Control method and control device of power-assisted exoskeleton

Abstract

The invention provides a control method and a control device of a power-assisted exoskeleton, the power-assisted exoskeleton comprises a power module, the power module is provided with a stay wire, shoulder stay wire modules on two sides are matched with the power module through the stay wire, the stay wire is respectively connected with a shoulder power-assisted module and an arm power-assisted module through the shoulder stay wire modules, and correspondingly, the power-assisted exoskeleton is connected with the shoulder power-assisted module and the arm power-assisted module through the stay wire. The control method comprises the following steps: S101, acquiring a current work task type input by a user, wherein the work task type comprises unloading, sorting and turning over, sorting, scanning and bagging and code shooting; and S102, the working state of each clutch is controlled according to the current work task type of the user, so that the power assisting mode is adjusted, and assistance is provided for the power assisting module part of the upper limb.

Description

Technical Field

[0001] The present invention relates to a boosting device, and more particularly to a control method and a control device for a powered exoskeleton. Background Art

[0002] A powered exoskeleton is a high-tech equipment that combines mechanics, electronics and biomechanics technologies, aiming to enhance human movement ability, reduce the load burden or assist in rehabilitation. The boosting device of the exoskeleton is like an "iron suit" worn on the human body. Using this device system can greatly improve the human load-bearing capacity, relieve physical fatigue and reduce the probability of skeletal muscle injury. Of course, in different usage scenarios, the emphasis on the boosting device of the exoskeleton is also different. For example, in some scenarios that require long-term load-bearing and large boosting force, such as wild rescue and load-carrying scenarios, in the prior art, in order to provide a large boosting force for users in load-carrying scenarios, various powered exoskeletons have been developed.

[0003] For example, Chinese Patent CN212825372U discloses an upper limb load-bearing boosting exoskeleton device, which includes an exoskeleton tightening module sleeved on the human back, an upper limb module sleeved on the left and right arms of the human body and providing power driving function, and an automatic young fruit bagging machine body for human hand-held. The exoskeleton tightening module includes a tightening sleeve at the upper end and a power supply module installed on the back of the tightening sleeve at the lower end for providing power supply and controlling the whole device. Among them, the tightening sleeve is in a Y-shaped structure on the back of the human body, in an H-shaped structure on the chest of the human body, and the bottom end is a flexible humanoid structure that fits the human configuration. The power supply module is fixed on a circular structure at the center of the back. This upper limb load-bearing boosting exoskeleton device provides boosting force to the upper limb of the human body through electric control.

[0004] Another example is that Chinese Patent CN114714325B discloses an upper limb boosting exoskeleton and an exoskeleton device, which includes an upper limb elastic energy storage mechanism and a force transmission component worn on the human body; the force transmission component connects the upper limb elastic energy storage mechanism and the wearer's upper limb, so that when the wearer stretches the upper limb joint, the force transmission component drives the upper limb elastic energy storage mechanism to store energy, and when the wearer bends the upper limb joint, the upper limb elastic energy storage mechanism releases elastic potential energy to assist the wearer's upper limb. Among them, the upper limb elastic energy storage mechanism includes an elastic energy storage component, and the force transmission component is a wire; the wire can pull the elastic energy storage component to contract and store energy, and when the elastic energy storage component expands, it can drive the wire to assist the upper limb. This application aims to store energy in the elastic energy storage mechanism by bending joints such as the waist and leg joints, and when the waist and leg joints stretch, the elastic energy storage mechanism releases the stored elastic potential energy to achieve the boosting effect.

[0005] However, the above-mentioned powered exoskeletons are all adapted to scenarios where a relatively large degree of assistance is required and the assistance is maintained for a long time, and are not adapted to scenarios where the assistance mode or the magnitude of assistance needs to be switched frequently.

[0006] For example, in the express sorting work where manual sorting still occupies an important position, workers need to frequently perform actions such as carrying, lifting, passing, and sorting items, and the intervals between different actions are short. Although the working hours are also long, each worker may change the work content during a day's work. For example, after unloading, perform sorting, stacking and other work tasks. In addition, the work content of each worker may also be different every day. For example, unloading was carried out yesterday, but today the worker does not participate in unloading, etc. That is, workers need to switch between different work tasks quickly, frequently, and in a short time to ensure efficiency. This is why workers must complete each step quickly, resulting in a high-intensity workload on the upper limbs and waist.

[0007] In addition, for the existing powered exoskeletons, for the upper limb assistance modules of both arms, separate power modules are respectively set to provide assistance for the corresponding upper limb assistance modules. However, this way of separately setting power modules will greatly increase the weight of the exoskeleton, thereby increasing the burden on the wearer. Summary of the Invention

[0008] The purpose of the present invention is to provide a control method and a control device for a powered exoskeleton, which partially solve or alleviate the above deficiencies in the prior art. Only one power device is provided on the back of the torso, and it drives three cable mechanisms, which respectively correspond to the assistance devices for different parts of the upper limbs. At the same time, a clutch is set so that the user can provide assistance to different parts of the upper limbs according to the current work position.

[0009] To solve the above-mentioned technical problems, the present invention specifically adopts the following technical solutions: In the first aspect of the present invention, there is provided a control method for a power-assisted exoskeleton, where the power-assisted exoskeleton includes: a torso wearing module wearable on the torso, a power module, a shoulder guiding module, a shoulder power-assisted module, an arm power-assisted module, and a palm power-assisted module provided on the torso wearing module; the power module includes a motor, a first gear, and a first wire-pulling device provided on the output shaft of the motor; second gears and third gears meshing with the first gear are symmetrically provided on both sides of the first gear, second wire-pulling devices are coaxially provided with the second gears and the third gears respectively, clutches are provided between the second gears and the third gears and the coaxially provided second wire-pulling devices respectively, a clutch is provided between the first wire-pulling device and the output shaft, and first wire-pulling guiding mechanisms are symmetrically provided on both sides of the first wire-pulling device; a second wire-pulling guiding mechanism is provided at the top of the second wire-pulling device; the two ends of the first wire in the first wire-pulling device respectively pass through the first wire-pulling guiding mechanisms on both sides and the shoulder guiding modules on both sides and are respectively connected to the two arm power-assisted modules; the end of the second wire in the second wire-pulling device passes through the corresponding second wire-pulling guiding mechanism and the shoulder guiding module on the corresponding side and is connected to the shoulder power-assisted module on the corresponding side; correspondingly, the control method specifically includes the steps: S101 Obtain the current work task type input by the user, where the work task type includes unloading, sorting and turning over, sorting, scanning and bagging, and stacking and photographing; S102 Control the working states of the clutches according to the current work task type of the user, so as to realize the adjustment of the power-assisted mode; specifically, it includes: S1021 If the current work task type is unloading, control the clutches corresponding to the second gear and the third gear to switch to or remain in the open state, and at the same time, control the clutch between the first wire-pulling device and the output shaft to switch to or remain in the open state; and when the connectors at the two ends of the first wire in the first wire-pulling device are respectively connected to the fourth power-assisted points on the palm power-assisted module, and the connector at the end of the second wire in the second wire-pulling device is connected to the third power-assisted point on the shoulder power-assisted module, control the motor to start to provide power assistance to the shoulder power-assisted module and the palm power-assisted module respectively; S1022 If the current work task type is sorting and turning over or stacking and photographing task or scanning and bagging, control the clutches corresponding to the second gear and the third gear to switch to or remain in the open state, and at the same time, control the clutch between the first wire-pulling device and the output shaft to switch to or remain in the disconnected state; and when the connector at the end of the second wire in the second wire-pulling device is connected to the third power-assisted point on the shoulder power-assisted module, control the motor to start to provide power assistance to the two shoulder power-assisted modules respectively; If the current work task type is sorting, control the clutches corresponding to the second gear and the third gear to switch to or remain in the open state. At the same time, control the clutch between the first cable device and the output shaft to switch to or remain in the open state. And when the connectors at both ends of the first cable in the first cable device are respectively connected to the first assist point or the second assist point on the arm assist module, and the connector at the end of the second cable in the second cable device is connected to the third assist point on the shoulder assist module, control the motor to start to provide assistance to the shoulder assist module and the arm assist module respectively.

