Exoskeleton bus voltage regulation method based on complex scene

Abstract

The invention relates to an exoskeleton bus voltage regulation method based on a complex scene, belongs to the technical field of exoskeleton safety protection, and solves the problem that in the prior art, an exoskeleton causes severe bus voltage change under different working conditions and causes unsafety. The exoskeleton bus voltage regulation method comprises the following steps: detecting exoskeleton bus voltage, and performing integral filtering on voltage increment of the bus voltage in a historical time period to obtain an integral result; comparing the integral result with a preset integral voltage threshold to determine an adjustable voltage threshold; determining a first comparison result according to the bus voltage and a dangerous voltage upper limit threshold, and determining a second comparison result according to the bus voltage and an adjustable voltage threshold; and when the first comparison result is that discharging is started or the second comparison result is that discharging is started, the bus voltage is discharged, so that the bus voltage is reduced. And safe work of the exoskeleton under different working conditions is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of exoskeleton safety protection, and particularly to an exoskeleton bus voltage regulation method based on a complex scene. BACKGROUND

[0002] Exoskeletons are used to enhance human movement functions and are usually designed to be worn externally on the human body to assist in performing various tasks, and have been widely used in the medical, rehabilitation and industrial fields, improving work efficiency.

[0003] In a motor-driven assistive exoskeleton robot, especially in a motion scene with negative power, the motor back electromotive force may cause instantaneous charging, thereby causing the exoskeleton bus voltage to rise, threatening the stability and durability of the exoskeleton.

[0004] The overvoltage protection method for setting the bus voltage in the prior art has a contradiction in the threshold setting, which may cause frequent energy loss if too low, and may cause overvoltage and unsafe operation of the exoskeleton under the condition of continuous feedback of electric energy such as downhill if too high. SUMMARY

[0005] In view of the above analysis, the embodiments of the present application aim to provide an exoskeleton bus voltage regulation method based on a complex scene to solve the problem of the exoskeleton bus voltage changing dramatically under different working conditions in the prior art, causing insecurity.

[0006] The embodiments of the present application provide an exoskeleton bus voltage regulation method based on a complex scene, which comprises:

[0007] Detecting the exoskeleton bus voltage, integrating and filtering the voltage increase in the historical time period of the bus voltage to obtain an integral result, and comparing the integral result with a preset integral voltage threshold to determine an adjustable voltage threshold;

[0008] determining a first comparison result according to the bus voltage and a dangerous voltage upper threshold, and determining a second comparison result according to the bus voltage and the adjustable voltage threshold; wherein the dangerous voltage upper threshold is greater than the adjustable voltage threshold; if the bus voltage is greater than the dangerous voltage upper threshold, the first comparison result is to start discharging; if the duration of the bus voltage being greater than the adjustable voltage threshold exceeds a time threshold, the second comparison result is to start discharging;

[0009] When the first comparison result is to start discharging or the second comparison result is to start discharging, the bus voltage is discharged to make the bus voltage drop.

[0010] Further improvement of the above exoskeleton bus voltage regulation method, wherein the comparison of the integral result and the preset integral voltage threshold to determine the adjustable voltage threshold comprises:

[0011] If the integral result is greater than the preset integral voltage threshold, the adjustable voltage threshold is the first discharge voltage threshold; otherwise, the adjustable voltage threshold is the second discharge voltage threshold.

[0012] The second discharge voltage threshold is greater than the first discharge voltage threshold.

[0013] Based on the further improvement of the exoskeleton bus voltage regulation method described above, the second comparison result is determined according to the bus voltage and the adjustable voltage threshold, comprising:

[0014] Comparing the bus voltage and the adjustable voltage threshold, if the bus voltage is greater than the adjustable voltage threshold, a third comparison result is obtained;

[0015] The duration of the third comparison result is determined, compared with the time threshold, and a second comparison result is obtained; if the duration of the third comparison result is greater than the time threshold, the second comparison result is start discharging.

[0016] Based on the further improvement of the exoskeleton bus voltage regulation method described above, the exoskeleton bus voltage is detected by the bus voltage detection circuit; the bus voltage detection circuit comprises a first operational amplifier U11, a fifth resistor R11 and a sixth resistor R12;

[0017] The negative input end of the first operational amplifier U11 is connected to the output end of the first operational amplifier U11, which is the output end of the bus voltage detection circuit, for outputting the bus voltage;

[0018] The positive input end of the first operational amplifier U11 is connected to one end of the fifth resistor R11 and one end of the sixth resistor R12; the other end of the fifth resistor R11 is connected to the bus voltage for receiving the bus voltage of the exoskeleton; the other end of the sixth resistor R12 is grounded.

[0019] Based on the further improvement of the exoskeleton bus voltage regulation method described above, the voltage increase in the historical time period of the bus voltage is integrated and filtered by the discharge threshold voltage self-adjusting circuit, and the integral result is compared with the preset integral voltage threshold to determine the adjustable voltage threshold;

[0020] The discharge threshold voltage self-adjusting circuit comprises an integral circuit and a threshold adjusting circuit;

[0021] The input end of the integral circuit is used to receive the bus voltage and integrate the voltage in the historical time period to obtain an integral result;

[0022] The output end of the integral circuit is connected to the input end of the threshold adjusting circuit, for inputting the integral result into the threshold adjusting circuit; the threshold adjusting circuit determines the adjustable voltage threshold according to the integral result; the output end of the threshold adjusting circuit is used to output the adjustable voltage threshold.

