Charging and discharging method of exoskeleton equipment battery pack and exoskeleton equipment

Abstract

The embodiment of the invention provides a charging and discharging method for a battery pack of exoskeleton equipment and the exoskeleton equipment. The charging and discharging method is applied to the exoskeleton equipment with a reversible motor and the battery pack. When the reversible motor is in the generator mode, the exoskeleton equipment converts motion kinetic energy generated when the wearer moves into electric energy through the reversible motor, and the electric energy is used for charging a battery pack of the exoskeleton equipment. When the reversible motor is in the motor mode, the battery pack is used for providing electric energy for the reversible motor, so that the reversible motor converts the electric energy into mechanical energy, and the mechanical energy is used for providing power-assisted driving for the wearer. By the adoption of the scheme, a standby battery does not need to be additionally arranged for a battery pack of the exoskeleton equipment or the battery pack is made to be large deliberately, the reversible motor is arranged on the exoskeleton equipment, when the reversible motor is in the generator mode, motion kinetic energy of a wearer can be converted into electric energy, and then the battery pack is charged; the purpose of improving the cruising ability of the exoskeleton equipment is achieved.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a charging and discharging method for a battery pack of an exoskeleton device and the exoskeleton device itself. Background Technology

[0002] In recent years, wearable exoskeleton devices have received increasing attention from scholars and researchers both at home and abroad, becoming a new research hotspot and gradually being applied to military, medical, industrial and civilian fields.

[0003] Exoskeletons are generally categorized into active and passive exoskeletons based on whether they possess active power. Active power includes drive units such as motors and hydraulic systems. Active exoskeletons are equipped with battery packs that power the exoskeleton's motors, sensors, and other components. To improve the battery life of exoskeletons, traditional methods include making the battery pack larger or incorporating backup batteries.

[0004] However, the larger the battery pack, the heavier it becomes, and once the energy is depleted, the exoskeleton device becomes an obstacle or burden for the wearer. Summary of the Invention

[0005] This application provides a charging and discharging method for a battery pack of an exoskeleton device and an exoskeleton device. The exoskeleton device is equipped with a reversible motor. When the reversible motor is in generator mode, it converts the wearer's kinetic energy into electrical energy, thereby charging the battery pack and improving the battery life of the exoskeleton device.

[0006] In a first aspect, embodiments of this application provide a charging and discharging method for a battery pack of an exoskeleton device, applied to an exoskeleton device having a reversible motor and a battery pack, wherein the reversible motor has a generator mode and a motor mode, and the method includes:

[0007] When the reversible motor is in generator mode, the reversible motor converts kinetic energy into electrical energy and uses the electrical energy to charge the battery pack of the exoskeleton device. The kinetic energy is the kinetic energy generated when the wearer of the exoskeleton device moves.

[0008] When the reversible motor is in motor mode, the battery pack provides electrical energy to the reversible motor, so that the reversible motor converts the electrical energy into mechanical energy, which provides assistance to the wearer.

[0009] Secondly, embodiments of this application provide a charging and discharging device, comprising:

[0010] A charging module is used to convert kinetic energy into electrical energy when the reversible motor is in generator mode, and to use the electrical energy to charge the battery pack of the exoskeleton device, wherein the kinetic energy is the kinetic energy generated by the wearer of the exoskeleton device during movement.

[0011] A discharge module is used to provide electrical energy to the reversible motor using the battery pack when the reversible motor is in motor mode, so that the reversible motor can convert the electrical energy into mechanical energy, which provides assistance to the wearer.

[0012] Thirdly, embodiments of this application provide an exoskeleton device, including a reversible motor, a processor, a memory, and a computer program stored in the memory and executable on the processor. The exoskeleton device, when executing the computer program, controls the reversible motor to implement the method described in the first aspect or various possible implementations of the first aspect.

[0013] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer instructions, which, when executed by a processor, are used to implement the method described in the first aspect or various possible implementations of the first aspect.

[0014] Fifthly, embodiments of this application provide a computer program product comprising a computing program, wherein when the computer program is executed by a processor, it implements the method described in the first aspect or various possible implementations of the first aspect.

[0015] The charging and discharging method for the battery pack of the exoskeleton device and the exoskeleton device provided in this application embodiment are applied to an exoskeleton device with a reversible motor and a battery pack. When the reversible motor is in generator mode, the exoskeleton device uses the reversible motor to convert the kinetic energy generated by the wearer's movement into electrical energy, and uses this electrical energy to charge the battery pack of the exoskeleton device. When the reversible motor is in motor mode, the battery pack provides electrical energy to the reversible motor, enabling the reversible motor to convert electrical energy into mechanical energy, and uses this mechanical energy to provide power assist for the wearer. Using this approach, there is no need to add an extra backup battery to the battery pack of the exoskeleton device or to deliberately make the battery pack very large. Instead, a reversible motor is set in the exoskeleton device, and when the reversible motor is in generator mode, it can convert the wearer's kinetic energy into electrical energy, thereby charging the battery pack and improving the battery life of the exoskeleton device. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1A This is a side view of the exoskeleton device provided in the embodiments of this application;

[0018] Figure 1B This is a front view of the exoskeleton device provided in the embodiments of this application;

[0019] Figure 1C This is a left view of the exoskeleton device provided in the embodiments of this application;

[0020] Figure 1D This is a rear view of the exoskeleton device provided in the embodiments of this application;

[0021] Figure 1E This is a schematic diagram of a wearer wearing the exoskeleton device provided in the embodiments of this application;

