources.

[0035] Specifically, in the Start method, initialize UI elements (such as Slider and InputField) and set their initial values. At the same time, add event listeners for Slider and InputField to update the UI when the value changes. Use the OnGUI method to create a GUI interface, allowing the user to enter the server's IP address, port number, and message to be sent, and provide two buttons: "Start Listening" and "Send Data". When the user clicks the "Start Listening" button, call the ClickConnect method. When the user clicks the "Send Data" button, set the isSendData flag to true to send data in the thread that sends the message. In the ClickConnect method, the server attempts to bind to the IP address and port specified by the user. Create a Socket object for listening (socketWatch) and bind it to the specified IP address and port. Call socketWatch.Listen(10) to start listening, and set the maximum number of connections to 10. Create a new thread (thread) to continuously listen for client connection requests. In the listening thread (Listen method), the server continuously waits for client connection requests. Once a connection request is received, create a new Socket (socketSend) to communicate with the client. Two new threads are created for each connected client: one for receiving data (Received method) and the other for sending data (SendMessage method). In the thread that receives data (Received method), the server continuously receives data from the client. The data is received as bytes and then converted to integers (assuming that the client sends integers). The received data is displayed through the UI and logs, and the number of receptions is updated. In the thread that sends data (SendMessage method), the server continuously checks the isSendData flag. If isSendData is true, the server sends the user-specified message (inputMessage) to the client and resets isSendData to false. When the Unity component is disabled (OnDisable method), the server attempts to close the listening Socket (socketWatch) and all Sockets that communicate with the client (socketSend) to free up resources.

[0036] Specifically, the data acquisition and solution functions can identify the return data IDs of different sensors, integrate the communication protocol data frame splitting and extraction functions, and verify the correctness and timeliness of the data based on the check bit function. According to the data length and function code, the key parameters measured by the current sensor are obtained, and converted into decimal physical quantities according to the built-in calculation function.

[0037] Specifically, according to the communication protocol and the check code function of the reading angle of the IMU inclination sensor, the spatial state relationship between the inclination angle of the exoskeleton back plate and the exoskeleton lower limb 3 is measured, for example: Send: 5003003D00039986 to read the three-axis angle; Return: 50 03 06 RollH RollL PitchH PitchL YawH YaWL CRCH CRCL; Roll[15:0]=((short)RolH<<8)|RolL; Pitch[15:0]=((short)PitchH<<8)|PitchL; Yaw[15:0]=((short)YawH<<8)|YawL; Combine the high eight bits and low eight bits of each axis angle into a 16-bit binary array, convert it to double type, and substitute it into the formula to get: Roll angle X = Roll[15:0] / 32768*180° Pitch angle Y = Pitch[15:0] / 32768*180° Heading angle Z = Yaw[15:0] / 32768*180° Among them, the roll angle is the IMU X-axis inclination angle, the pitch angle is the IMU Y-axis inclination angle, and the heading angle is the IMU Z-axis inclination angle. Specifically, the data acquisition and solution function can identify the return data IDs of different sensors, integrate the communication protocol data frame splitting and extraction functions, and verify the data correctness and timeliness according to the check bit function, obtain the key parameters measured by the current sensor according to the data length and function code, and convert them into decimal physical quantities according to the built-in calculation function.

[0038] In a preferred embodiment, it also includes a terminal debugging module, which is electrically connected to the intelligent control module. The terminal debugging module is configured to receive the first data information sent by the intelligent control module during the debugging stage and determine the reliability of the first data information based on actual measurement data.

[0039] Among them, the terminal debugging module is the upper computer system. For example, the intelligent control module transmits the received swing angle of the exoskeleton lower limb 3 to the terminal debugging module and displays the angle value. The actual swing angle is then measured by an angle measuring instrument and the two are compared. If the values ​​are the same, the debugging is completed. If the values ​​are different, the internal algorithm of the intelligent control module needs to be adjusted until the value transmitted by the intelligent control module is the same as the actual measured value.

[0040] Example 2 Based on Example 1, this application proposes a control method for an active power-assisted exoskeleton digital twin perception control system, such as Figure 3 As shown, the following steps are included: S100. Constructing a virtual exoskeleton model, wherein the virtual exoskeleton model is used to simulate the physical entity of the exoskeleton; Among them, a virtual exoskeleton model is built on the digital twin module, and the size of the virtual exoskeleton model is the same as that of the physical entity of the exoskeleton.