[0023] Based on the further improvement of the exoskeleton bus voltage regulation method described above, the integral circuit comprises a second operational amplifier U21, a seventh resistor R21 and a capacitor C21;

[0024] The positive input end of the second operational amplifier U21 is used as the input end of the integral circuit, and is used for receiving the bus voltage;

[0025] The negative input end of the second operational amplifier U21 is connected to one end of the seventh resistor R21, and the other end of the seventh resistor R21 is connected to one end of the capacitor C21;

[0026] The output end of the second operational amplifier U21 is connected to the other end of the capacitor C21, and is connected to the input end of the threshold adjustment circuit as the output end of the integral circuit, and inputs the integral result to the threshold adjustment circuit.

[0027] Based on the further improvement of the exoskeleton bus voltage regulation method described above, the threshold adjustment circuit comprises an eighth resistor R22, a ninth resistor R23, a tenth resistor R24 and a triode Q21;

[0028] The base of the triode Q21 is connected to the output end of the integral circuit as the input end of the threshold adjustment circuit, and is used for receiving the integral result;

[0029] The emitter of the triode Q21 is grounded, one end of the tenth resistor R24 is grounded, and one end of the ninth resistor R23 is connected to an external power supply VCC; the collector of the triode Q21 is connected to one end of the eighth resistor R22;

[0030] The other end of the eighth resistor R22, the other end of the ninth resistor R23 and the other end of the tenth resistor R24 are connected as the output end of the threshold adjustment circuit, and output the adjustable voltage threshold.

[0031] Based on the further improvement of the exoskeleton bus voltage regulation method described above, the second comparison result is determined by a bleeder buffer comparison circuit, and the bleeder buffer comparison circuit comprises a third operational amplifier U31 and a bleeder time setting circuit;

[0032] The positive input end of the third operational amplifier U31 is used as the positive input end of the bleeder buffer comparison circuit, and is used for receiving the bus voltage;

[0033] The negative input end of the third operational amplifier U31 is used as the negative input end of the bleeder buffer comparison circuit, and is used for receiving the adjustable voltage threshold;

[0034] The output end of the third operational amplifier U31 is connected to the input end of the bleeder time setting circuit, and the third operational amplifier U31 compares the bus voltage and the adjustable voltage threshold to obtain a third comparison result, and outputs the third comparison result to the bleeder time setting circuit;

[0035] The bleed time setting circuit determines the second comparison result according to the duration of the third comparison result and the time threshold.

[0036] Based on the further improvement of the exoskeleton bus voltage regulation method, the bleed time setting circuit comprises a third resistor R31, a fourth resistor R32, a first adjustable capacitor C31 and a first diode D31.

[0037] One end of the third resistor R31, one end of the first adjustable capacitor C31 and the negative pole of the first diode D31 are input terminals of the bleed time setting circuit, receiving the third comparison result; the other end of the third resistor R31 is connected to the external power supply VCC, and the other end of the first adjustable capacitor C31 is grounded; the time threshold is set by adjusting the size of the first adjustable capacitor C31.

[0038] The positive pole of the first diode D31 is connected to one end of the fourth resistor R32, which is an output terminal of the bleed time setting circuit, outputting the second comparison result; when the output terminal of the bleed time setting circuit outputs a high level, the second comparison result is to start bleeding.

[0039] The other end of the fourth resistor R32 is connected to the external power supply VCC.

[0040] Based on the further improvement of the exoskeleton bus voltage regulation method, the first comparison result is determined by the emergency bleed circuit, and the emergency bleed circuit comprises a fourth operational amplifier U41, a first resistor R41 and a second resistor R42.

[0041] The positive input terminal of the fourth operational amplifier U41 is connected to the output terminal of the bus voltage detection circuit, for receiving the bus voltage.

[0042] The negative input terminal of the fourth operational amplifier U41 is connected to one end of the first resistor R41 and one end of the second resistor R42, for receiving the upper limit threshold of the dangerous voltage; the other end of the first resistor R41 is connected to the external power supply VCC, and the other end of the second resistor R42 is grounded.

[0043] The output terminal of the fourth operational amplifier U41 is used for outputting the first comparison result; when the output terminal of the fourth operational amplifier U41 outputs a high level, the first comparison result is to start bleeding.

[0044] Compared with the prior art, the present application can achieve at least one of the following beneficial effects:

[0045] 1. By setting the upper limit threshold of the dangerous voltage and the adjustable voltage threshold, the occurrence of extreme bus voltage during the operation of the exoskeleton is reduced, and the safety during the operation of the exoskeleton is improved.

[0046] 2、By detecting the exoskeleton bus voltage to determine the different working conditions of the exoskeleton, the voltage increase in the historical time period of the bus voltage is integrated and filtered, and the adjustable voltage threshold is compared with the integral voltage threshold setting to adjust the voltage threshold, so that the exoskeleton has different adjustable voltage thresholds when running in different working conditions, and the running safety of the exoskeleton in different working conditions is maintained;

[0047] 3、By setting the time threshold through the bleeder time setting circuit, the frequent adjustment of the bus voltage caused by the burr signal is reduced, and the stability of the voltage protection circuit during operation is improved.

[0048] In the present application, the above-mentioned technical solutions can be combined with each other to realize more preferred combination schemes. Other features and advantages of the present application will be described in the subsequent specification, and some advantages will become apparent from the specification or be understood by implementing the present application. The purpose and other advantages of the present application can be achieved and obtained through the contents specifically pointed out in the specification and the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0049] The accompanying drawings are included to provide a further understanding of the application and are incorporated herein and constitute a part of the application. The same reference numerals in the drawings refer to the same or similar components throughout the drawings.

[0050] Figure 1 The flowchart of the exoskeleton bus voltage adjustment method based on a complex scene provided by the embodiment of the present application is shown in the figure.