[0010] In some embodiments, the assist exoskeleton further includes a palm assist module and a lower limb assist module. And at the other end of the output shaft of the power module, a fourth gear is further provided. On both sides of the fourth gear, a fifth gear and a sixth gear meshing with it are symmetrically arranged. The fifth gear and the sixth gear are respectively coaxially provided with a third cable device. And a clutch is provided between the fifth gear and the sixth gear and their respective corresponding third cable devices. The end of the third cable in the third cable device is connected to the lower limb assist module. Correspondingly, if the current work task type is unloading, the steps of controlling the motor to provide assistance specifically include: According to the pressure data currently monitored by the palm assist module, determine whether the item being carried is a large item or a small item. If it is a large item, control the clutch between the first cable device and the output shaft, and the clutches corresponding to the second gear and the third gear to switch to or remain in the open state. At the same time, control the clutch corresponding to the third cable device to switch to or remain in the open state. And when the connectors at both ends of the first cable in the first cable device are respectively connected to the fourth assist point on the palm assist module, the connector at the end of the second cable in the second cable device is connected to the third assist point on the shoulder assist module, and the connector at the end of the third cable in the third cable device is connected to the fifth assist point on the lower limb assist module, control the motor to start to provide assistance to the shoulder assist module, the palm assist module and the lower limb assist module respectively. If it is a small item, control the clutch between the first cable device and the output shaft, and the clutches corresponding to the second gear and the third gear to switch to or remain in the open state. And when the connectors at both ends of the first cable in the first cable device are respectively connected to the fourth assist point on the palm assist module, and the connector at the end of the second cable in the second cable device is connected to the third assist point on the shoulder assist module, control the motor to start to provide assistance to the shoulder assist module and the palm assist module.

[0011] In some embodiments, a data acquisition module for collecting user physiological characteristic data is provided on the palm assist module. Correspondingly, the control method further includes the steps: Collect the physiological characteristic data of the user in real time, and perform data analysis to obtain the current fatigue level of the user; Match the corresponding assistance mode in the database based on the fatigue level, and the assistance modes include a strong assistance mode, a reference assistance mode, and a power-saving mode; If the fatigue level is level I, the matched assistance mode is the reference assistance mode; If the fatigue level is level II, the matched assistance mode is the strong assistance mode.

[0012] In some embodiments, when it is recognized that the user is in level I fatigue and the duration exceeds a preset first duration threshold, a voice prompt or even a reminder to rest is given, but the reference assistance mode is still maintained.

[0013] In some embodiments, when it is recognized that the user is in level II fatigue and the duration exceeds a preset second duration threshold, the strong resistance mode is turned off, thereby forcing the user to rest.

[0014] In a second aspect of the present invention, there is provided a control device for a powered exoskeleton, which includes: An interaction module configured to display a configuration interaction interface to the user and obtain the current work task type configured by the user in the configuration interaction interface; the work task types include unloading, sorting and turning over, sorting, scanning and bagging, and stacking; A control module configured to control the working states of the clutches in the powered exoskeleton according to the current work task type of the user, so as to realize the adjustment of the assistance mode; Specifically, the control module includes: A first control unit configured to, if the current work task type is unloading, generate corresponding control signals and send them to the powered exoskeleton to control the clutches corresponding to the first cable device and the second cable device in the powered exoskeleton to switch to or remain in an open state; and control the motor to start to provide assistance to the shoulder assistance module and the palm assistance module respectively; A second control unit configured to, if the current work task type is sorting and turning over or stacking tasks or scanning and bagging, generate corresponding control signals and send them to the powered exoskeleton to control the clutches corresponding to the two second cable devices to switch to or remain in an open state, control the clutch corresponding to the first cable device to switch to or remain in a disconnected state; and control the motor to start to provide assistance to the two shoulder assistance modules respectively; A third control unit, configured to generate corresponding control signals if the current working task type is sorting, and send them to the powered exoskeleton to control the clutches corresponding to the first cable device and the second cable device to switch to or remain in an open state; and control the motor to start to provide assistance to the shoulder assistance module and the arm assistance module respectively.

[0015] In some embodiments, the control device further includes: A wireless communication module, configured to receive the pressure data monitored by the palm assistance module in the powered exoskeleton; A package identification module, configured to judge whether the user is currently carrying a large item or a small item based on the pressure data; if it is a large item, trigger the first control unit to control the clutches corresponding to the first cable device and the second cable device to switch to or remain in an open state, and at the same time, control the clutch corresponding to the third cable device to switch to or remain in an open state, and control the motor to start to provide assistance to the shoulder assistance module, the palm assistance module and the lower limb assistance module respectively; if it is a small item, trigger the first control unit to control the clutch between the first cable device and the output shaft, and the clutches corresponding to the second gear and the third gear to switch to or remain in an open state, and control the motor to start to provide assistance to the shoulder assistance module and the palm assistance module.

[0016] In some embodiments, the wireless communication module is further configured to receive the physiological characteristic data of the user collected in real time by the palm assistance module; correspondingly, the control device further includes: A fatigue identification module, configured to perform data analysis on the physiological characteristic data to obtain the current fatigue level of the user; and match a corresponding assistance mode in the database based on the fatigue level, and the assistance mode includes a strong assistance mode, a reference assistance mode and a power saving mode; if the fatigue level is level I, the matched assistance mode is the reference assistance mode; if the fatigue level is level II, the matched assistance mode is the strong assistance mode.

[0017] In some embodiments, the control device further includes: an early warning module, configured to perform voice prompts or even prompt to rest when it is identified that the user is in level I fatigue and the duration exceeds a preset first duration threshold, but still maintain the reference assistance mode.

[0018] In some embodiments, the fatigue identification module is further configured to turn off the strong resistance mode when it is identified that the user is in level II fatigue and the duration exceeds a preset second duration threshold, so as to force the user to rest.

[0019] Beneficial effects: Traditional powered exoskeletons are usually designed for users in the same job position. Therefore, the distinction of their assistance modes is usually achieved by providing different levels of assistance. However, during the express sorting process, the same user needs to frequently switch between different job positions, and the required assistance levels and assistance modes may vary for different positions. Therefore, the present invention provides a modularly configured powered exoskeleton, enabling users to quickly and conveniently replace or adjust the assistance level or assistance mode by mechanical means (e.g., changing the connection between the end of the cable and different assistance points).

[0020] Furthermore, in the prior art, the tightness of the force transmission member is usually controlled by the amount of rotation of the motor to achieve the adjustment of the assistance magnitude. On the one hand, this method is only applicable to the mode where each assistance module is provided with a driving motor respectively. On the other hand, this method has relatively high requirements for the performance of the force transmission member and also causes relatively large losses to the force transmission member. In this application, since there is only one power source, and in order to provide assistance to different parts, three cables and a clutch are provided simultaneously, enabling users to provide assistance to different parts according to the current job position, which is not only highly flexible but also easy to operate.

[0021] (1) For the wearable module of the torso provided by the present invention, a power module is provided on the back. The power module is provided with a cable. The cable modules on both shoulders cooperate with the power module through the cable. The cable is respectively connected to the shoulder assistance module and the arm assistance module through the shoulder cable module. When the motor in the power module rotates, the cable is tightened or loosened. At the same time, the shoulder assistance device or the arm assistance device connected to the cable provides assistance to the upper limb assistance module part under the traction of the cable. And one power module of this device provides power for the assistance modules on both sides of the arm. The structure is simple. By using a power device that provides power for two cables, there is no need to separately provide a power device for each arm. During express delivery work, it alleviates the force exerted by the arms when frequently lifting and lowering, and relieves the fatigue of the upper limbs.