[0041] S200. Real-time collection of first data information of the current exoskeleton physical entity, the first data information including posture information and battery power information; the posture information includes the inclination angle of the exoskeleton backboard, the swing angles of the two exoskeleton lower limbs 3 and the torque values ​​of the two hip joints 4; Among them, posture information is measured by a perception feedback module, wherein the inclination of the exoskeleton backboard is measured by an IMU inclination sensor arranged on the exoskeleton backboard 1, the swing angles of the two exoskeleton lower limbs are measured by an absolute encoder arranged in the hip joint 4, and the torque value is obtained by measuring the torque sensor arranged in the hip joint 4; wherein the inclination of the exoskeleton backboard includes the inclination of the IMU X-axis, the inclination of the IMU Y-axis, and the inclination of the IMU Z-axis; the power supply is arranged in the back cover backpack 7 behind the exoskeleton backboard 1, and is connected to the intelligent control module, and the intelligent control module can obtain battery power information; each sensor transmits the measured data to the intelligent control module through an integrated component, and the intelligent control module obtains the first data information through data solution.

[0042] S300. Calculate the second data information according to the first data information, and obtain the motion state according to the second data information, wherein the motion state includes the walking squat state and the walking standing state, and the second data information includes the exoskeleton backboard tilt angular velocity, the exoskeleton backboard tilt angular acceleration, the left leg angular velocity, the left leg angular acceleration, the right leg angular velocity, and the right leg angular acceleration; The exoskeleton backboard tilt angular velocity includes IMU X-axis angular velocity, IMU Y-axis angular velocity, and IMU Z-axis angular velocity; the exoskeleton backboard tilt angular acceleration includes IMU Z-axis angular acceleration, IMU X-axis angular acceleration, and IMU Y-axis angular acceleration. The intelligent control module calculates the second data information based on the first data information through an internal algorithm, for example, the IMU X-axis inclination angle is differentiated based on time to obtain the IMU X-axis angular velocity; the walking squat state includes the first initial state, the first double-foot standing, the squatting process, the squatting stop, and the standing up, and the double-foot standing includes the second initial state, the second double-foot standing, the stride standing, and the walking.

[0043] S400. Receive the first data information and the second data information, and adjust and display the posture of the virtual exoskeleton model according to the second data information so as to synchronize it with the physical entity of the exoskeleton.

[0044] The digital twin module displays the adjusted virtual exoskeleton model on the interface. It can fit the first data information and the second data information into a curve and display it on the interface or directly display it on the interface, which is convenient for the wearer to view. After the digital twin module completes the construction of the virtual exoskeleton model and completes the communication between the perception feedback module, the intelligent control module, and the digital twin module, the wearer wears the exoskeleton physical entity and drives the exoskeleton physical entity to perform any action of squatting, squatting, standing and walking. The first data information is obtained through the perception feedback module and transmitted to the intelligent control module. After data processing, the intelligent control module obtains the second data information and motion state, and transmits the second data information to the digital twin module, which provides a reference for the digital twin module to adjust the posture of the virtual exoskeleton model. The digital twin module adjusts the posture of the virtual exoskeleton model on the interface.

[0045] In a preferred embodiment, the following steps are also included before step S100: S001. Obtain a motion state set, the motion state set includes all motion states; Among them, the first step is to complete the construction of the exoskeleton digital twin perception control system, including the construction of the virtual exoskeleton model, as well as the communication between the perception feedback module, the intelligent control module, and the exoskeleton physical entity. By wearing the exoskeleton physical entity, the exoskeleton physical entity can learn the wearer's movement habits.

[0046] S002. Traversing the motion state set, controlling and driving the exoskeleton physical entity to move according to each of the motion states, and periodically collecting the posture information and the second data information of the exoskeleton physical entity; Among them, the movement state set includes walking squat state and walking standing state; the walking squat state includes the first initial state, the first standing on both feet, the squatting process, the squatting stop, and the standing up state; the walking standing state includes the second initial state, the second standing on both feet, the striding standing, and walking.