[0051] Figure 2 The structural diagram of the voltage protection circuit for the exoskeleton provided by the embodiment of the present application is shown in the figure.

[0052] Figure 3 The change curve of the bus voltage under different working conditions provided by the embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0053] The preferred embodiments of the present application will be specifically described below in conjunction with the drawings, wherein the drawings constitute a part of the present application and are used to illustrate the principles of the embodiments of the present application, and are not used to limit the scope of the present application.

[0054] One specific embodiment of the present application discloses an exoskeleton bus voltage adjustment method based on a complex scene, as shown in the figure. Figure 1 As shown in the figure, the exoskeleton bus voltage adjustment method comprises:

[0055] Step S1: detecting the exoskeleton bus voltage, integrating and filtering the voltage increase in the historical time period of the bus voltage to obtain the integral result; comparing the integral result with the preset integral voltage threshold to determine the adjustable voltage threshold;

[0056] Step S2: Determine the first comparison result based on the bus voltage and the upper limit threshold of the dangerous voltage, and simultaneously determine the second comparison result based on the bus voltage and the adjustable voltage threshold; wherein, the upper limit threshold of the dangerous voltage is greater than the adjustable voltage threshold; if the bus voltage is greater than the upper limit threshold of the dangerous voltage, the first comparison result is to start discharging; if the duration of the bus voltage being greater than the adjustable voltage threshold exceeds the time threshold, the second comparison result is to start discharging.

[0057] Step S3: When the first comparison result is "start discharging" or the second comparison result is "start discharging", the bus voltage is discharged, causing the bus voltage to drop.

[0058] Specifically, such as Figure 1 As shown, in step S1, the bus voltage of the exoskeleton is detected. The detected increase in bus voltage over a historical time period is integrated and filtered to obtain the integral result, i.e., the total increase in bus voltage over the historical time period. The integral result is compared with a preset integral voltage threshold to set an adjustable voltage threshold. It is worth noting that by integrating and filtering the increase in bus voltage over a historical time period, the state of movement of the exoskeleton at that time can be determined. When the user is wearing the exoskeleton and walking normally, it is in a normal state, such as... Figure 3 As shown, the bus voltage will fluctuate slightly within the safe voltage range, during which the integral filtering of the bus voltage over the historical time period is essentially zero. When a user wears the exoskeleton for downhill movement, the exoskeleton performs negative work, causing the bus voltage to rise continuously for a period of time. This increases the risk of danger. Figure 3 As shown, in a continuously rising state, the integral filter is applied to the increase in bus voltage over a historical period. The integral result is likely to be greater than the preset integral voltage threshold. If the bus voltage is a continuous rise over a short period of time, the danger is smaller and the integral result is likely to be less than the preset integral voltage threshold.

[0059] By using the integration results and preset integration voltage thresholds, different adjustable voltage thresholds can be set, which improves the working safety of the exoskeleton in a continuous ascending state.

[0060] Specifically, the adjustable voltage threshold is set according to the working state of the exoskeleton and can vary with changes in the bus voltage of the exoskeleton.

[0061] Preferably, determining the adjustable voltage threshold based on the integration result and a preset integration voltage threshold includes:

[0062] If the integral result is greater than the preset integral voltage threshold, the voltage threshold can be adjusted to the first discharge voltage threshold; otherwise, the voltage threshold can be adjusted to the second discharge voltage threshold.

[0063] The second discharge voltage threshold is greater than the first discharge voltage threshold.

[0064] Specifically, the safe range of the exoskeleton bus voltage is 48V, and the upper limit threshold of the dangerous voltage can be set to 48V. When the integral result of the bus voltage over a historical period is greater than the preset integral voltage threshold, the adjustable voltage threshold is adjusted from the second discharge voltage threshold to the first discharge voltage threshold. The first discharge voltage threshold can be set to about 40V, and the second discharge voltage threshold can be set to about 45V.

[0065] like Figure 1 As shown, in step S2, a first comparison result is determined between the bus voltage and the upper limit threshold of the dangerous voltage, and a second comparison result is determined between the bus voltage and the adjustable voltage threshold. Specifically, if the bus voltage is greater than the upper limit threshold of the dangerous voltage when the exoskeleton is working, it indicates that the exoskeleton is operating in a dangerous condition. Figure 3 As shown, the exoskeleton is in a dangerous state at this time. If the bus voltage is not released and reduced, it will be dangerous. Therefore, the upper limit threshold of the dangerous voltage is used to protect the exoskeleton as a whole.

[0066] Specifically, in step S2, the upper limit of the dangerous voltage threshold is greater than the adjustable voltage threshold, that is, the upper limit of the dangerous voltage threshold is greater than the adjustable voltage threshold set for the exoskeleton in any state.

[0067] When determining the first comparison result, if the bus voltage is greater than the upper limit threshold of the dangerous voltage, the first comparison result is to start venting; otherwise, the first comparison result is not to vent.

[0068] When determining the second comparison result, if the duration of the bus voltage being greater than the adjustable voltage threshold exceeds the time threshold, the second comparison result is to start discharging; otherwise, the second comparison result is not to discharge.

[0069] Specifically, such as Figure 1 As shown, in step S3, it is determined whether to start discharging based on the first comparison result and the second comparison result. When the first comparison result indicates that discharging should start or the second comparison result indicates that discharging should start, the bus voltage is discharged to reduce the bus voltage. When both the first comparison result and the second comparison result indicate that discharging should not start, the bus voltage is not discharged and the bus voltage is kept constant.