[0022] (2) The power module provided in the present invention cooperates with the assisting devices arranged at different parts of the upper limb through a cable to achieve the assistance for different parts of the upper limb in different scenarios. Compared with the traditional assisting device, which is worn on the torso with a connecting rod similar to a human joint and is driven by a power device to move the arm, the weight of the device is relatively heavy when worn on the human body and does not relieve the load during work. Moreover, when carrying goods, the power device is required to provide the same assisting force for both arms. However, in the prior art, the assisting devices for both arms often use different power drives and cannot provide the same assisting force for both arms. When carrying goods while wearing a similar device, the goods may be unevenly stressed and slip. On the other hand, when it is necessary to use other parts of the arm to exert force, the present invention can quickly install the cable end at the shoulder or the arm to provide assistance. In addition, the structure of the present invention is simple and the cost of assembling the device is relatively low, which is suitable for large-scale application by the public and can reduce the burden on express delivery personnel or workers in similar working modes. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. In all the drawings, similar elements or parts are generally denoted by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale. Obviously, the following-described drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0024] Figure 1 Schematic diagram of the back of the human body wearing the present invention; Figure 2 Schematic diagram of the front of the human body wearing the present invention; Figure 3 Schematic diagram of the internal structure of the power module of the present invention; Figure 4 Schematic diagram of the structure of the power module of the present invention; Figure 5 Schematic diagram of the shoulder guiding module of the present invention; Figure 6 Schematic diagram of the human body wearing the shoulder assisting module of the present invention; Figure 7 Schematic diagram of the structure of the shoulder assisting module of the present invention; Figure 8 Schematic diagram of the structure of the arm assisting module of the present invention; Figure 9 Schematic diagram of the structure of the wrist assisting module of the present invention; Figure 10 Schematic diagram of the side of the human body wearing the present invention; Figure 11The front view of the human body wearable of the present invention is as follows; Figure 12 It is a flowchart of a control method for an assistive exoskeleton in express sorting of the present invention.

[0025] Reference numerals: 1 - Trunk wearing module; 2 - Power module, 201 - Motor, 202 - Output shaft, 203 - First gear, 204a - Second gear, 204b - Third gear, 205 - Second cable pulling device, 206 - First clutch, 207 - First cable pulling device; 208 - Second cable guiding mechanism, 209 - First cable guiding mechanism, 210 - Second cable, 211 - First cable, 212 - Fourth gear, 213 - Third cable pulling device, 214 - Second clutch, 215 - Fifth gear, 216 - Sixth gear; 217 - Third clutch; 218 - Cable end; 3 - Shoulder guiding module, 301a - First guiding groove, 301b - Second guiding groove, 302 - First cable outlet, 303 - Second cable outlet; 4 - Shoulder assist module, 401 - First fixing band, 402 - First cable groove guiding mechanism, 403 - First groove, 404 - First guiding groove; 405 - Cable outlet hole; 5 - Arm assist module, 501 - Second fixing band, 502 - Second cable groove guiding mechanism, 503 - Second guiding groove, 504 - Connection end; 6 - Wrist assist module, 601 - Third fixing band, 602 - Third cable groove guiding structure; 7 - Lower limb assist module; 701 - Thigh wearing part, 702 - Belt-like member. Detailed implementation manners

[0026] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0027] In this article, suffixes such as "module", "component" or "unit" used to represent elements are only for facilitating the description of the present invention and have no specific meaning in themselves. Therefore, "module", "component" or "unit" can be used interchangeably.

[0028] In this text, the orientation or positional relationships indicated by terms such as "upper", "lower", "inner", "outer", "front", "rear", "one end", "the other end", etc. are based on the orientation or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0029] In this text, unless otherwise clearly specified and defined, terms such as "installed", "provided with", "connected", etc. shall be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium, and can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] In this text, "and / or" includes any and all combinations of one or more of the listed related items.

[0031] In this text, "a plurality of" means two or more, that is, it includes two, three, four, five, etc.

[0032] Embodiment 1: As Figures 1-10 shown, the present invention is a wearable assistive device worn on the human torso, specifically including: a torso wearing module 1 wearable on the torso. The wearing module is made of a special material and is worn on the torso to ensure the fixation of the human body with various devices and the comfort of wearing on the human body; see Figure 1 , including a power module 2 provided on the torso wearing module 1, a shoulder guiding module 3 independently wearable on the shoulder, a shoulder assistive module 4 independently wearable on the outside of the arm, an arm assistive module 5 independently wearable on the arm, a wrist assistive module 6 independently wearable on the palm, and a lower limb assistive module 7 independently wearable on the lower limb.

[0033] In some embodiments, the power module 2 is provided on the torso wearing module 1 on the back of the torso. See Figure 2 and Figure 3, three guy wires passing through its interior are connected to the shoulder guiding module 3. Among them, the two ends of the first guy wire pass through the front side of the shoulder guiding module 3 and are connected to the arm assisting module; the ends of the two symmetrically arranged second guy wires respectively pass through the outer sides of the shoulder guiding module 3 away from the human body and are connected to the shoulder assisting module 4 or the wrist assisting module 5 or the wrist assisting module. The power module 2 provides power for the assistance of various parts of the torso by tightening the guy wires. In this embodiment, by using one power module 2 to drive each assisting module and provide assistance, compared with the method of providing one power for each assisting part in the prior art, its structure is simpler and lighter, and since the power module 2 is worn on the back, it avoids causing a large sense of load or interference to other assisting parts.

[0034] As Figure 3 shown, the interior of the power module 2 includes a motor 201 arranged in the middle part thereof. The output shaft 202 of the motor 201 extends to the outside of the motor 201, and one end of the output shaft 202 is provided with a first guy wire device 207, and a third clutch 217 is arranged between the first guy wire device 207 and the output shaft 202; a first gear 203 is arranged on the output shaft 202 near the motor 201; second gears 204a and third gears 204b meshing with the first gear 203 are arranged at the left and right ends of the first gear 203. Second guy wire devices 205 are coaxially arranged on the second gears 204a and third gears 204b, and first clutches 206 are arranged between the second gears 204a and third gears 204b and the second guy wire devices 205 on the same side respectively. Specifically, two wire outlets are symmetrically arranged on the torso wearing module 1 corresponding to the two shoulder guiding modules 3 for the three guy wires to pass through.

[0035] See Figure 3 , first guy wire guiding mechanisms 209 are symmetrically arranged on both sides of the first guy wire device 207 for guiding the first guy wire 211 on the first guy wire device 207 to prevent the first guy wire 211 from affecting the normal operation of the device. At the same time, a second guy wire guiding mechanism 208 cooperating with the second guy wire device 205 is arranged at the lower position of the first guy wire guiding mechanism 209. Its function is the same as that of the first guy wire guiding mechanism 209, which is also to prevent the second guy wire 210 on the second guy wire device 205 from affecting the operation of the device. Specifically, after the two ends of the first guy wire 211 wound on the first guy wire device 207 respectively pass through their corresponding first guy wire guiding mechanisms 209, they pass through a farther wire outlet, so that the two ends of the first guy wire 211 form a cross, but there is a certain distance between them, so that they will not interfere with each other; the ends of the second guy wire 210 of the second guy wire device 205 pass through the second guy wire guiding mechanism 208 and then pass through the wire outlet on the corresponding side.

[0036] Specifically, the two first cable guiding mechanisms 209 and the second cable guiding mechanism 208 are axisymmetric with respect to the output shaft 202. The first cables 211 in the first cable device 207 come from the left and right sides, and the two first cable guiding mechanisms 209 respectively tighten the first cables 211 from different sides; the second cables 210 of the two second cable devices 205 come from the left and right sides, and the two second cable guiding mechanisms 208 respectively guide the two second cable devices 205 to tighten the second cables 210 from the same side. Since the two ends of the first cable 211 are arranged in a crossed manner, and the four cable guiding mechanisms form an equilateral trapezoid, even if the first cable 211 and the second cable 210 pass through the same cable outlet, they will not be entangled or interfere with each other. Moreover, to further avoid entanglement or interference between the two, corresponding guiding structures are provided in the shoulder guiding module 3, which will be described in detail in subsequent embodiments.