[0022] Figure 2 This is a flowchart of the charging and discharging method of the battery pack for the exoskeleton device provided in the embodiments of this application;

[0023] Figure 3 This is a schematic diagram of the charging process in the charging and discharging method of the battery pack of the exoskeleton device provided in the embodiments of this application;

[0024] Figure 4 This is another flowchart of the charging and discharging method for the battery pack of the exoskeleton device provided in the embodiments of this application;

[0025] Figure 5 This is a schematic diagram of the charging and discharging method of the battery pack for the exoskeleton device provided in the embodiments of this application;

[0026] Figure 6 A schematic diagram of a charging and discharging device provided in an embodiment of this application;

[0027] Figure 7 This is a schematic diagram of the structure of the exoskeleton device provided in the embodiments of this application. Detailed Implementation

[0028] Exoskeleton devices, as powerful wearable mechanical devices, are increasingly attracting the attention of scholars and researchers both domestically and internationally, becoming a new research hotspot. Exoskeleton devices are also known as exoskeletons or exoskeleton assistive devices. Powered exoskeleton devices utilize batteries, such as lithium-ion battery packs. However, if the battery pack is too large or heavy, it makes the exoskeleton device difficult to transport and wear.

[0029] Generally, due to limitations in battery capacity, exoskeleton devices have relatively short battery life. When wearers use exoskeletons for extended periods, especially under heavy loads, if the exoskeleton cannot be recharged in time, it will become an obstacle or burden once the energy is depleted. Heavy load conditions refer to exoskeletons used for weight-bearing assistance, primarily in wilderness rescue or human transportation.

[0030] To improve the battery life of exoskeleton devices, the traditional approach is to make the battery pack larger or to include a spare battery. However, the added weight makes it impractical for users to wear or carry heavy exoskeletons for long distances.

[0031] Based on this, this application provides a charging and discharging method for an exoskeleton device battery pack and an exoskeleton device. The exoskeleton device is equipped with a reversible motor. When the reversible motor is in generator mode, it converts the wearer's kinetic energy into electrical energy, thereby charging the battery in the battery pack and improving the battery life of the exoskeleton device.

[0032] The exoskeleton device provided in this application embodiment is equipped with reversible motors, which are located at the joint positions of the exoskeleton device. For example, reversible motors are respectively located at the left and right hip joints; or at the left and right knee joints; or at the left and right ankle joints. This application embodiment does not limit the number of reversible motors. In practice, reversible motors can be installed at one or more joint positions in the hip, ankle, and knee joints as needed. The following describes the exoskeleton device described in this application embodiment in detail, taking the installation of reversible motors at the left and right hip joints as an example.

[0033] Figure 1A This is a side view of the exoskeleton device provided in the embodiments of this application. Figure 1B This is a front view of the exoskeleton device provided in the embodiments of this application. Figure 1C This is a left view of the exoskeleton device provided in the embodiments of this application. Figure 1D This is a rear view of the exoskeleton device provided in the embodiments of this application. Figure 1E This is a schematic diagram of a wearer wearing the exoskeleton device provided in the embodiments of this application.

[0034] Please refer to Figures 1A to 1EThe exoskeleton device provided in this application includes a housing 11 for accommodating a battery pack, a back frame 12, a back plate 13, a tray 14, and a power unit 15. The housing 11 has a slot, and the back frame 12 has an elastic latch, through which the back frame 12 engages with the slot. The back plate 13 is mounted on the back frame 12 and conforms to the wearer's back when the exoskeleton device is worn. The tray 14 is mounted on the back frame 12, and when carrying materials, the tray 14 is perpendicular to or at an angle to the back plate 13. The back frame 12, back plate 13, and tray 14 form a module that is detachably mounted from the exoskeleton device. This allows the module to be removed when no load is required.

[0035] The power unit 15 includes a reversible motor, a reducer, and a drive control unit. The power unit 15 is positioned close to the torso, and its rotation center is aligned as closely as possible with the rotation center of the hip joint. The reversible motor has at least three modes: a motor mode, a generator mode, and a disabling mode. The motor mode, also known as the assist mode, releases energy by converting the electrical energy stored in the battery pack into mechanical energy, enabling the exoskeleton device to assist the wearer in walking. The generator mode, also known as the energy storage mode, recovers energy by collecting the wearer's kinetic energy and converting it into electrical energy to charge the batteries in the battery pack. In the disabling mode, the reversible motor neither generates nor consumes electrical energy. The disabling mode and generator mode are collectively referred to as the non-motor mode, in which the exoskeleton device does not provide assistance to the wearer.

[0036] Figure 2 This is a flowchart of a charging and discharging method for a battery pack of an exoskeleton device provided in this application embodiment. This embodiment applies to an exoskeleton device with a reversible motor, and includes:

[0037] 201. When the reversible motor is in generator mode, the reversible motor converts kinetic energy into electrical energy and uses the electrical energy to charge the battery pack of the exoskeleton device. The kinetic energy is the kinetic energy generated when the wearer of the exoskeleton device moves.

[0038] In the embodiments of this application, the reversible motor has a rotor, a stator, etc., and can convert electrical energy into kinetic energy, and can also convert kinetic energy into electrical energy through electromagnetic induction.

[0039] When the reversible motor is in generator mode, as the wearer walks, their hip joints drive the rotating components of the exoskeleton device, which in turn rotate the rotor of the reversible motor. The rotor's rotation generates magnetic field lines, producing an electromotive force, which in turn generates an alternating current. This alternating current, after rectification and voltage regulation, charges the batteries in the battery pack.