[0070] Specifically, such as Figure 3 As shown, the second discharge voltage threshold is greater than the first discharge voltage threshold, and the upper limit threshold of the dangerous voltage is greater than the second discharge voltage threshold.

[0071] The integral result is the total voltage increase of the bus voltage of the exoskeleton in the historical time period, if the total voltage increase is greater than the preset integral voltage threshold, at this time it is indicated that the exoskeleton has been in the negative work stage, resulting in continuous rise of the bus voltage, and reaching the preset integral voltage threshold, so as to exceed the preset integral voltage threshold, when the exoskeleton is in this working state, the bus voltage is more prone to overvoltage phenomenon, therefore, it is necessary to discharge the bus voltage, and timely discharge the energy to prevent overvoltage. If the total voltage increase is less than or equal to the preset integral voltage threshold, at this time it is indicated that the exoskeleton is in a floating state, at this time it is not prone to overvoltage phenomenon, and it is not necessary to discharge the bus voltage.

[0072] Preferably, the second comparison result is determined according to the bus voltage and the adjustable voltage threshold, comprising:

[0073] The bus voltage is compared with the adjustable voltage threshold, and if the bus voltage is greater than the adjustable voltage threshold, a third comparison result is obtained;

[0074] The duration of the third comparison result is compared with a time threshold, and a second comparison result is obtained; if the duration of the third comparison result is greater than the time threshold, the second comparison result is start discharging.

[0075] Specifically, the comparison of the bus voltage and the adjustable voltage threshold will appear two situations that the bus voltage is greater than the adjustable voltage threshold and the bus voltage is less than or equal to the adjustable voltage threshold, when the bus voltage is greater than the adjustable voltage threshold, the duration of the state is judged, if it is only a short time, it may be due to the influence of the glitch, at this time it is not necessary to discharge; when the duration of the state, i.e. the duration of the bus voltage being greater than the adjustable voltage threshold, exceeds the time threshold, it is necessary to discharge the bus voltage to reduce the bus voltage.

[0076] Specifically, as shown in Figure 2 The embodiment of the present application also provides a bus voltage detection circuit for executing the exoskeleton bus voltage regulation method based on a complex scene.

[0077] Specifically, as shown in Figure 2 The voltage protection circuit comprises a bus voltage detection circuit, an emergency discharge circuit, a discharge buffer comparison circuit, a logic OR gate and a discharge circuit; the bus voltage detection circuit is used for receiving the bus voltage and transmitting the bus voltage to the discharge buffer comparison circuit and the emergency discharge circuit; in the discharge buffer comparison circuit, the bus voltage is compared with the adjustable voltage threshold, and the obtained second comparison result is output to the logic OR gate; at the same time, in the emergency discharge circuit, the bus voltage is compared with the upper threshold of the dangerous voltage, and the obtained first comparison result is output to the logic OR gate.

[0078] Specifically, the logic OR gate generates a bleeding control signal according to the received first comparison result and the second comparison result, and the bleeding control signal includes two types: high level and low level. The high level is used to adjust the bus voltage to start bleeding, and the low level keeps the bus voltage unchanged to not bleed, so that the bus voltage is adjusted according to the different bleeding control signals, and the exoskeleton has a safe bus voltage in different working conditions, thereby improving the working safety of the exoskeleton in different working conditions.

[0079] Specifically, the voltage protection circuit further comprises a bleeding threshold voltage self-adjusting circuit.

[0080] The input end of the bleeding threshold voltage self-adjusting circuit is connected to the output end of the bus voltage detection circuit, and is used to receive the bus voltage.

[0081] The bleeding threshold voltage self-adjusting circuit determines the adjustable voltage threshold according to the voltage increase of the bus voltage in the historical time period.

[0082] The output end of the bleeding threshold voltage self-adjusting circuit is connected to the negative input end of the bleeding buffer comparison circuit, and is used to output the adjustable voltage threshold; and the positive input end of the bleeding buffer comparison circuit is connected to the output end of the bus voltage detection circuit, and is used to receive the bus voltage.

[0083] Preferably, the voltage increase of the bus voltage in the historical time period is integrated and filtered by the bleeding threshold voltage self-adjusting circuit, and the adjustable voltage threshold is determined by comparing the integral result with a preset integral voltage threshold.

[0084] The bleeding threshold voltage self-adjusting circuit comprises an integral circuit and a threshold adjusting circuit.

[0085] The input end of the integral circuit is used to receive the bus voltage, and the voltage of the bus voltage in the historical time period is integrated to obtain an integral result.

[0086] The output end of the integral circuit is connected to the input end of the threshold adjusting circuit, and is used to input the integral result into the threshold adjusting circuit; the threshold adjusting circuit determines the adjustable voltage threshold according to the integral result; and the output end of the threshold adjusting circuit is used to output the adjustable voltage threshold.

[0087] Specifically, as shown in Figure 3 The bus voltage changes in different working conditions of the exoskeleton, which causes the safe voltage of the exoskeleton in different working conditions to be different. The adjustable voltage threshold is set by the bleeding threshold voltage self-adjusting circuit according to the change of the bus voltage, and the safe voltage is reasonably set.

[0088] Specifically, as shown in Figure 2As shown, the bleed threshold voltage self-adjusting circuit receives the bus voltage, determines the adjustable voltage threshold according to the voltage increase of the bus voltage in the historical time period, so that different adjustable voltage thresholds can be determined according to different working conditions of the exoskeleton, and the adjustable voltage threshold is transmitted to the bleed buffer comparison circuit to affect the second comparison result of the bleed buffer comparison circuit, so that the exoskeleton adjusts the bus voltage differently in different working conditions, and improves the safety protection of the exoskeleton.