[0037] The two ends of the first cable 211 in the first cable device 207 respectively pass through the first cable guiding mechanisms 209 on both sides and the shoulder guiding modules 3 on both sides, and then are respectively connected to the two arm assisting modules 5; the end of the second cable 210 in the second cable device 205 passes through the corresponding second cable guiding mechanism 208 and the shoulder guiding module 3 on the corresponding side, and then is connected to the shoulder assisting module 4 or the arm assisting module 5 or the wrist assisting module 6 on the corresponding side. When the output shaft 202 of the motor 201 drives the first gear 203 to rotate, the second gear 204a and the third gear 204b rotate synchronously, and the first clutches 206 on both sides are in a connected or open state, thereby driving the second cable devices 205 on both sides to tighten the second cables 210 wound on the second cable devices 205; at the same time, since the third clutch 217 is in a connected or open state, the first cable device 207 tightens the first cable 211 wound on the first cable device 207, thereby providing assistance to the shoulder assisting modules 4 on both sides or the arm assisting modules 5 on both sides through the first cable 211 and the two second cables 210 respectively. Of course, in some other embodiments, if the first clutch 206 on the same side of the second cable device 205 controls the operation of the cable device on the same side, and the first clutch 206 on one side is disengaged, then the second cable device 205 on that side is disconnected from the power module, thereby realizing providing assistance to the shoulder assisting module 4 or the arm assisting module 5 on one side. That is, by controlling the first clutch 206, flexible switching between bilateral assistance and unilateral assistance can be achieved. Of course, single-cable assistance or double-cable assistance on the same side can also be achieved by controlling the first clutch 206 and the third clutch 217.

[0038] In some embodiments, refer to Figure 5 and Figure 6, the shoulder guiding module 3 is located at the shoulder part of the torso, and includes a first wire outlet 302 respectively arranged on the outer side of the shoulder guiding module 3 and a second wire outlet 303 arranged on the front side of the shoulder guiding module; the first pulling wire 211 is connected to the arm assisting module 5 or the wrist assisting module 6 through the second wire outlet 303; the second pulling wire 210 is connected to the shoulder assisting module 4 or the arm assisting module 5 or the wrist assisting module 6 through the first wire outlet 302. The shoulder guiding module 3 is used to change the direction of the pulling wire from the power module 2 for guiding, ensuring that the pulling wire from the power module 2 does not directly contact the torso. And because the distance between the pulling wire and the assisting module is relatively long, if the pulling wire is directly connected to the assisting module, the pulling wire may slip off the shoulder, and when the power module 2 tightens the pulling wire, the direct contact of the pulling wire with the shoulder will also cause certain harm to the human body. Therefore, the shoulder guiding mechanism also has a fixing effect on the pulling wire; the external shape of the shoulder guiding module 3 is adapted to the shape of the shoulder, ensuring that it fits well with the shoulder when worn on the shoulder and will not cause discomfort to the shoulder part.

[0039] Specifically, refer to Figure 5 , a first guiding groove 301a extending along a first direction (i.e., extending from the back of the human body shown in Figure 1 to the front of the human body) is arranged in the shoulder guiding module 3, and a second guiding groove 301b extending along a second direction (i.e., extending from the shoulder of the human body shown in Figure 1 to the left / right side of the human body) is arranged in the shoulder guiding module 3. Among them, a wire inlet 305 for the first pulling wire 211 and the second pulling wire 210 to enter is arranged at the first end of the first guiding groove 301a (corresponding to two wire outlets arranged at the top of the power module 2), a second wire outlet 303 for the first pulling wire 211 to pass through is arranged at the second end of the first guiding groove 301a, the first end of the second guiding groove 301b is communicated with the first guiding groove 301a, and a first wire outlet 302 for the second pulling wire 210 to pass through is arranged at the second end of the second guiding groove 301b; The first pulling wire 211 is connected to the first assisting point or the second assisting point on the arm assisting module 5 through the second wire outlet 303; the second pulling wire 210 is connected to the third assisting point on the shoulder assisting module through the first wire outlet 302.

[0040] In some embodiments, refer to Figure 5 and Figure 6 , the shoulder assisting module 4 includes a detachable first fixing belt 401 and a first wire groove guiding mechanism 402 arranged on the first fixing belt 401. A first groove 403 (i.e., a positioning groove) is arranged on the first wire groove guiding mechanism 402, a first guiding groove 404 is arranged on the side of the first wire groove guiding mechanism 402, the first guiding groove 404 is communicated with the first groove 403, and a wire end 218 is arranged at the end of the first pulling wire 211. Refer to Figure 6, taking the connection of the second pull wire 210 to the shoulder assist module as an example, when the second pull wire 210 passes through the first guide groove 404 and one end of it passes through the wire outlet hole 405 provided at the top, and one end of the connection pull wire end 218 enters the first groove 403, and when the second pull wire 210 is tightened, the pull wire end 218 is in snap-fit with the first groove 403. When it is necessary to remove the pull wire end 218, the pull wire end 218 can be pressed to be automatically removed. Preferably, a locking spring piece for clamping the pull wire end is provided in the first groove 403 (i.e., the positioning groove). When the pull wire end 218 is snapped into the first groove 403, the locking spring piece locks the pull wire end 218 (for example, a corresponding mating groove can be provided on the pull wire end 218) to prevent the pull wire end 218 from being pulled out; and when the pull wire end 218 is pressed, the locking spring piece is deformed and disengaged from the pull wire end, that is, unlocked.

[0041] In some embodiments, referring to Figure 8 , the arm assist module 5 includes a detachable second fixing band 501 and two second wire groove guiding mechanisms 502 provided on the second fixing band 501. The second wire groove guiding mechanism 502 is provided with a positioning groove on the first fixing band 501 for snap-fitting with the connection end 504 at the end of the first pull wire. An outlet hole is provided on one side of the positioning groove close to the shoulder guiding module 3, and an inlet channel 503 is provided on one side of the positioning groove (the side of the positioning groove close to the shoulder), and the inlet channel 503 is communicated with the outlet hole through a guide groove (not shown in the figure) (the communication principle is the same as that of the first wire groove guiding mechanism on the shoulder assist module). When the pull wire end 504 of the first pull wire 211 is aligned with the positioning groove, the first pull wire 211 sequentially bypasses the inlet channel 503 and the guide groove and then passes through the outlet hole, and is tightened under the action of the power module 2 so that the pull wire end 504 is in snap-fit with the positioning groove. Preferably, the positioning grooves are respectively provided at positions on the second fixing band 501 close to the elbow and close to the wrist, so as to form two assist points (i.e., the first assist point and the second assist point).

[0042] By providing a guide groove on the second wire groove guiding mechanism 502 to fix the pull wire end 504 in the positioning groove, the pull wire end 504 is connected to the arm assist module 4 or the shoulder assist module 3 as a whole and will not fall off. When the power module 2 tightens the first pull wire 210 and / or the second pull wire 211, under the action of the pull wire, the arm assist module 4 or the shoulder assist module 3 provides assistance to the upper limb part. The structural setting of this part is the same as that on the shoulder assist module 3 and the arm assist module 4, which is to ensure the fixed connection between the pull wire and the assist module.

[0043] In other embodiments, referring to Figure 3 and Figure 4, on the other end of the output shaft 202 of the power module 2, a fourth gear 212 is further provided. On both sides of the fourth gear 212, a fifth gear 215 and a sixth gear 216 meshing with it are symmetrically arranged. Coaxial with the fifth gear 215 and the sixth gear 216 are third cable devices 213; the end of the third cable in the third cable device 213 is connected to the lower limb assistance module 7; and a clutch 214 is provided between each of the two third cable devices 213 and the fifth gear 215 and the sixth gear 216 respectively.

[0044] When the second clutches 214 corresponding to the fifth gear 215 and the sixth gear 216 are in the open state, and the output shaft 202 of the motor 201 drives the fourth gear 212 to rotate, the fifth gear 215 and the sixth gear 216 rotate synchronously, and drive the third cable devices 213 on both sides to tighten the third cables wound around the third cable devices 213, so as to provide assistance to the lower limb assistance module.