[0040] Normally, when a wearer accelerates, goes uphill, climbs stairs, or ascends a mountain, the exoskeleton device needs to output mechanical energy to assist the wearer's walking. However, when decelerating, going downhill, or descending stairs, no assistance is needed and more kinetic energy is generated. Therefore, in this embodiment, when the wearer is in a non-assisted movement mode, the exoskeleton device uses a reversible motor to convert kinetic energy into electrical energy.

[0041] In this embodiment, the reversible motor is, for example, a three-phase synchronous motor, whose rotor is driven to rotate by external mechanical force. When the rotor rotates, the magnetic field on the rotor interacts with the coils on the stator, thereby generating an induced electromotive force (EMF). Since the reversible motor is three-phase powered, it generates three phases of EMF, forming three-phase alternating current. Therefore, the three-phase synchronous motor can act as a generator to convert kinetic energy into electrical energy.

[0042] Figure 3 This is a schematic diagram illustrating the charging process in the charging and discharging method of the exoskeleton device battery pack provided in this application embodiment. Please refer to... Figure 3 The three-phase alternating current generated by the reversible motor reaches the rectifier circuit, which then converts it into direct current. This conversion is necessary because the battery's charging current is direct current.

[0043] A Buck step-down circuit includes a drive pin DRV, a PMOS transistor, an inductor, a diode, and a current sensing resistor, and is used to step down the voltage.

[0044] The voltage regulator circuit includes a voltage regulator chip, etc., used to convert the voltage generated by the Buck step-down circuit into a stable voltage that can charge the lithium battery. The voltage regulator chip may be, for example, the TPS63900, but this application embodiment is not limited to this.

[0045] The charging management and control circuit is used to detect the power level of each battery in the battery pack in real time and control the batteries in the battery pack to enter the power supply state or charging state.

[0046] 202. When the reversible motor is in motor mode, the battery pack provides electrical energy to the reversible motor so that the reversible motor converts the electrical energy into mechanical energy, which provides assistance to the wearer.

[0047] When the reversible motor is in generator mode, it releases electrical energy, that is, converts the electrical energy in the battery pack into mechanical energy to drive the exoskeleton device to generate assistance and provide it to the wearer, thereby reducing the burden on the wearer and making the wearer feel relaxed.

[0048] It should be noted that steps 201 and 202 above are not in a strict order.

[0049] The charging and discharging method for the battery pack of an exoskeleton device provided in this application embodiment is applied to an exoskeleton device having a reversible motor and a battery pack. When the reversible motor is in generator mode, the exoskeleton device uses the reversible motor to convert the kinetic energy generated by the wearer's movement into electrical energy, and uses this electrical energy to charge the battery pack of the exoskeleton device. When the reversible motor is in motor mode, the battery pack provides electrical energy to the reversible motor, enabling the reversible motor to convert electrical energy into mechanical energy, which provides assistive drive for the wearer. Using this approach, there is no need for an additional spare battery for the exoskeleton device's battery pack or to make the battery pack intentionally large. Instead, a reversible motor is installed on the exoskeleton device, and when the reversible motor is in generator mode, it can convert the wearer's kinetic energy into electrical energy, thereby charging the battery pack and improving the battery life of the exoskeleton device.

[0050] Optionally, in the above embodiments, the armature resistance of the reversible motor is less than a preset resistance, and the friction coefficient of the gear reducer of the reversible motor is lower than a preset coefficient.

[0051] For example, at least one of the following methods can be used to improve the power generation efficiency of a reversible motor when it is in generator mode, so as to reduce energy loss.

[0052] In one approach, the resistance of the armature of the reversible motor is reduced so that the resistance of the armature is less than a preset resistance. The armature is, for example, the rotor or stator of the reversible motor.

[0053] In this method, the armature resistance of the reversible motor can be reduced by one or more of the following measures.

[0054] A. The armature of a reversible motor is made of a material with good electrical conductivity, such as aluminum or copper.

[0055] B. Optimize the armature design to make the armature length and cross-sectional area appropriate, thereby reducing the armature resistance.

[0056] C. Optimize the armature winding method.

[0057] In another approach, the friction coefficient of the gear reducer can be reduced through one or more of the following measures.

[0058] D. The gear reducer uses materials with a low coefficient of friction, such as coatings or adding lubricants to reduce friction.

[0059] E. Optimize the design of the gear reducer to reduce the contact area of ​​the tooth surface, thereby reducing friction.

[0060] F. Ensure the fitting accuracy of the gear reducer through process control, thereby reducing friction loss.

[0061] G. Perform regular lubrication and maintenance on the gear reducer.

[0062] Another approach is to employ efficient generator rotor design and optimize generator circuit design.

[0063] This approach improves the power generation efficiency of the reversible motor in generator mode by reducing the armature resistance and the friction coefficient of the gear reducer, thereby reducing energy loss.

[0064] In this embodiment, the mode of the reversible motor of the exoskeleton device can be flexibly switched.

[0065] In one approach, after receiving a switching command, the exoskeleton device controls the reversible motor to switch between generator mode, motor mode, and disability mode in response to the received switching command.