[0047] S003. Repeat step S002 and construct a motion parameter database, wherein the motion parameter database includes at least a motion state, and the posture information and the value of the second data information at each acquisition time under each motion state; Among them, through the wearer's multiple movements, a motion parameter database is obtained, and one of the posture information of some motion states in the motion parameter database is shown in Table 1: Table 1

[0048] S004. Based on the motion parameter database, a motion parameter curve database is obtained, wherein the motion parameter curve database includes the motion state, a motion parameter set corresponding to the motion state, the motion parameter set includes each of the posture information and the second data information, and a motion curve corresponding to each of the posture information and the second data information.

[0049] According to a table similar to Table 1, the time-varying values ​​corresponding to each posture information and the second data information in each motion state are obtained, and then the motion curves corresponding to each posture information and the second data information in each motion state are obtained, that is, the motion parameter curve database is obtained.

[0050] In summary, steps S001-S004 are the learning process of the active assisted exoskeleton digital twin perception control system. The motion curve corresponding to the same motion parameter of the same motion state can be obtained by having the wearer perform the same action multiple times. Multiple motion curves can be optimized by the average method, fitting method, etc. to obtain the final motion curve.

[0051] In a preferred embodiment, after step S300 and before step S400, the following steps are also included: S310. Repeat steps S200-S300 and construct a real-time database, wherein the current database includes at least the first data information and the second data information collected at the current collection time and each collection time before the current collection time; wherein the real-time database is shown in Table 2: Table 2

[0052] S320. Obtain the current motion state according to the state judgment strategy based on the real-time database; comprising the following steps: S321. Acquire a state judgment strategy database, wherein the state judgment strategy database includes a walking squat state and a walking standing state, and state conditions corresponding to the two; S322. When it is determined according to the real-time database that any of the state conditions is met, the walking squat state or the walking standing state corresponding to the state condition is obtained, which is the movement state at the current moment.

[0053] Among them, the first data information and the second data information collected at a certain collection time are first used to determine whether the current state is a walking squatting state or a walking standing state. After determination, it is then determined to be any one of the first initial state, the first double-foot standing, the squatting process, the squatting stop, and the standing up state in the walking squatting state; or it is determined to be any one of the second initial state, the second double-foot standing, the striding standing, and the walking in the walking standing state. Step S322 includes the following steps: S3221. When it is determined according to the real-time database that the state condition corresponding to the walking squatting state is met, steps S3222-S3224 are executed; when it is determined that the state condition corresponding to the walking standing state is met, steps S3224-S3225 are executed; S3222. Acquire a walking squat state judgment strategy database, wherein the walking squat state judgment database includes a first initial state, a first two-foot standing state, a squatting process, a squatting stop, a standing up state, and first state conditions corresponding thereto respectively; S3223. When it is determined according to the real-time database that any of the first state conditions is satisfied, any state of the walking squatting state corresponding to the first state condition is obtained; For example, when it is determined according to the real-time database that the state conditions corresponding to the walking squat state are met, when the IMU X-axis angle is greater than 15 and the IMU X-axis inclination angular velocity is greater than 15 and the left leg angular velocity and the right leg angular velocity are both greater than 15 and the torque value is greater than 8, then the first two-foot standing is switched to the squatting process, that is, the current state is the squatting process; when the IMU X-axis angular velocity is less than 15 and the product of the left leg angular velocity and the right leg angular velocity is less than 400, then the squatting process is switched to the squatting stop, that is, the current state is the squatting stop state; when (IMU X-axis angular velocity is less than 15 or the product of the left leg angular velocity and the right leg angular velocity is greater than 400) and (the left leg angular velocity and the right leg angular velocity are both less than -5) and the torque value is less than 8, then the squatting stop is switched to the standing up state, that is, the current state is the standing up state.

[0054] S3224. Acquire a walking and standing state judgment strategy database, wherein the walking and standing state judgment database includes a second initial state, a second two-foot standing state, a striding standing state, walking, and second state conditions corresponding thereto respectively; S3225. When it is determined according to the real-time database that any second state condition is satisfied, any state in the walking and standing states corresponding to the second state condition is obtained.

[0055] Among them, the method of judging which state it belongs to in walking and standing is similar to the method of judging which state it belongs to in walking and squatting, and will not be repeated here.

[0056] S330. Call the motion parameter curve database to obtain a motion curve corresponding to the motion state at the current moment; wherein, the motion curve is obtained by learning the wearer's motion habits through the exoskeleton physical entity, as described above, and will not be repeated here.