[0045] Furthermore, a third cable guiding mechanism can be provided beside the third cable device 213 to change the direction of the cable and prevent winding from affecting the operation of the device.

[0046] In some embodiments, the third cable is a strip; while the first cable 211 and the second cable 210 are both wires.

[0047] In some embodiments, referring to Figure 1 and Figure 2 , the lower limb assistance module includes a thigh wearing part 701 that can be worn on the thigh, and a strip 702 (i.e., the third cable) with one end connected to the thigh wearing part 701, and the other end wound around the third cable device 213.

[0048] In some embodiments, referring to Figure 10 , it further includes a wrist assistance module 6. The wrist assistance module 6 includes a detachable third fixing band 601, and a third cable groove guiding mechanism 602 provided on the third fixing band 601. The structural setting of this part is the same as the fixing method of other assistance modules, that is, a cable groove guiding mechanism is provided, and the end of the cable is fixed to it and provides assistance to this part. The difference is that the shoulder assistance module 4 is located on the outside of the arm, the cable groove guiding mechanism on the wrist assistance module 6 is located on the back of the wrist, and the two cable groove guiding mechanisms on the arm assistance module 5 are located on the inside of the arm.

[0049] In some embodiments, such as Figure 11 , the wrist assistance module 6 is further provided with an information acquisition component for acquiring pressure information.

[0050] In the express delivery work, it is necessary to carry goods from the truck to the conveyor belt. This working method requires a large amount of goods to be carried in a short time. Considering different scenarios, the assisting positions for different parts of the arm are also different. When the shoulder position needs to be used, the end of the cable is fixed on the shoulder assisting module 4, and the assisting device provides assistance for the shoulder. When it is necessary to switch the force application part, the end of the cable can be quickly installed on, for example, the arm assisting module 5 or the wrist assisting module 6, so as to achieve the purpose of quickly switching the assisting part.

[0051] Based on the above-mentioned assisting exoskeleton, its assisting modes include: Dual-cable synchronous assisting bilateral upper limb mode; for example, when the third clutch 217 between the first cable device 207 and the output shaft 202 is in an open or connected state, and the two ends of the first cable 211 are respectively connected to the first assisting point or the second assisting point on the two arm assisting modules 5, the first cable 211 provides assistance to the two arm assisting modules 5 under the drive of the motor 201; another example is that when the first clutches 206 corresponding to the second gear 204a and the third gear 204b, and the third clutch 217 between the first cable device 207 and the output shaft 202 are all in an open or connected state, and the two ends of the first cable 211 are respectively connected to the first assisting points on the two arm assisting modules 5, and the two ends of the two second cables 210 are respectively connected to the second assisting points on the two arm assisting modules 5, the first cable 211 and the second cable 210 simultaneously provide assistance to the arm assisting module 5 under the drive of the motor 201; still another example is that when the first clutches 206 corresponding to the second gear 204a and the third gear 204b, and the third clutch 2017 between the first cable device 207 and the output shaft 202 are all in an open or connected state, and the two ends of the first cable 211 are respectively connected to the first assisting point or the second assisting point on the two arm assisting modules 5, and the two ends of the two second cables 210 are respectively connected to the third assisting points on the two shoulder assisting modules 5, the first cable 211 and the second cable 210 respectively provide assistance to the arm assisting module 5 and the shoulder assisting module 4 under the drive of the motor 201; Single guy wire assisted bilateral upper limb mode; for example, when the third clutch 217 between the first guy wire device 207 and the output shaft 202 is in the disengaged state, and the first clutches 206 corresponding to the second gear 204a and the third gear 204b are both in the engaged state, and the two ends of the first guy wire 211 are respectively engaged with the first wire outlet holes 303 at the front ends of the two shoulder guiding modules 3, and the two ends of the two second guy wires 210 are respectively connected to the third assisting points on the two shoulder assisting modules 4, under the drive of the motor 201, the second guy wires 210 provide assistance to the shoulder assisting modules 4; or when the two ends of the two second guy wires 210 are respectively connected to the second assisting points or the first assisting points on the two arm assisting modules 5, under the drive of the motor 201, the second guy wires 210 provide assistance to the arm assisting modules 5; another example is when the third clutch 217 between the first guy wire device 207 and the output shaft 202 is in the engaged or connected state, and the first clutches 206 corresponding to the second gear 204a and the third gear 204b are both in the disengaged state, and the two ends of the first guy wire 211 are respectively connected to the third assisting points on the two shoulder assisting modules 4, and the two ends of the two second guy wires 210 are respectively engaged with the second wire outlet holes 302 at the front ends of the two shoulder guiding modules 3, under the drive of the motor 201, the first guy wire 211 provides assistance to the shoulder assisting modules 4; or when the two ends of the first guy wire 211 are respectively connected to the assisting points on the two wrist assisting modules 6, under the drive of the motor 201, the first guy wire 211 provides assistance to the wrist assisting modules 6; Single-wire-pulling assisted single-sided upper limb mode; for example, when the third clutch 217 between the first wire-pulling device 207 and the output shaft 202 is in the open and disconnected state, and any one of the two clutches 206 corresponding to the second gear 204a and the third gear 204b is in the disconnected state while the other is in the open state, and the two ends of the first wire 211 are respectively engaged with the first wire outlet holes 303 at the front upper ends of the two shoulder guiding modules 3, and the end of the second wire 210 corresponding to the first clutch 206 in the open state is connected to the second assisting point or the first assisting point on the corresponding-side arm assisting module 5, then under the drive of the motor 201, the second wire 210 provides assistance to the arm assisting module 5; or when the end of the second wire 210 corresponding to the first clutch 206 in the open state is connected to the third assisting point on the corresponding-side shoulder assisting module 4, then under the drive of the motor 201, the second wire 210 provides assistance to the shoulder assisting module 4; or when the end of the second wire 210 corresponding to the first clutch 206 in the open state is connected to the corresponding-side wrist assisting module 6, then under the drive of the motor 201, the second wire 210 provides assistance to the wrist assisting module 6. Of course, in some other embodiments, according to actual needs, the two ends of the first wire 211 can be respectively connected to different assisting points on the two arm assisting modules, or the two ends can be respectively connected to different assisting modules. Similarly, the two ends of the two second wires 210 can be respectively connected to different assisting points on the two arm assisting modules, or the two ends can be respectively connected to different assisting modules, so as to adapt to different assisting requirements.

[0052] Embodiment 2: Based on the above-described assisting exoskeleton of the embodiment, the present invention further provides a control method for an assisting exoskeleton, which includes the steps: S101 Obtain the type of the current work task input by the user. In some embodiments, the type of the work task includes unloading, sorting and turning over, sorting, scanning and bagging, and stacking.

[0053] S102 Control the working states of the clutches according to the type of the user's current work task, so as to realize the adjustment of the assisting mode.

[0054] In some embodiments, this step S102 specifically includes: If the current work task type is unloading, control the two first clutches 206 to switch to or remain in the open state. At the same time, control the third clutch 2017 between the first cable device 207 and the output shaft 202 to switch to or remain in the open state. And when the cable ends 218 at both ends of the first cable 211 in the first cable device 207 are respectively connected to the fourth assistance point on the wrist assistance module 6, and the connection end 504 at the end of the second cable 210 in the second cable device 208 is connected to the third assistance point on the shoulder assistance module 4, control the motor 201 to start to provide assistance to the shoulder assistance module 4 and the wrist assistance module 6 respectively.

[0055] In some embodiments, during the unloading process, workers usually need to carry packages from the truck to the conveyor belt or the working area, involving frequent lifting, carrying, and placing actions. The typical actions for unloading are bending the knees and squatting halfway, bending over, lifting the package, and placing the package on the conveyor belt. The repeated lifting and lowering require workers to maintain stable core and upper limb strength. And when performing the unloading work, the trunk flexion and extension, shoulder abduction, and wrist radioulnar deviation are greatly affected. Therefore, assistance is needed for the shoulders and wrists. That is, provide assistance to the shoulders through the shoulder assistance module 4 and provide assistance through the wrist assistance module 6.