[0066] In this method, the exoskeleton device passively switches the operating mode of its reversible motors; this switching method is also known as manual switching. For example, an application (APP) for the exoskeleton device is installed on the terminal device. The wearer or other user operates the APP to bring up the mode settings interface, which displays assist mode (i.e., motor mode), energy storage mode (i.e., generator mode), and disability mode. If the user selects generator mode, the exoskeleton device switches the reversible motors to generator mode. If the user selects energy storage mode, the exoskeleton device switches the reversible motors to motor mode.

[0067] For example, physical or virtual buttons can be installed on the exoskeleton device. Pressing these buttons switches the operating mode of the reversible motor. If the reversible motor is currently in motor mode, pressing the physical or virtual button will switch the exoskeleton device to generator mode. Then, if the user presses the physical or virtual button again, the exoskeleton device will switch the reversible motor to disabling mode.

[0068] For example, exoskeleton devices can have voice interaction capabilities. Users can say things like, "Power up quickly," "Battery's almost dead," or "Please store energy." The exoskeleton device recognizes these voice signals, receives switching instructions, and then switches the reversible motor to generator mode. Alternatively, users can say things like, "Assist mode," or "Provide assistance," which will switch the reversible motor to electric motor mode. Or, users can say things like, "Don't generate power or provide assistance," or "Enter disabled mode," which will put the exoskeleton device into disabled mode.

[0069] In the passive switching mode, regardless of whether the exoskeleton device is currently in assisted or non-assisted motion mode (i.e., whether the wearer is accelerating, going uphill, climbing stairs, going uphill, decelerating, going downhill, going down stairs, or going downhill), once it receives a switching command to switch the reversible motor to generator mode, it responds to the received command and switches the reversible motor to generator mode, thereby converting the kinetic energy of the exoskeleton device into electrical energy. Similarly, regardless of whether the exoskeleton device is currently in assisted or non-assisted motion mode, once it receives a switching command to switch the reversible motor to electric motor mode, it responds to the received command and switches the reversible motor to electric motor mode, so that the reversible motor converts electrical energy into mechanical energy and provides assistance to the wearer.

[0070] This approach allows for the passive switching of the reversible motor's operating mode, offering high flexibility and a simple switching method.

[0071] In another approach, the exoskeleton device actively switches the reversible motor's operating mode to generator mode; this switching method is also known as automatic switching.

[0072] In this method, the exoskeleton device determines the wearer's movement state, including assisted mode and non-assisted mode. When the exoskeleton device is in the non-assisted mode, it controls the reversible motor to switch to generator mode; when the exoskeleton device is in the assisted mode, it controls the reversible motor to switch to electric motor mode. This approach, by controlling the reversible motor's operating mode based on the exoskeleton device's movement state, achieves a high degree of intelligence.

[0073] In this embodiment, when the exoskeleton device determines, based on motion data collected by sensors, that it is in at least one of the following states: acceleration, uphill, climbing, or climbing stairs, the motion state is determined to be in assist mode. In this case, the exoskeleton device needs to convert electrical energy into mechanical energy to provide assistance to the wearer, and the reversible motor defaults to motor mode. Similarly, when the exoskeleton device determines, based on motion data collected by sensors, that it is in at least one of the following states: deceleration, downhill, descending, or descending stairs, the motion state is determined to be in non-assist mode. In this case, the exoskeleton device defaults to collecting the wearer's kinetic energy without providing assistance. In this situation, the reversible motor defaults to generator mode. This approach determines the exoskeleton device's motion state based on motion parameters, thereby controlling the reversible motor's operating mode without user intervention, resulting in a high level of intelligence.

[0074] Optionally, in the above embodiments, during the movement of the wearer wearing the exoskeleton device, the exoskeleton automatically collects the wearer's motion data through sensors. This motion data includes joint motion data, trunk motion data, etc. Joint motion data, for example, includes hip joint angles and angular velocities; trunk motion data, for example, is data obtained through an inertial measurement unit (IMU). The exoskeleton device then analyzes the motion data to determine the wearer's motion state, which is the exoskeleton device's motion state. For example, a motion pattern recognition model can be pre-trained and deployed on the exoskeleton device. The motion pattern recognition model then fuses and infers the motion data to output the exoskeleton device's motion state.

[0075] Furthermore, when determining the movement state of the exoskeleton device, it is also necessary to consider data such as the wearer's heart rate or cadence. For example, if the wearer's heart rate is detected to be higher than a preset value, and it is determined that the wearer is in at least one of the following movement states: acceleration, uphill, climbing, or climbing stairs, then it is considered that the wearer's physical strength is gradually being depleted. In this case, the exoskeleton device needs to provide assistance to the wearer, that is, the exoskeleton device automatically switches the reversible motor to electric motor mode, thereby entering the assisted movement state. Alternatively, if the wearer's cadence is detected to be lower than a preset value, and it is determined that the wearer is in at least one of the following movement states: acceleration, uphill, climbing, or climbing stairs, then it is considered that the wearer's physical strength is gradually being depleted. In this case, the exoskeleton device needs to provide assistance to the wearer, that is, the exoskeleton device automatically switches the reversible motor to electric motor mode, thereby entering the assisted movement state.

[0076] For example, if the wearer's heart rate is detected to be less than or equal to a preset value, and it is determined that the wearer is in at least one of the following exercise states: acceleration, uphill, climbing, or climbing stairs, then the wearer is considered to have sufficient physical strength and no assistance is needed. The exoskeleton device does not need to switch the reversible motor to electric motor mode. Alternatively, if the wearer's step frequency is detected to be higher than a preset value, and it is determined that the wearer is in at least one of the following exercise states: acceleration, uphill, climbing, or climbing stairs, then the wearer is considered to have sufficient physical strength and no assistance is needed from the exoskeleton device.