[0089] Specifically, as shown in the figure, Figure 2 As shown, the bleed threshold voltage self-adjusting circuit includes an integral circuit and a threshold adjusting circuit;

[0090] The input end of the integral circuit is connected to the output end of the bus voltage detection circuit, for receiving the bus voltage, and the integral circuit integrates the voltage of the bus voltage in the historical time period to obtain an integral result;

[0091] The output end of the integral circuit is connected to the input end of the threshold adjusting circuit, for inputting the integral result into the threshold adjusting circuit; the threshold adjusting circuit determines the adjustable voltage threshold according to the integral result;

[0092] The output end of the threshold adjusting circuit is connected to the negative input end of the bleed buffer comparison circuit, for outputting the adjustable voltage threshold.

[0093] Specifically, as shown in the figure, Figure 2 As shown, the bleed threshold voltage self-adjusting circuit includes an integral circuit and a threshold adjusting circuit; the integral circuit is used for integrating the voltage of the bus voltage in the historical time period, and transmitting the obtained integral result to the threshold adjusting circuit, so that the threshold adjusting circuit determines different adjustable voltage thresholds.

[0094] It can be understood that the bus voltage changes differently in different working conditions of the exoskeleton, for example: when wearing the exoskeleton to exercise, especially in the road sections such as jumping and downhill, the bus voltage rises due to the instantaneous charging in the motor negative process, and the change is relatively violent, so that the stability and durability of the exoskeleton system are low.

[0095] The present application detects the bus voltage of the exoskeleton in different working conditions through the bleed threshold voltage self-adjusting circuit, judges the motion working condition of the exoskeleton, and then sets different adjustable voltage thresholds according to different working conditions of the exoskeleton, so as to realize the feedback of electric energy to the battery side of the exoskeleton in the non-overvoltage state, so as to minimize the energy loss. At the same time, when necessary, the bleed is carried out to prevent the instantaneous rise of the bus voltage, ensure the stable operation of the exoskeleton system in various motion scenes, and improve the energy efficiency and safety of the system.

[0096] Preferably, the integral circuit includes a second operational amplifier U21, a seventh resistor R21 and a capacitor C21;

[0097] The positive input terminal of the second operational amplifier U21 serves as the input terminal of the integrating circuit, used to receive the bus voltage;

[0098] The negative input terminal of the second operational amplifier U21 is connected to one end of the seventh resistor R21, and the other end of the seventh resistor R21 is connected to one end of the capacitor C21.

[0099] The output of the second operational amplifier U21 is connected to the other end of capacitor C21, serving as the output of the integrator circuit and the input of the threshold adjustment circuit, thus inputting the integration result into the threshold adjustment circuit.

[0100] Preferably, the threshold adjustment circuit includes an eighth resistor R22, a ninth resistor R23, a tenth resistor R24, and a transistor Q21;

[0101] The base of transistor Q21 is connected to the output of the integrator circuit as the input of the threshold adjustment circuit, and is used to receive the integration result.

[0102] The emitter of transistor Q21 is grounded, one end of the tenth resistor R24 ​​is grounded, one end of the ninth resistor R23 is connected to the external power supply VCC; the collector of transistor Q21 is connected to one end of the eighth resistor R22.

[0103] The other end of the eighth resistor R22, the other end of the ninth resistor R23, and the other end of the tenth resistor R24 ​​serve as the output terminals of the threshold adjustment circuit, which will output the adjustable voltage threshold.

[0104] Specifically, such as Figure 2 As shown, the bus voltage before the current time point can be integrated through the second operational amplifier U21, the seventh resistor R21, and the capacitor C21 included in the integrating circuit. This allows for the measurement of the bus voltage changes over a historical time period, enabling monitoring of the bus voltage and determining the type of operating condition of the exoskeleton. Under this condition, an adjustable voltage threshold needs to be set. It is worth noting that the duration of the historical time period can be adjusted by changing the resistance value of the seventh resistor R21 and the capacitance value of the capacitor C21, thus adapting to different exoskeleton operating scenarios.

[0105] Specifically, such as Figure 3 As shown, when the exoskeleton operates in scenarios such as flat ground, it is in a normal state. During the gait cycle transitions, the motors perform negative work, which also feeds energy back to the bus, creating voltage spikes. Since this feedback energy is relatively small, there is no need to activate the discharge circuit; the energy can be dissipated by the positive work phase of the exoskeleton during the gait cycle. The bus voltage can be filtered through the seventh resistor R21, capacitor C21, and the second operational amplifier U21, filtering out the voltage spikes that exist despite the small feedback energy, reducing energy loss, and ensuring the safe operation of the exoskeleton.

[0106] Specifically, such as Figure 3 As shown, when the exoskeleton is in a downhill gait, where it performs negative work throughout the entire gait cycle, it is in a continuously rising state. The bus voltage continuously increases, causing the output value of the second operational amplifier U21 to continuously increase until transistor Q21 turns on. When transistor Q21 turns on, the eighth resistor R22 and the tenth resistor R24 ​​form a parallel circuit with a resistance of R22_24. At this time, the adjustable voltage threshold Vth1_High decreases to Vth1_Low. Vth1_High is the second discharge voltage threshold, and Vth1_Low is the first discharge voltage threshold. That is, in the downhill gait, due to the continuous feedback of electrical energy causing the bus voltage to rise, overvoltage is more likely to occur. Therefore, it is necessary to lower the discharge threshold to release energy in time and prevent overvoltage. When the exoskeleton is in a normal gait, transistor Q21 is turned off, and the adjustable voltage increases from the first discharge voltage threshold Vth1_Low to the second discharge voltage threshold Vth1_High.