[0056] If the current work task type is sorting and turning over or stacking or scanning and bagging, control the two first clutches 206 to switch to or remain in the open state. At the same time, control the third clutch 217 to switch to or remain in the disconnected state. And when the connection head at the end of the second cable 210 in the second cable device 208 is connected to the third assistance point on the shoulder assistance module 4, control the motor 201 to start to provide assistance to the two shoulder assistance modules 4 respectively.

[0057] In some embodiments, during the sorting and turning over process, workers usually need to turn over the packages on the conveyor belt to ensure that the express waybills face up, facilitating subsequent scanning and sorting. The typical actions for turning over include reaching out to grab the package, turning the package, and placing the package back on the conveyor belt. During this process, workers need to frequently perform wrist rotation, arm extension and bending actions, while maintaining the stability and flexibility of the trunk. And when performing the turning over work, the trunk flexion and extension and shoulder abduction are greatly affected. Therefore, priority is given to assisting the shoulders.

[0058] In some embodiments, the scanning and bagging process is usually the last step in the express sorting process. This step requires workers to scan and register the packages and put them into the corresponding transport bags. Workers usually hold a scanning device in one hand and operate the package with the other hand. After quickly scanning the package barcode to complete the information entry, the package is placed in the corresponding bagging area. This process requires workers to quickly switch between scanning and bagging actions and usually complete the whole process in a standing position. When performing scanning and bagging operations, the trunk flexion and extension, trunk rotation, and shoulder abduction are greatly affected. Therefore, priority is given to assisting the shoulders. Of course, the lower limbs can also be further assisted. For example, when the trunk needs to switch from a bent position to a standing position, control the two second clutches 214 to switch to or remain open. At this time, the motor 201 will simultaneously control the two third wire ropes to tighten, thereby providing assistance to the lower limbs and the waist.

[0059] In some embodiments, the stacking process is one of the last stages of the express sorting process, mainly for large express packages or packages that need to be stacked uniformly. Workers need to stack the express items on the tray according to fixed placement rules to ensure stability and safety during transportation. This process usually requires workers to continuously complete actions such as handling, stacking, and adjustment, especially for optimizing the positions of heavier or irregularly shaped packages. When performing the stacking operation, the trunk flexion and extension, wrist radioulnar deviation, shoulder abduction, and elbow are greatly affected. Therefore, priority is given to assisting the shoulders. Of course, the lower limbs can also be further assisted.

[0060] S1023 If the current work task type is sorting, control the two first clutches 206 to switch to or remain open, and at the same time, control the third clutch 217 to switch to or remain open; and when the wire rope ends 218 at both ends of the first wire rope 211 in the first wire rope device 207 are respectively connected to the first assistance point or the second assistance point on the arm assistance module 5, and the connecting head at the end of the second wire rope 210 in the second wire rope device 208 is connected to the third assistance point on the shoulder assistance module 4, control the motor 201 to start to provide assistance to the shoulder assistance module 4 and the arm assistance module 5 respectively.

[0061] In some embodiments, during the sorting process, workers need to sort the packages on the conveyor belt to the corresponding collection areas according to the destination or area information. The typical actions in this process include identifying the package information, grasping the package, moving the package, and placing it in the designated area. During the sorting process, workers usually need to frequently stretch their arms, turn around, and move the packages, while maintaining a standing position for continuous operation. When performing the sorting operation, the trunk flexion and extension, shoulder abduction, wrist flexion and extension, and humeral rotation are greatly affected. Therefore, priority is given to assisting the shoulders and wrists. Of course, the lower limbs can also be further assisted, and the principle of assisting the lower limbs is as described above and will not be elaborated here.

[0062] In addition, the packages to be carried during the unloading process include large and small ones. Therefore, different levels of assistance or assistance modes need to be provided separately. When handling large packages, assistance is required not only for the shoulders and wrists but also for the waist. That is, for large packages, assistance is provided to the shoulders through the shoulder assistance module, to the wrists through the wrist assistance module 6, and to the user's waist through the lower limb assistance module 7. Correspondingly, the above-mentioned step S1021 specifically includes: Judging whether the currently carried package is large or small according to the pressure data currently monitored by the wrist assistance module 6 (for example, when the pressure data is greater than the preset threshold, it can be determined that the currently carried package is large; if it is less than the preset threshold, it is determined that the currently carried package is small); If it is a large package, control the third clutch 217 and the two first clutches 206 to switch to or remain in the open state. At the same time, control the second clutch 214 to switch to or remain in the open state. And when the wire ends 218 at both ends of the first wire 211 in the first wire device 207 are respectively connected to the fourth assistance point on the wrist assistance module 6, and the connecting head 504 at the end of the second wire 210 in the second wire device 208 is connected to the third assistance point on the shoulder assistance module 4, control the motor 201 to start to provide assistance to the shoulder assistance module 4, the wrist assistance module 6 and the lower limb assistance module 7 at the same time; If it is a small package, control the third clutch 217 and the two first clutches 206 to switch to or remain in the open state. And when the wire ends 218 at both ends of the first wire 211 in the first wire device 207 are respectively connected to the fourth assistance point on the wrist assistance module 6, and the connecting end 504 at the end of the second wire 210 in the second wire device 208 is connected to the third assistance point on the shoulder assistance module 4, control the motor 201 to start to provide assistance to the shoulder assistance module 4 and the wrist assistance module 6.

[0063] During the express sorting stage, the users mainly face high-frequency and fine-operation tasks. Their work characteristics are high-frequency repetitive actions, mainly concentrated on the flipping and swinging of the wrists, arms and shoulders. At the same time, with long-term standing work, the problem of low back and back fatigue is also relatively prominent. Therefore, in this embodiment, the shoulder assistance module 4, the arm assistance module 5, the wrist assistance module 6 and the lower limb assistance module 7 are respectively set, so that the user can provide assistance to the corresponding parts according to actual needs.

[0064] Further, in some embodiments, a data acquisition module for collecting user physiological characteristic data (for example, any one or combination of heart rate data, blood oxygen content, and myoelectric signal) is provided on the above-mentioned wrist assistance module 6. Correspondingly, the above control method further includes the steps: Record the working duration of the user and determine whether the working duration reaches the preset threshold; If a preset threshold is reached, data analysis is performed on the physiologically characteristic data collected in real time to obtain the user's fatigue level. Based on the fatigue level, a corresponding assistance mode is matched in the database. The assistance modes include a strong assistance mode and a reference assistance mode. If the fatigue level is level I, the matched assistance mode is the reference assistance mode. If the fatigue level is level II, the matched assistance mode is the strong assistance mode.

[0065] In this embodiment, the above fatigue levels can be obtained through a large number of tests in advance and are usually divided into two levels. Among them, level I usually means that the user has just started working or has not worked for a long time. At this time, the assistance intensity required can adopt the reference assistance mode of this position obtained through experiments in advance. Level II means that the user has worked for a certain period of time and has a certain degree of fatigue. At this time, although the reference assistance mode can provide certain help, it does not provide the best help to the user. Therefore, once the user's fatigue level reaches level II, the assistance mode is switched to the strong assistance mode. Among them, compared with the reference assistance mode, in the strong resistance mode, the driving motor rotates a larger angle, so that the first cable / second cable / third cable is tightened more, and thus greater assistance is provided to the corresponding part. For example, when the standard deviation SDNN of the heart rate variability index (HRV) < 50ms, the user's fatigue level is determined to be level I, which means that the user has a fatigue risk. Correspondingly, if the standard deviation SDNN of the heart rate variability index (HRV) < 40ms, the user's fatigue level is determined to be level II, which means that the user is very fatigued, and at this time, the assistance is mainly increased.

[0066] Furthermore, after identifying the user's fatigue level, voice reminder or vibration reminder can also be performed to prompt for rest.