[0077] In this embodiment, the wearer's physiological parameters and exercise status are combined to determine the assist mode. In this way, the exercise status can be switched more accurately according to the wearer's actual physical condition, thereby realizing the switching between generator mode and motor mode.

[0078] When the exoskeleton device is in assisted movement mode, it automatically switches the reversible motor to electric motor mode, using the reversible motor to convert the electrical energy stored in the battery pack into mechanical energy, thereby providing assistance to the wearer. When the exoskeleton device is in non-assisted movement mode, it automatically switches the reversible motor to generator mode, using the reversible motor to convert the wearer's kinetic energy into electrical energy, thereby charging the battery pack.

[0079] This approach determines the movement state of the exoskeleton device based on the wearer's motion data, and then controls the working mode of the reversible motor according to the movement state, resulting in high accuracy and speed.

[0080] In this embodiment, the priorities of active and passive switching modes can be flexibly set. For example, by default, the active switching mode has a higher priority than the passive switching mode. Alternatively, the active switching mode may have a lower priority than the passive switching mode. The passive switching mode is also known as manual mode, and the active switching mode is also known as automatic mode.

[0081] Figure 4 This is another flowchart illustrating the charging and discharging method for the battery pack of the exoskeleton device provided in this application embodiment. This embodiment includes:

[0082] 401. Mode Settings.

[0083] In this step, the exoskeleton device switches modes according to the user's operation settings, such as manual mode or automatic mode.

[0084] 402. Determine if the user has set the mode to manual mode. If the user has set the mode to manual mode, proceed to step 403; otherwise, proceed to step 408.

[0085] 403. Determine whether the switching command instructs the exoskeleton device to enter the assist mode to provide assistance to the wearer. If it is necessary to enter the assist mode, proceed to step 404; if it is not necessary to enter the assist mode, proceed to step 405.

[0086] In manual mode, the user sends a switching command to the exoskeleton device via an app, physical buttons, virtual buttons, or voice. The exoskeleton device receives the switching command. Then, the exoskeleton device determines whether the switching command instructs it to enter assist mode to provide assistance to the wearer. If assist mode is required, step 404 is executed; otherwise, step 405 is executed.

[0087] 404. Switch the reversible motor to electric motor mode.

[0088] If a switching command instructs the exoskeleton device to enter assist mode to release energy, the exoskeleton device will switch the reversible motor to electric motor mode. For example, if the reversible motor was in generator mode before receiving the switching command, the exoskeleton device will switch the reversible motor to electric motor mode after receiving the switching command; or, if the reversible motor was in electric motor mode before receiving the switching command, the exoskeleton device will continue to keep the reversible motor in electric motor mode after receiving the switching command.

[0089] 405. Determine whether the switching command instructs the exoskeleton device to enter non-assisted mode to convert the wearer's kinetic energy into electrical energy. If entering non-assisted mode is required, proceed to step 406; if entering non-assisted mode is not required, proceed to step 407.

[0090] 406. Switch the reversible motor to generator mode.

[0091] If a switching command instructs the exoskeleton to enter non-assisted mode to collect energy, the exoskeleton will switch its reversible motor to generator mode. For example, if the reversible motor was in motor mode before receiving the switching command, the exoskeleton will switch it to generator mode after receiving the command; conversely, if the reversible motor was in generator mode before receiving the command, the exoskeleton will continue to keep the reversible motor in generator mode after receiving the command.

[0092] 407. Switch the reversible motor to the disabled state.

[0093] In a disabled state, the reversible motor neither generates electricity nor consumes electrical energy to produce mechanical energy.

[0094] 408. Determine whether the user-set mode is automatic mode. If it is automatic mode, proceed to step 409; otherwise, return to step 401.

[0095] 409. Obtain motion parameters and determine the motion state of the exoskeleton device based on the motion parameters.

[0096] 410. Determine whether the motion state is in the assist mode. If the motion state is in the assist mode, proceed to step 411; if the motion state is not in the assist mode, proceed to step 412.

[0097] For example, if the wearer is going uphill, accelerating, or climbing a mountain, the exoskeleton device determines the current motion state as an assisted motion state based on the motion data.

[0098] 411. Switch the reversible motor to electric motor mode.

[0099] 412. Determine whether the motion state is a non-assisted motion state. If the motion state is a non-assisted motion state, proceed to step 413; if the motion state is not a non-assisted motion state, proceed to step 414.

[0100] For example, if the wearer is going downhill, slowing down, or going down a mountain, the exoskeleton device determines the current motion state as a non-assisted motion state based on the motion data.

[0101] 413. Switch the reversible motor to generator mode.

[0102] 414. Determine that the reversible motor is in a disabled state.

[0103] Optionally, in the above embodiments, the exoskeleton device further includes a charging management and control circuit. During the process of charging the battery pack of the exoskeleton device using the electrical energy, the power level of each battery in the battery pack is determined. Based on the power level of each battery in the battery pack, batteries with power levels lower than a preset power level are identified from the battery pack. Then, the exoskeleton device controls the charging management and control circuit to isolate the batteries with power levels lower than the preset power level from the battery pack; and uses the electrical energy to charge the batteries with power levels lower than the preset power level.