[0057] S340. Control and drive the exoskeleton physical entity to move according to the motion curve to achieve power compensation; S350. Repeat steps S200-S300 and update the real-time database; In the assisting stage, the first data information and the second data information still need to be acquired in real time to update the real-time database; S360. Repeat steps S310-S360 to achieve continuous power compensation; Among them, through steps S340-S330, the motion state of the next collection moment is obtained. When the motion state is different from that of the previous collection moment, the exoskeleton physical entity is controlled to jump out of the motion state of the previous collection moment and execute the motion state of the next collection moment.

[0058] In a preferred embodiment, step S350 further includes the following steps after executing step S200: S210. Determine whether an overload condition is met based on the first data information, and when the overload condition is met, control to reduce the input current driving the physical entity movement of the exoskeleton until the power-assisted state is exited.

[0059] The determining whether the overload condition is met according to the first data information comprises the following steps: S211. Obtaining the posture state of the exoskeleton physical entity at the current moment according to the inclination angle of the exoskeleton backboard and the swing angle of the two exoskeleton lower limbs 3 in the posture information; S212. When it is determined that the torque value in the posture information is less than the safety threshold, or the posture state is different from the motion state obtained in step S320, it is determined that the overload condition is met.

[0060] That is, when the torque value is not greater than the safety threshold and the posture state is the same as the motion state in step S320, the overload condition is not met and the power assistance compensation continues. When the overload condition is met, the intelligent control module controls the input current of the servo motor to decrease, and the servo motor gradually exits the power assistance compensation.

[0061] In a preferred embodiment, step S400 also includes the following steps: judging whether the battery power is less than a preset power according to the battery power information, and when the battery power is less than the preset power, generating and displaying a reminder instruction, wherein the reminder instruction is used to remind the user to charge.

[0062] Among them, the power supply placed in the back cover backpack 7 behind the exoskeleton backplate 1 is connected to the intelligent control module, and the intelligent control module can receive battery power information, such as the remaining power. When the intelligent control module determines that the remaining power is less than the preset power, it generates a reminder instruction and transmits the reminder instruction to the digital twin module, and displays the power on the interface of the digital twin module, and gives a reminder.

[0063] In a preferred embodiment, the following steps are also included before step S100: S010. Obtaining posture information of the exoskeleton physical entity; S020. Filter the posture information to obtain stable parameter information; S030. Compare the stable parameter information with the actual measured parameter information. If the two are the same, continue to execute step S100.

[0064] That is, after building the active assisted exoskeleton digital twin perception control system, the system is debugged with the help of the terminal debugging module. The terminal debugging module obtains the stable parameter information through the intelligent control module, and obtains the actual measurement parameter information through instruments such as angle measuring instruments. The two are compared to determine whether the terminal debugging module can receive the correct data. If the two do not match, the solution algorithm in the intelligent control module or the internal calculation algorithm is adjusted to make the measured value and the received value the same.

[0065] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the present application.

Claims

1. An active power-assisted exoskeleton digital twin perception control system, characterized in that: include: An exoskeleton physical entity, the exoskeleton physical entity comprising a hip joint (4), two exoskeleton lower limbs (3) hinged to the hip joint (4), and an exoskeleton back plate (1) connected to the hip joint (4); the exoskeleton physical entity is worn on a human body, and the human body drives the exoskeleton physical entity to move; A perception feedback module, the perception feedback module is arranged on the exoskeleton physical entity, including a sensor group connected to the exoskeleton physical entity, and a collection unit connected to the sensor group, the sensor group includes a plurality of sensors for obtaining first data information of the exoskeleton physical entity, the collection unit is used to collect the first data information measured by each of the sensors, the first data information includes posture information and battery power information; an intelligent control module, the intelligent control module being connected to the acquisition unit and configured to process the first data information to obtain second data information, and to obtain the motion state of the exoskeleton physical entity through the second data information; A digital twin module, the digital twin module is electrically connected to the intelligent control module, configured to construct and display a virtual exoskeleton model, the virtual exoskeleton model is used to simulate the exoskeleton physical entity, and is also configured to receive the second data information sent by the intelligent control module, and adjust the posture of the virtual exoskeleton model through the second data information to synchronize it with the exoskeleton object entity; and is also configured to fit the first data information and the second data information into a downloadable real-time curve for the intelligent control module to perform algorithm optimization iteration.