[0067] Under normal circumstances, since in the express sorting stage, most positions require the user to perform corresponding actions with both hands, using one motor to provide assistance can ensure the consistency of the assistance provided to the user's arms or shoulders. Especially when handling large items, if the assistance for both hands is inconsistent, it may cause one side of the arm or hand to be overly fatigued and lead to injuries, etc. Even, it may cause the package to tilt or fall due to different assistance for both hands and result in safety accidents. Once the user does not need assistance for both hands, the clutch on the side without assistance can be disconnected manually or automatically.

[0068] In the actual application process, users need to quickly switch from one position to another. Therefore, when switching between different assistive modes, users need to manually adjust the position of the wire end. However, if users also need to manually switch the assistive mode at this time, it will increase the burden on users. Therefore, in order to reduce the operation difficulty and burden on users, corresponding sensors are also provided at the wire end and each assistive point in this embodiment. For example, magnetic elements are provided at the wire end and the connection end, and Hall sensors with built-in magnetic elements are provided in the positioning grooves of each assistive point. Thus, the Hall sensors are used to sense the positions of the wire end and the connection end during the user's work process. Once the position of any wire end or connection end changes, correspondingly, the main controller can be given the electrical signals sent by the sensors (for example, if the sensor in the current positioning senses the magnetic element on the wire end / connection end, the sensor sends the first electrical signal (such as "1") to the main controller; if the magnetic element on the wire end / connection end is not sensed, the sensor sends the second electrical signal (such as "0")). Then the main controller automatically identifies the current work task switched by the user to automatically switch the corresponding assistive mode to control the assistive exoskeleton. Specifically, when the user activates the assistive exoskeleton, the control method further includes the steps of: receiving the electrical signals sent by the sensors at each assistive point, and automatically identifying the current work task type of the user according to the unique identification code of each sensor (each assistive module and its assistive points are pre-coded in advance, so as to obtain the unique identification code corresponding to the sensor at each assistive point, which identifies the assistive module and / or assistive point where the sensor is currently located, or the position). Specifically, If the first electrical signals sent by the sensors corresponding to the third assistive points on the two shoulder assistive modules are currently received, and the first electrical signals sent by the sensors corresponding to the fourth assistive points on the two palm assistive modules are received, it is determined that the current work task type of the user has switched to unloading; If only the first electrical signals sent by the sensors corresponding to the third assistive points on the two shoulder assistive modules are currently received, it is determined that the current work task type of the user has switched to sorting and turning over or stacking tasks or scanning and bagging; as described above, in the scanning and bagging process, lower limb or waist assistance is also required. Therefore, a trigger switch can also be provided at the waist. If the user also needs lower limb or waist assistance, an electrical signal (such as "1") can be sent to the main controller through this trigger switch. Therefore, if the main controller receives the electrical signal sent by this trigger switch in addition to the first electrical signals sent by the sensors corresponding to the third assistive points on the two shoulder assistive modules, it is further determined that the current work task type of the user has switched to scanning and bagging; If the first electrical signals sent by the sensors corresponding to the third boosting points on the two shoulder boosting modules are currently received, and the first electrical signals sent by the sensors corresponding to the first boosting point or the second boosting point on the two arm boosting modules are received, it is determined that the current working task type of the user is switched to sorting.

[0069] In this embodiment, since the user needs to switch between various working tasks, but the difference in the required boosting force between the working tasks is not too large, that is, the core difference lies in the boosting parts. Therefore, in this embodiment, by setting a power module, a plurality of modular boosting modules, a clutch, and a plurality of wire-pulling mechanisms, the switching between multiple boosting modules is realized to provide different boosting forces to different boosting parts, so that a highly flexible boosting device can be adapted to multiple working tasks without providing a separate boosting device for each working position.

[0070] Based on the above control method, the present invention further provides a control device, which includes: An interaction module, configured to display a configuration interaction interface to the user and obtain the current working task type configured by the user in the configuration interaction interface; the working task types include unloading, sorting and turning over, sorting, scanning and bagging, and stacking. A control module, configured to control the working states of the clutches in the boosting exoskeleton according to the current working task type of the user, so as to realize the adjustment of the boosting mode. Specifically, the control module includes: A first control unit, configured to generate corresponding control signals if the current working task type is unloading, and send them to the boosting exoskeleton to control the clutches corresponding to the first wire-pulling device and the second wire-pulling device in the boosting exoskeleton to switch to or remain in the open state; and control the motor to start to provide boosting forces to the shoulder boosting module and the wrist boosting module respectively. A second control unit, configured to generate corresponding control signals if the current working task type is sorting and turning over or stacking task or scanning and bagging, and send them to the boosting exoskeleton to control the clutches corresponding to the two second wire-pulling devices to switch to or remain in the open state, control the clutch corresponding to the first wire-pulling device to switch to or remain in the off state; and control the motor to start to provide boosting forces to the two shoulder boosting modules respectively. A third control unit, configured to generate corresponding control signals if the current working task type is sorting, and send them to the boosting exoskeleton to control the clutches corresponding to the first wire-pulling device and the second wire-pulling device to switch to or remain in the open state; and control the motor to start to provide boosting forces to the shoulder boosting module and the arm boosting module respectively.

[0071] In some embodiments, the control device further includes: a wireless communication module configured to receive the pressure data monitored by the wrist assistance module in the powered exoskeleton; a package identification module configured to determine whether the user is currently carrying a large or small item based on the pressure data; if it is a large item, trigger the first control unit to control the clutches corresponding to the first cable device and the second cable device to switch to or remain in the open state, and at the same time, control the clutch corresponding to the third cable device to switch to or remain in the open state, and control the motor to start to provide assistance to the shoulder assistance module, the wrist assistance module, and the lower limb assistance module respectively; if it is a small item, trigger the first control unit to control the clutch between the first cable device and the output shaft, and the clutches corresponding to the second gear and the third gear to switch to or remain in the open state, and control the motor to start to provide assistance to the shoulder assistance module and the wrist assistance module.

[0072] In some embodiments, the wireless communication module is further configured to receive the physiological characteristic data of the user collected in real time by the wrist assistance module; correspondingly, the control device further includes: a fatigue identification module configured to perform data analysis on the physiological characteristic data to obtain the current fatigue level of the user; and match a corresponding assistance mode in the database based on the fatigue level, where the assistance modes include a strong assistance mode, a reference assistance mode, and a power saving mode; if the fatigue level is level I, the matched assistance mode is the reference assistance mode; if the fatigue level is level II, the matched assistance mode is the strong assistance mode.

[0073] In some embodiments, the control device further includes: a warning module configured to give a voice prompt or even prompt to take a rest when it is recognized that the user is in level I fatigue and the duration exceeds a preset first duration threshold, but still maintain the reference assistance mode.

[0074] In some embodiments, the fatigue identification module is further configured to turn off the strong resistance mode when it is recognized that the user is in level II fatigue and the duration exceeds a preset second duration threshold, so as to force the user to rest. Preferably, the control device can use a mobile terminal carried by the user, such as a smart phone or a smart terminal, etc.

[0075] It should be noted that in this article, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including that element.

[0076] The embodiments of the present invention have been described above in conjunction with the accompanying drawings. However, the present invention is not limited to the above specific embodiments. The above specific embodiments are merely illustrative rather than restrictive. Under the inspiration of the present invention, those of ordinary skill in the art can also make many forms without departing from the spirit of the present invention and the scope protected by the claims. All of these are within the protection scope of the present invention.