[0104] In this embodiment, since the voltage and capacity of a single battery cell are insufficient to meet the requirements of the exoskeleton device, multiple cells need to be connected in series to form a battery pack, which then powers the exoskeleton device. The battery pack can be, for example, an 18650 lithium battery pack, and this embodiment is not limited to this. Simultaneously, a charging management and control circuit is configured for the battery pack to monitor the charge level of each battery in the pack in real time and control the batteries in the pack to enter either a power supply state or a charging state.

[0105] This approach ensures the safety of the battery pack by identifying batteries with lower than a preset charge level, isolating them, and then charging them.

[0106] Optionally, in the above embodiments, if the charge of each battery in the battery pack is greater than or equal to the preset charge, the reversible motor is controlled to charge the battery using trickle charging; or, the reversible motor is controlled to switch from the generator mode to the disabling mode to reduce the rotational damping of the reversible motor in the non-assisted mode.

[0107] For example, when the exoskeleton device is in non-assisted mode, if the charge of each battery in the battery pack is greater than the preset charge, the exoskeleton device uses trickle charging to charge the batteries, i.e., charging the batteries with a small current to compensate for the charge loss caused by battery self-discharge. Alternatively, the exoskeleton device controls the reversible motor to enter a disabled mode.

[0108] This approach allows for trickle charging of batteries in the battery pack when each battery has sufficient charge, or for controlling the reversible motor to enter a disabling mode. This improves the safety of the battery pack while reducing the rotational damping of the reversible motor in non-assisted mode.

[0109] Optionally, in the above embodiments, the charging management and control circuit includes: a power supply circuit and a charging circuit for each battery in the battery pack. A first switch is provided on the charging circuit, and a second switch is provided on the power supply circuit. During the process of the exoskeleton device controlling the charging management and control circuit to isolate batteries with a power level lower than a preset power level from the battery pack, the first switch on the charging circuit of the battery with a power level lower than the preset power level is turned on, and the second switch on the power supply circuit of the battery with a power level lower than the preset power level is turned off to isolate the battery. When the first switch is turned off and the second switch is turned on, the battery is in a power supply state. When the first switch is turned on and the second switch is turned off, the battery is in a charging state.

[0110] For example, in order to isolate the battery in the discharge state from the battery in the charging state, this application embodiment sets up a charging circuit and a power supply circuit for each battery, and sets up a first switch on the charging circuit and a second switch on the power supply circuit, so as to control the state of each battery at any time.

[0111] If a battery's charge level is lower than a preset level (i.e., it's in a low-charge state), the charging management and control circuit will control the first switch on the battery's charging circuit to turn on and the second switch on the power supply circuit to turn off, thereby isolating the battery from the battery pack and allowing it to enter the charging state. If a battery's charge level is greater than or equal to a preset level (i.e., it's in a fully charged state), the charging management and control circuit will control the first switch on the battery's charging circuit to turn off and the second switch on the power supply circuit to turn on, thereby allowing the battery to enter the power supply state, meaning the charged battery will be connected to the power supply battery pack.

[0112] Figure 5 This is a schematic diagram illustrating the charging and discharging method of the battery pack for the exoskeleton device provided in this embodiment. Please refer to... Figure 5 , Figure 5 The diagram shows three batteries, a charging circuit, and a load operating in parallel mode. Charging management and control circuits, voltage regulator circuits, and rectifier circuits are not shown. The three batteries are lithium battery cell 1, lithium battery cell 2, and lithium battery cell 3 in the diagram. The load refers to the unit requiring power, such as a reversible motor, control board, and various sensors.

[0113] The charging management and control circuit of the exoskeleton device outputs switch control signals to control the on / off states of first switches K11, K21, K31, second switches K12, K22, and K32. For example, if the charge levels of lithium battery cells 1 and 2 are greater than or equal to a preset charge level, while the charge level of lithium battery cell 3 is less than a preset charge level, the charging management and control module controls first switches K11 and K21 to open and second switches K12 and K22 to open, causing lithium battery cells 1 and 2 to discharge and supply power to the load. The charging management and control module controls first switch K31 to open and second switch K32 to open, causing lithium battery cell 3 to connect to the charging circuit and enter the charging state. This scheme, by setting up a power supply circuit and a charging circuit for each battery, with a first switch on the charging circuit and a second switch on the power supply circuit, controls the charging and discharging states of each battery through these switches. The structure is simple and highly accurate.

[0114] Optionally, in the above embodiments, the battery pack includes N+1 batteries. When the reversible motor is in motor mode, the battery with the lowest charge is determined from the N+1 batteries, and the first switch on the charging circuit of the battery with the lowest charge is turned off, and the second switch on the power supply circuit of the battery with the lowest charge is turned off. The first switches on the charging circuits of the remaining N batteries are turned off, and the second switches on the power supply circuits of the remaining N batteries are turned on. When the reversible motor switches to generator mode, the first switch on the charging circuit of the battery with the lowest charge is turned on, and the second switch on the power supply circuit of the battery with the lowest charge is turned off. The first switches on the charging circuits of the remaining N batteries are turned off, and the second switches on the power supply circuits of the remaining N batteries are turned off.

[0115] In this embodiment, the battery pack includes N+1 batteries, where N is the number of batteries capable of providing operating voltage to the exoskeleton device. For example, if 7 power lithium battery cells need to discharge to ensure the exoskeleton device operates normally, then N = 7; or, if 9 power lithium battery cells need to discharge to ensure the exoskeleton device operates normally, then N = 9. When the exoskeleton device is in assisted movement mode, it is powered by N batteries in the battery pack, with one battery in standby mode. When the exoskeleton device is in non-assisted movement mode, the N batteries in the battery pack ensure the exoskeleton device operates normally. Simultaneously, a reversible motor converts the wearer's kinetic energy into electrical energy, which powers one battery, the one with the lowest charge among the N+1 batteries.