[0107] Specifically, such as Figure 2 As shown, the adjustable voltage threshold set by the threshold adjustment circuit when transistor Q21 is not turned on. When transistor Q21 is turned on

[0108] Preferably, such as Figure 2 As shown, the second comparison result is determined by a discharge buffer comparison circuit, which includes a third operational amplifier U31 and a discharge time setting circuit.

[0109] The positive input terminal of the third operational amplifier U31 serves as the positive input terminal of the bleed buffer comparator circuit, used to receive the bus voltage.

[0110] The negative input terminal of the third operational amplifier U31 serves as the negative input terminal of the bleed buffer comparator circuit, used to receive the adjustable voltage threshold.

[0111] The output of the third operational amplifier U31 is connected to the input of the discharge time setting circuit. The third operational amplifier U31 compares the bus voltage and the adjustable voltage threshold to obtain the third comparison result, and outputs the third comparison result to the discharge time setting circuit.

[0112] The discharge time setting circuit determines the second comparison result based on the duration of the third comparison result and the time threshold.

[0113] Preferably, the discharge time setting circuit includes a third resistor R31, a fourth resistor R32, a first adjustable capacitor C31, and a first diode D31;

[0114] One end of the third resistor R31, one end of the first adjustable capacitor C31 and the negative pole of the first diode D31 are connected as the input end of the discharge time setting circuit, receiving the third comparison result; the other end of the third resistor R31 is connected to the external power supply VCC, and the other end of the first adjustable capacitor C31 is grounded; the time threshold value is set by adjusting the size of the first adjustable capacitor C31;

[0115] The positive pole of the first diode D31 is connected to one end of the fourth resistor R32 as the output end of the discharge time setting circuit, outputting the second comparison result; when the output end of the discharge time setting circuit outputs a high level, the second comparison result is to start discharging;

[0116] The other end of the fourth resistor R32 is connected to the external power supply VCC.

[0117] Specifically, as shown in Figure 2 The positive input end of the discharge buffer comparison circuit is used to receive the real-time detected bus voltage, and the negative input end of the discharge buffer comparison circuit is used to receive the adjustable voltage threshold value determined by the discharge threshold voltage self-adjusting circuit.

[0118] Specifically, the discharge buffer comparison circuit includes a third operational amplifier U31 and a discharge time setting circuit, the positive input end of the third operational amplifier U31 is used as the positive input end of the discharge buffer comparison circuit, and the negative input end of the third operational amplifier U31 is used as the negative input end of the discharge buffer comparison circuit, and the third comparison result of the bus voltage and the adjustable voltage threshold value is output to the discharge time setting circuit.

[0119] Specifically, as shown in Figure 2 In the discharge time setting circuit, it can be understood that only when the third operational amplifier U31 continuously outputs a high level to charge the first adjustable capacitor C31, i.e. the bus voltage continuously exceeds the adjustable voltage threshold value, the negative pole voltage of the first diode D31 rises, which will cause the first diode D31 to be turned off. When the third operational amplifier U31 cannot continuously output a high level, the first diode D31 will be in a conducting state.

[0120] It can be understood that when the first diode D31 is in a conducting state, the second comparison result is low, at this time the first adjustable capacitor can filter the short-time glitch voltage, avoiding frequent discharge circuits. When the glitch voltage continuously exceeds the adjustable voltage threshold value for a certain period of time, the first diode D31 will be in an off state, and the second comparison result will be high, at this time the discharge circuit needs to work to reduce the bus voltage.

[0121] Specifically, as shown in Figure 2As shown, in the bleed buffer comparison circuit, the detected value of the bus voltage and the adjustable voltage threshold value are compared, when the bus voltage exceeds the adjustable voltage threshold value, the third operational amplifier U31 outputs high level, and the first adjustable capacitor C31 is charged; when the bus voltage is lower than the adjustable voltage threshold value, the third operational amplifier U31 outputs low level, and the first adjustable capacitor C31 is discharged, thereby avoiding the glitch signal causing the bleed circuit to be frequently and temporarily opened, that is, the third operational amplifier U31 needs to continuously output high level for a period of time, so that the bleed buffer comparison circuit outputs high level and opens the bleed loop. That is, the time threshold can be reasonably set by the first adjustable capacitor C31 to make the exoskeleton suitable for different working scenarios.

[0122] Preferably, the first comparison result is determined by the emergency bleed circuit, and the emergency bleed circuit comprises a fourth operational amplifier U41, a first resistor R41 and a second resistor R42.

[0123] The positive input end of the fourth operational amplifier U41 is connected to the output end of the bus voltage detection circuit, for receiving the bus voltage;

[0124] The negative input end of the fourth operational amplifier U41 is connected to one end of the first resistor R41 and one end of the second resistor R42, for receiving the upper limit threshold value of the dangerous voltage; the other end of the first resistor R41 is connected to the external power supply VCC, and the other end of the second resistor R42 is grounded;

[0125] The output end of the fourth operational amplifier U41 is used for outputting the first comparison result; when the output end of the fourth operational amplifier U41 outputs high level, the first comparison result is to start bleeding.

[0126] Specifically, although the aforementioned bleed threshold voltage self-adjusting circuit avoids the defect of frequent bleeding leading to loss of energy, it also increases the response time when the bus voltage overshoots. At this time, the emergency bleed circuit can directly compare the real-time detected bus voltage with the upper limit threshold value of the dangerous voltage, and when the real-time detected bus voltage is greater than the upper limit threshold value of the dangerous voltage, a high level is outputted to start the bleed circuit; when the real-time detected bus voltage is less than the upper limit threshold value of the dangerous voltage, a low level is outputted, and the bleed circuit does not work.