Claims

1. A control method for a power-assisted exoskeleton, characterized in that, The assisted exoskeleton includes: a torso wearing module wearable on the torso, a power module, a shoulder guiding module, a shoulder assisting module, an arm assisting module, and a palm assisting module provided on the torso wearing module; the power module includes a motor, a first gear provided on the output shaft of the motor, and a first cable device; second gears and third gears meshing with the first gear are symmetrically provided on both sides of the first gear, second cable devices are coaxially provided with the second gears and the third gears respectively, clutches are provided between the second gears and the third gears and the coaxially provided second cable devices respectively, a clutch is provided between the first cable device and the output shaft, and first cable guiding mechanisms are symmetrically provided on both sides of the first cable device; a second cable guiding mechanism is provided at the top of the second cable device; two ends of the first cable in the first cable device respectively pass through the first cable guiding mechanisms on both sides and the shoulder guiding modules on both sides and are respectively connected to the two arm assisting modules; the end of the second cable in the second cable device passes through the corresponding second cable guiding mechanism and the shoulder guiding module on the corresponding side and is connected to the shoulder assisting module on the corresponding side; correspondingly, the control method specifically includes the steps: S101 Obtain the current work task type input by the user, and the work task type includes unloading, sorting and turning over, sorting, scanning and bagging, and stacking and photographing; S102 Control the working states of the clutches according to the current work task type of the user, so as to realize the adjustment of the assisting mode; specifically, it includes: S1021 If the current work task type is unloading, control the clutches corresponding to the second gear and the third gear to switch to or remain in the open state. At the same time, control the clutch between the first cable device and the output shaft to switch to or remain in the open state; and when the connecting heads at both ends of the first cable in the first cable device are respectively connected to the fourth assisting points on the palm assisting module, and the connecting head at the end of the second cable in the second cable device is connected to the third assisting point on the shoulder assisting module, control the motor to start to provide assistance to the shoulder assisting module and the palm assisting module respectively; S1022 If the current work task type is sorting and turning over or stacking and photographing task or scanning and bagging, control the clutches corresponding to the second gear and the third gear to switch to or remain in the open state. At the same time, control the clutch between the first cable device and the output shaft to switch to or remain in the disconnected state; and when the connecting head at the end of the second cable in the second cable device is connected to the third assisting point on the shoulder assisting module, control the motor to start to provide assistance to the two shoulder assisting modules respectively; If the current work task type is sorting, control the clutches corresponding to the second gear and the third gear to switch to or remain in the open state. At the same time, control the clutch between the first cable device and the output shaft to switch to or remain in the open state. And when the connectors at both ends of the first cable in the first cable device are respectively connected to the first assist point or the second assist point on the arm assist module, and the connector at the end of the second cable in the second cable device is connected to the third assist point on the shoulder assist module, control the motor to start to provide assistance to the shoulder assist module and the arm assist module respectively.

2. The control method of a powered exoskeleton according to claim 1, wherein, The assistive exoskeleton further includes a palm assist module and a lower limb assist module. And at the other end of the output shaft of the power module, a fourth gear is further provided. On both sides of the fourth gear, a fifth gear and a sixth gear meshing with it are symmetrically arranged. The fifth gear and the sixth gear are respectively coaxially provided with a third cable device. And a clutch is provided between the fifth gear and the sixth gear and their respective corresponding third cable devices. The end of the third cable in the third cable device is connected to the lower limb assist module. Correspondingly, if the current work task type is unloading, the steps of controlling the motor to provide assistance specifically include: According to the pressure data currently monitored by the palm assist module, determine whether the item being carried is a large item or a small item. If it is a large item, control the clutch between the first cable device and the output shaft, and the clutches corresponding to the second gear and the third gear to switch to or remain in the open state. At the same time, control the clutch corresponding to the third cable device to switch to or remain in the open state. And when the connectors at both ends of the first cable in the first cable device are respectively connected to the fourth assist point on the palm assist module, and the connector at the end of the second cable in the second cable device is connected to the third assist point on the shoulder assist module, control the motor to start to provide assistance to the shoulder assist module, the palm assist module and the lower limb assist module respectively. If it is a small item, control the clutch between the first cable device and the output shaft, and the clutches corresponding to the second gear and the third gear to switch to or remain in the open state. And when the connectors at both ends of the first cable in the first cable device are respectively connected to the fourth assist point on the palm assist module, and the connector at the end of the second cable in the second cable device is connected to the third assist point on the shoulder assist module, control the motor to start to provide assistance to the shoulder assist module and the palm assist module.

3. The control method of a powered exoskeleton according to claim 1, characterized in that, A data acquisition module for collecting user physiological characteristic data is provided on the palm assist module. Correspondingly, the control method further includes the step of: Collect the user's physiological characteristic data in real time and perform data analysis to obtain the user's current fatigue level. Based on the fatigue level, match the corresponding assist mode in the database. The assist mode includes a strong assist mode and a reference assist mode. If the fatigue level is level I, the matched assist mode is the reference assist mode. If the fatigue level is level II, the matched assist mode is the strong assist mode.

4. The control method of a power-assisted exoskeleton according to claim 3, wherein, When it is recognized that the user is in level I fatigue and the duration exceeds a preset first duration threshold, a voice prompt is given or even a reminder to take a rest is provided, but the benchmark assistance mode is still maintained.

5. The control method of a powered exoskeleton according to claim 3, wherein When it is recognized that the user is in level II fatigue and the duration exceeds a preset second duration threshold, the strong resistance mode is turned off to force the user to rest.

6. A control device for a power-assisted exoskeleton, characterized in that, Including: An interaction module configured to display a configuration interaction interface to the user and obtain the current work task type configured by the user in the configuration interaction interface; The work task types include unloading, sorting and turning over, sorting, scanning and bagging, and stacking. A control module configured to control the working states of the clutches in the power-assisted exoskeleton according to the current work task type of the user, so as to realize the adjustment of the assistance mode; Specifically, the control module includes: A first control unit configured to generate corresponding control signals if the current work task type is unloading, and send them to the power-assisted exoskeleton to control the clutches corresponding to the first cable device and the second cable device in the power-assisted exoskeleton to switch to or remain in the open state; and control the motor to start to provide assistance to the shoulder assistance module and the palm assistance module respectively; A second control unit configured to generate corresponding control signals if the current work task type is sorting and turning over or stacking tasks or scanning and bagging, and send them to the power-assisted exoskeleton to control the clutches corresponding to the two second cable devices to switch to or remain in the open state, control the clutch corresponding to the first cable device to switch to or remain in the disconnected state; and control the motor to start to provide assistance to the two shoulder assistance modules respectively; A third control unit configured to generate corresponding control signals if the current work task type is sorting, and send them to the power-assisted exoskeleton to control the clutches corresponding to the first cable device and the second cable device to switch to or remain in the open state; and control the motor to start to provide assistance to the shoulder assistance module and the arm assistance module respectively.

7. The control device of a powered exoskeleton according to claim 6, characterized in that, It further includes: A wireless communication module configured to receive the pressure data monitored by the palm assistance module in the power-assisted exoskeleton; A package identification module configured to judge whether the user is currently carrying a large or small item based on the pressure data; If it is a large item, trigger the first control unit to control the clutches corresponding to the first cable device and the second cable device to switch to or remain in the open state. At the same time, control the clutch corresponding to the third cable device to switch to or remain in the open state, and control the motor to start to provide assistance to the shoulder assistance module, the palm assistance module and the lower limb assistance module respectively; if it is a small item, trigger the first control unit to control the clutch between the first cable device and the output shaft, and the clutches corresponding to the second gear and the third gear to switch to or remain in the open state, and control the motor to start to provide assistance to the shoulder assistance module and the palm assistance module.

8. The control device of a power-assisted exoskeleton according to claim 7, characterized in that The wireless communication module is further configured to receive the physiological characteristic data of the user collected in real time by the palm assistance module; correspondingly, the control device further includes: A fatigue recognition module, configured to perform data analysis based on the physiological characteristic data to obtain the current fatigue level of the user; and match a corresponding assistance mode in the database based on the fatigue level, the assistance mode including a strong assistance mode, a reference assistance mode, and a power saving mode; if the fatigue level is level I, the matched assistance mode is the reference assistance mode; if the fatigue level is level II, the matched assistance mode is the strong assistance mode.

9. The control device of a power-assisted exoskeleton according to claim 8, characterized in that, It further includes: An early warning module, configured to perform voice prompts or even prompt to take a rest when it is recognized that the user is in level I fatigue and the duration exceeds a preset first duration threshold, but still maintain the reference assistance mode.

10. The control device of a powered exoskeleton according to claim 8, characterized in that, The fatigue recognition module is further configured to turn off the strong resistance mode when it is recognized that the user is in level II fatigue and the duration exceeds a preset second duration threshold, thereby forcing the user to rest.

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