2. The active power-assisted exoskeleton digital twin perception control system according to claim 1 is characterized in that: The exoskeleton physical entity is also provided with a driving module; the intelligent control module is further configured to send a power assist instruction to the driving module according to the motion state, and the driving module drives the exoskeleton physical entity to move according to the power assist instruction to achieve power assist compensation.

3. The active power-assisted exoskeleton digital twin perception control system according to claim 1, characterized in that: It also includes a terminal debugging module, which is electrically connected to the intelligent control module. The terminal debugging module is configured to receive the first data information sent by the intelligent control module during the debugging stage and determine the reliability of the first data information based on actual measurement data.

4. A control method for an active power-assisted exoskeleton digital twin perception control system according to any one of claims 1 to 3, characterized in that: The steps include: S100. Constructing a virtual exoskeleton model, wherein the virtual exoskeleton model is used to simulate the physical entity of the exoskeleton; S200. collecting first data information of the current exoskeleton physical entity in real time, the first data information including posture information and battery power information; the posture information includes the inclination angle of the exoskeleton back plate, the swing angles of the two exoskeleton lower limbs (3) and the torque values ​​of the two hip joints (4); S300. Calculate the second data information according to the first data information, and obtain the motion state according to the second data information, wherein the motion state includes the walking squat state and the walking standing state, and the second data information includes the exoskeleton backboard tilt angular velocity, the exoskeleton backboard tilt angular acceleration, the left leg angular velocity, the left leg angular acceleration, the right leg angular velocity, and the right leg angular acceleration; S400. Receive the first data information and the second data information, and adjust and display the posture of the virtual exoskeleton model according to the second data information so as to synchronize it with the physical entity of the exoskeleton.

5. The control method according to claim 4, characterized in that: Before step S100, the following steps are also included: S001. Obtain a motion state set, the motion state set includes all motion states; S002. Traversing the motion state set, controlling and driving the exoskeleton physical entity to move according to each of the motion states, and periodically collecting the posture information and the second data information of the exoskeleton physical entity; S003. Repeat step S002 and construct a motion parameter database, wherein the motion parameter database includes at least a motion state, and the posture information and the value of the second data information at each acquisition time under each motion state; S004. Based on the motion parameter database, a motion parameter curve database is obtained, wherein the motion parameter curve database includes the motion state, a motion parameter set corresponding to the motion state, the motion parameter set includes each of the posture information and the second data information, and a motion curve corresponding to each of the posture information and the second data information.

6. The control method according to claim 5, characterized in that: After step S300 and before step S400, the following steps are also included: S310. Repeat steps S200-S300 and construct a real-time database, wherein the current database includes at least the first data information and the second data information collected at the current collection time and each collection time before the current collection time; S320. According to the real-time database according to the state judgment strategy, the motion state at the current moment is obtained; S330. Calling the motion parameter curve database to obtain the motion curve corresponding to the motion state at the current moment; S340. Control and drive the exoskeleton physical entity to move according to the motion curve to achieve power compensation; S350. Repeat steps S200-S300 and update the real-time database; S360. Repeat steps S310-S360 to achieve continuous power assistance compensation.

7. The control method according to claim 6, characterized in that: After executing step S200, step S350 further includes the following steps: S210. Determine whether an overload condition is met based on the first data information, and when the overload condition is met, control to reduce the input current driving the physical entity movement of the exoskeleton until the power-assisted state is exited.

8. The control method according to claim 7, characterized in that: Determining whether the overload condition is met according to the first data information comprises the following steps: S211. Obtaining the posture state of the exoskeleton physical entity at the current moment according to the inclination angle of the exoskeleton back plate and the swing angle of the two exoskeleton lower limbs (3) in the posture information; S212. When it is determined that the torque value in the posture information is less than the safety threshold, or the posture state is different from the motion state obtained in step S320, it is determined that the overload condition is met.

9. The control method according to claim 4, characterized in that: Step S400 also includes the following steps: judging whether the battery power is less than a preset power according to the battery power information, and when the battery power is less than the preset power, generating and displaying a reminder instruction, wherein the reminder instruction is used to remind the user to charge.

10. The control method according to claim 4, characterized in that: Before step S100, the following steps are also included: S010. Obtaining posture information of the exoskeleton physical entity; S020. Filter the posture information to obtain stable parameter information; S030. Compare the stable parameter information with the actual measured parameter information. If the two are the same, continue to execute step S100.

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