[0127] It can be understood that, as Figure 2 As shown, the first comparison result outputted by the emergency bleed circuit and the second comparison result outputted by the bleed buffer comparison circuit are jointly outputted to the logic or gate U51, that is, as long as there is a high level in the first comparison result and the second comparison result, the bleed circuit can be started to reduce the bus voltage.

[0128] Preferably, the bus voltage of the exoskeleton is detected by a bus voltage detection circuit; the bus voltage detection circuit includes a first operational amplifier U11, a fifth resistor R11, and a sixth resistor R12;

[0129] The negative input terminal of the first operational amplifier U11 is connected to the output terminal of the first operational amplifier U11, and serves as the output terminal of the bus voltage detection circuit for outputting the bus voltage.

[0130] The positive input terminal of the first operational amplifier U11 is connected to one end of the fifth resistor R11 and one end of the sixth resistor R12; the other end of the fifth resistor R11 is connected to the bus voltage to receive the bus voltage of the exoskeleton; the other end of the sixth resistor R12 is grounded.

[0131] Specifically, to prevent the original output value of the bus voltage from damaging the voltage protection circuit, the original output value of the bus voltage is divided by the fifth resistor R11 and the sixth resistor R12 before being output to the voltage protection circuit, thereby improving the service life and safety of the voltage protection circuit.

[0132] Specifically, the first operational amplifier U11, as a follower circuit, can divide the original output value of the bus voltage and transmit it to the discharge threshold voltage self-adjustment circuit, the emergency discharge circuit, and the discharge buffer comparison circuit, thereby improving the accuracy of bus voltage detection.

[0133] Specifically, the discharge circuit includes an eleventh resistor R51, a twelfth resistor R52, and a field-effect transistor Q51;

[0134] One end of the eleventh resistor R51 serves as the input terminal of the bleeder circuit, used to receive the bleeder control signal;

[0135] The other end of the eleventh resistor R51 is connected to the gate of the field-effect transistor Q51, the drain of the field-effect transistor Q51 is grounded, and the source of the field-effect transistor Q51 is connected to one end of the twelfth resistor R52.

[0136] The other end of the twelfth resistor R52 is connected to the bus voltage.

[0137] Specifically, such as Figure 2 As shown, when the discharge control signal is high, the field-effect transistor Q51 will be turned on, and the discharge circuit will start working. The bus voltage will be adjusted through the twelfth resistor R52 to reduce the bus voltage. When the discharge control signal is low, the field-effect transistor Q51 will be turned off, the discharge circuit will not work, and there is no need to adjust the bus voltage.

[0138] Compared with the prior art, the exoskeleton bus voltage adjustment method based on a complex scene provided by the embodiment of the application reduces the occurrence of extreme bus voltage during the operation of the exoskeleton by setting a dangerous voltage upper threshold and an adjustable voltage threshold, and improves the safety during the operation of the exoskeleton. At the same time, the different working conditions of the exoskeleton are determined by detecting the exoskeleton bus voltage, the integral filtering of the voltage increase in the historical time period of the bus voltage is performed, the adjustable voltage threshold is set by comparing the integral result with a preset integral voltage threshold, the exoskeleton has different adjustable voltage thresholds when operating in different working conditions, and the operation safety of the exoskeleton in different working conditions is maintained. And the time threshold is determined by the bleed time setting circuit, the bus voltage is adjusted frequently due to the burr signal is reduced, and the stability of the voltage protection circuit during operation is improved.

[0139] Those skilled in the art can understand that all or part of the processes of the above-mentioned embodiments can be completed by a computer program instructing related hardware, and the program can be stored in a computer readable storage medium. The computer readable storage medium is a disk, an optical disk, a read-only memory or a random access memory, etc.

[0140] The above is only a preferred specific embodiment of the application, but the protection scope of the application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the application, which should be covered within the protection scope of the application.

Claims

1. A complex scenario based method for regulating bus voltage of an exoskeleton, characterized by, The exoskeleton bus voltage regulation method comprises: Detecting the exoskeleton bus voltage, integrating and filtering the voltage increase in the historical time period of the bus voltage to obtain an integral result; comparing the integral result with a preset integral voltage threshold to determine an adjustable voltage threshold; Determine a first comparison result according to the bus voltage and an upper threshold of the dangerous voltage, and determine a second comparison result according to the bus voltage and the adjustable voltage threshold; wherein the upper threshold of the dangerous voltage is greater than the adjustable voltage threshold; if the bus voltage is greater than the upper threshold of the dangerous voltage, the first comparison result is start discharge; if the duration of the bus voltage being greater than the adjustable voltage threshold exceeds a time threshold, the second comparison result is start discharge; When the first comparison result is start discharge or the second comparison result is start discharge, discharge the bus voltage to make the bus voltage decrease.

2. The exoskeleton bus voltage regulation method of claim 1, wherein, The comparison of the integral result and the preset integral voltage threshold to determine the adjustable voltage threshold comprises: If the integral result is greater than the preset integral voltage threshold, the adjustable voltage threshold is a first discharge voltage threshold; otherwise, the adjustable voltage threshold is a second discharge voltage threshold; Wherein, the second discharge voltage threshold is greater than the first discharge voltage threshold.

3. The exoskeleton bus voltage regulation method of claim 2, wherein, The determination of the second comparison result according to the bus voltage and the adjustable voltage threshold comprises: Compare the bus voltage with the adjustable voltage threshold; if the bus voltage is greater than the adjustable voltage threshold, obtain a third comparison result; Determine the duration of the third comparison result, compare it with the time threshold, and obtain the second comparison result; if the duration of the third comparison result is greater than the time threshold, the second comparison result is start discharge.