[0116] It is understood that this application embodiment does not fix any particular battery as the rechargeable battery. Instead, it uses a rotating approach to determine the battery with the lowest charge from the N+1 batteries. When the exoskeleton device is in non-assist mode, i.e., when the reversible motor is in generator mode converting kinetic energy into electrical energy, this electrical energy is used to charge the battery with the lowest charge. When a battery with an even lower charge appears among the N batteries, the battery currently in the charging state is switched to the power supply state, and the battery with the lowest charge among the N batteries that were originally in the power supply state is switched to the charging state.

[0117] This approach uses N+1 batteries and employs a rotating method to isolate and charge the battery with the lowest charge among the N+1 batteries. This ensures that the exoskeleton device can operate normally while making full use of electrical energy, thereby improving the reliability of the exoskeleton device.

[0118] Figure 6 This is a schematic diagram of a charging and discharging device provided in an embodiment of this application. The charging and discharging device 600 includes a charging module 61 and a discharging module 62.

[0119] The charging module 81 is used to convert the reversible motor into electrical energy when the reversible motor is in generator mode, and to use the electrical energy to charge the battery pack of the exoskeleton device. The reversible motor is the kinetic energy generated when the wearer of the exoskeleton device moves.

[0120] The discharge module 82 is used to provide electrical energy to the reversible motor using the battery pack when the reversible motor is in motor mode, so that the reversible motor converts the electrical energy into mechanical energy, and the mechanical energy provides assistance to the wearer.

[0121] In one feasible implementation, the above-described device further includes a processing module 63, which, in response to a received switching command, controls the reversible motor to switch between the generator mode and the motor mode.

[0122] In one feasible implementation, the processing module 63 is further configured to determine the motion state of the exoskeleton device based on the motion parameters collected by the sensor, the motion state including a motion state in assisted mode and a motion state in non-assisted mode; when the exoskeleton device is in the motion state in non-assisted mode, control the reversible motor to switch to the generator mode; when the exoskeleton device is in the motion state in assisted mode, control the reversible motor to switch to the electric motor mode.

[0123] In one feasible implementation, the processing module 63 is used to determine that when the exoskeleton device is in at least one of the states of acceleration, uphill, climbing, and climbing stairs, based on the motion parameters collected by the sensor, the motion state is determined to be a motion state of assist mode; and when the exoskeleton device is in at least one of the states of deceleration, downhill, descending, and descending stairs, based on the motion data collected by the sensor, the motion state is determined to be a motion state of non-assist mode.

[0124] In one feasible implementation, the processing module 63 is used to determine that when the exoskeleton device is in at least one of the states of acceleration, uphill, climbing, and climbing stairs, and based on at least one of the heart rate and cadence of the wearer collected, if the wearer's heart rate is greater than a preset value or the cadence is less than a preset value, then the movement state is determined to be the movement state of the assisted mode.

[0125] In one feasible implementation, the exoskeleton device further includes a charging management and control circuit. The processing module 63 is further configured to determine the charge level of each battery in the battery pack of the exoskeleton device; determine batteries with charge levels less than a preset charge level from the battery pack based on the charge levels of each battery in the battery pack; control the charging management and control circuit to isolate batteries with charge levels less than the preset charge level from the battery pack; and use the electrical energy to charge the batteries with charge levels less than the preset charge level. The charging module 61 is configured to use the electrical energy to charge the batteries with charge levels less than the preset charge level.

[0126] In one feasible implementation, the processing module 63 is further configured to control the charging module 61 to charge the batteries using trickle charging if the charge of each battery in the battery pack is greater than or equal to the preset charge; or to control the reversible motor to switch from the generator mode to the disabling mode to reduce the rotational damping of the reversible motor in the non-assisted mode.

[0127] In one feasible implementation, the charging management and control circuit includes: a power supply circuit and a charging circuit for each battery in the battery pack. A first switch is provided on the charging circuit, and a second switch is provided on the power supply circuit. The processing module 63 is used to control the first switch on the charging circuit of the battery with a power level lower than a preset power level to be turned on, and to control the second switch on the power supply circuit of the battery with a power level lower than the preset power level to be turned off to isolate the battery. When the first switch is turned off and the second switch is turned on, the battery is in a power supply state. When the first switch is turned on and the second switch is turned off, the battery is in a charging state.

[0128] In one feasible implementation, the battery pack includes N+1 batteries. The processing module 63 is further configured to, when the reversible motor is in motor mode, determine the battery with the lowest charge from the N+1 batteries, control the first switch on the charging circuit of the battery with the lowest charge to open, control the second switch on the power supply circuit of the battery with the lowest charge to open, control the first switches on the charging circuits of the remaining N batteries to open, and control the second switches on the power supply circuits of the remaining N batteries to open; when the reversible motor switches to generator mode, control the first switch on the charging circuit of the battery with the lowest charge to open, control the second switch on the power supply circuit of the battery with the lowest charge to open, control the first switches on the charging circuits of the remaining N batteries to open, and control the second switches on the power supply circuits of the remaining N batteries to open.

[0129] In one feasible implementation, the armature resistance of the reversible motor is less than a preset resistance, and the friction coefficient of the gear reducer of the reversible motor is lower than a preset coefficient.