4. The exoskeleton bus voltage regulation method of claim 1, wherein, Detect the exoskeleton bus voltage through a bus voltage detection circuit; the bus voltage detection circuit comprises a first operational amplifier U11, a fifth resistor R11 and a sixth resistor R12; The negative input end of the first operational amplifier U11 is connected with the output end of the first operational amplifier U11, serving as the output end of the bus voltage detection circuit, for outputting the bus voltage; The positive input end of the first operational amplifier U11 is connected with one end of the fifth resistor R11 and one end of the sixth resistor R12; the other end of the fifth resistor R11 is connected with the bus voltage, for receiving the bus voltage of the exoskeleton; the other end of the sixth resistor R12 is grounded.

5. The exoskeleton bus voltage regulation method of claim 2, wherein, Integrate and filter the voltage increase in the historical time period of the bus voltage through a discharge threshold voltage self-adjusting circuit, and compare the integral result with a preset integral voltage threshold to determine an adjustable voltage threshold; The discharge threshold voltage self-adjusting circuit comprises an integral circuit and a threshold adjusting circuit; The input end of the integral circuit is used for receiving the bus voltage, and the integral result is obtained by integrating the voltage of the bus voltage in the historical time period; The output end of the integral circuit is connected with the input end of the threshold adjusting circuit, for inputting the integral result into the threshold adjusting circuit; The threshold adjusting circuit determines the adjustable voltage threshold according to the integral result; the output end of the threshold adjusting circuit is used for outputting the adjustable voltage threshold.

6. The exoskeleton bus voltage regulation method of claim 5, wherein, The integral circuit comprises a second operational amplifier U21, a seventh resistor R21 and a capacitor C21; The positive input end of the second operational amplifier U21 serves as the input end of the integral circuit, for receiving the bus voltage; The negative input end of the second operational amplifier U21 is connected with one end of the seventh resistor R21, and the other end of the seventh resistor R21 is connected with one end of the capacitor C21; The output end of the second operational amplifier U21 is connected with the other end of the capacitor C21, and the input end of the threshold adjusting circuit is connected with the output end of the integral circuit, and the integral result is input into the threshold adjusting circuit.

7. The exoskeleton bus voltage regulation method of claim 6, wherein, The threshold adjusting circuit comprises an eighth resistor R22, a ninth resistor R23, a tenth resistor R24 and a triode Q21; The base of the triode Q21 is connected with the output end of the integral circuit as the input end of the threshold adjusting circuit, and is used for receiving the integral result; The emitter of the triode Q21 is grounded, one end of the tenth resistor R24 is grounded, one end of the ninth resistor R23 is connected with the external power supply VCC, and the collector of the triode Q21 is connected with one end of the eighth resistor R22; The other end of the eighth resistor R22, the other end of the ninth resistor R23 and the other end of the tenth resistor R24 are connected as the output end of the threshold adjusting circuit, and the adjustable voltage threshold is output.

8. The exoskeleton bus voltage regulation method of claim 3, wherein, The second comparison result is determined by the bleed-off buffer comparison circuit, and the bleed-off buffer comparison circuit comprises a third operational amplifier U31 and a bleed-off time setting circuit; The positive input end of the third operational amplifier U31 is connected with the positive input end of the bleed-off buffer comparison circuit, and is used for receiving the bus voltage; The negative input end of the third operational amplifier U31 is connected with the negative input end of the bleed-off buffer comparison circuit, and is used for receiving the adjustable voltage threshold; The output end of the third operational amplifier U31 is connected with the input end of the bleed-off time setting circuit, and the third operational amplifier U31 compares the bus voltage and the adjustable voltage threshold to obtain the third comparison result, and outputs the third comparison result to the bleed-off time setting circuit; The bleed-off time setting circuit determines the second comparison result according to the duration of the third comparison result and the time threshold.

9. The exoskeleton bus voltage regulation method of claim 8, wherein, The bleed-off time setting circuit comprises a third resistor R31, a fourth resistor R32, a first adjustable capacitor C31 and a first diode D31; One end of the third resistor R31, one end of the first adjustable capacitor C31 and the negative electrode of the first diode D31 are connected as the input end of the bleed-off time setting circuit, and are used for receiving the third comparison result; the other end of the third resistor R31 is connected with the external power supply VCC, and the other end of the first adjustable capacitor C31 is grounded; and the time threshold is set by adjusting the size of the first adjustable capacitor C31; The positive electrode of the first diode D31 is connected with one end of the fourth resistor R32, and is connected as the output end of the bleed-off time setting circuit, and is used for outputting the second comparison result; when the output end of the bleed-off time setting circuit outputs a high level, the second comparison result is start bleeding; The other end of the fourth resistor R32 is connected with the external power supply VCC.

10. The exoskeleton bus voltage regulation method of claim 1, wherein, The first comparison result is determined by the emergency bleed-off circuit, and the emergency bleed-off circuit comprises a fourth operational amplifier U41, a first resistor R41 and a second resistor R42; The positive input end of the fourth operational amplifier U41 is connected with the output end of the bus voltage detection circuit, and is used for receiving the bus voltage; The negative input end of the fourth operational amplifier U41 is connected with one end of the first resistor R41 and one end of the second resistor R42, and is used for receiving the upper threshold of the dangerous voltage; the other end of the first resistor R41 is connected with the external power supply VCC, and the other end of the second resistor R42 is grounded. The output end of the fourth operational amplifier U41 is used for outputting the first comparison result; when the output end of the fourth operational amplifier U41 outputs a high level, the first comparison result is start to release.

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