[0130] The charging and discharging device provided in this application embodiment can perform the actions of the exoskeleton device in the above embodiment. Its implementation principle and technical effect are similar, and will not be described again here.

[0131] Figure 7 This is a schematic diagram of the exoskeleton device provided in an embodiment of this application. Please refer to... Figure 7 The exoskeleton device 700 described in this application embodiment includes: at least one processor 71, at least one communication bus 72, user interface 73, at least one network interface 74, memory 75, and reversible motor 76.

[0132] The communication bus 72 is used to enable communication between these components.

[0133] The user interface 73 may include a display screen and a camera. Optionally, the user interface 73 may also include a standard wired interface or a wireless interface. The display screen is used to display the editing interface, roaming interface, etc.

[0134] The network interface 74 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface).

[0135] The processor 71 may include one or more processing cores. The processor 71 connects to various parts of the exoskeleton device 700 using various interfaces and lines, and performs various functions and processes data by running or executing instructions, programs, code sets, or instruction sets stored in memory 705, and by calling data stored in memory 75. Optionally, the processor 71 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 71 may integrate one or a combination of several of the following: Central Processing Unit (CPU), Graphics Processing Unit (GPU), and modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the panoramic sphere required for display; and the modem handles wireless communication. It is understood that the modem may also not be integrated into the processor 71 and may be implemented as a separate chip.

[0136] The memory 75 may include random access memory (RAM) or read-only memory. Optionally, the memory 75 may include a non-transitory computer-readable storage medium. The memory 705 may be used to store instructions, programs, code, code sets, or instruction sets. The memory 75 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above-described method embodiments, etc.; the data storage area may store data involved in the above-described method embodiments, etc. Optionally, the memory 75 may also be at least one storage device located remotely from the aforementioned processor 71. Figure 7 As shown, the memory 75, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and operating applications for the exoskeleton device.

[0137] The reversible motor 76, such as a three-phase synchronous motor, can operate in either motor mode or generator mode. When the reversible motor is in generator mode, it can convert the wearer's mechanical energy into electrical energy, thereby charging the battery pack.

[0138] This application also provides a computer-readable storage medium storing computer instructions, which, when executed by a processor, are used to implement the charging and discharging method of the exoskeleton device battery pack described above.

[0139] This application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the charging and discharging method of the exoskeleton device battery pack as described above.

[0140] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0141] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more flowchart illustrations and / or one or more block diagrams.

[0142] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0143] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0144] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0145] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0146] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0147] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0148] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for charging and discharging a battery pack for an exoskeleton device, characterized in that, The method, applied to an exoskeleton device having a reversible motor and a battery pack, the reversible motor having a generator mode and a motor mode, comprises: When the reversible motor is in generator mode, the reversible motor converts kinetic energy into electrical energy and uses the electrical energy to charge the battery pack of the exoskeleton device. The kinetic energy is the kinetic energy generated when the wearer of the exoskeleton device moves. When the reversible motor is in motor mode, the battery pack provides electrical energy to the reversible motor, so that the reversible motor converts the electrical energy into mechanical energy, which provides assistance to the wearer.

2. The method according to claim 1, characterized in that, The method further includes: In response to a received switching command, the reversible motor is controlled to switch between the generator mode and the motor mode.

3. The method according to claim 1, characterized in that, The exoskeleton device also includes sensors, and the method further includes: The motion state of the exoskeleton device is determined based on the motion parameters collected by the sensors. The motion state includes the motion state in assisted mode and the motion state in non-assisted mode. When the exoskeleton device is in the non-assisted movement mode, the reversible motor is controlled to switch to the generator mode. When the exoskeleton device is in the motion state of the assist mode, the reversible motor is controlled to switch to the motor mode.

4. The method according to claim 3, characterized in that, Determining the motion state of the exoskeleton device includes: Based on the motion parameters collected by the sensors, if the exoskeleton device is determined to be in at least one of the states of acceleration, uphill, climbing, or climbing stairs, then the motion state is determined to be the motion state of the assist mode. Based on the motion data collected by the sensors, if it is determined that the exoskeleton device is in at least one of the following states: deceleration, downhill, downhill, or down stairs, then the motion state is determined to be a non-assisted motion state.

5. The method according to claim 3, characterized in that, Determining the motion state of the exoskeleton device includes: When the exoskeleton device is determined to be in at least one of the states of acceleration, uphill, climbing, and stair climbing, and based on at least one of the heart rate and cadence of the wearer, the wearer's heart rate is determined to be greater than a preset value or the cadence is determined to be less than a preset value, then the movement state is determined to be the movement state of the assisted mode.

6. The method according to any one of claims 1 to 5, characterized in that, The exoskeleton device also includes a charging management and control circuit, wherein charging the battery pack of the exoskeleton device using the electrical energy includes: Determine the charge level of each battery in the battery pack of the exoskeleton device; Based on the charge level of each battery in the battery pack, identify the batteries in the battery pack whose charge level is less than a preset charge level; The charging management and control circuit is controlled to isolate batteries with a charge level lower than a preset charge level from the battery pack; The electrical energy is used to charge batteries with a capacity less than a preset capacity.

7. The method according to claim 6, characterized in that, The method further includes: If the charge of each battery in the battery pack is greater than or equal to the preset charge, the reversible motor is controlled to charge the battery using trickle charging; or, the reversible motor is controlled to switch from generator mode to disabling mode to reduce the rotational damping of the reversible motor in non-assisted mode.

8. The method according to claim 6, characterized in that, The charging management and control circuit includes: a power supply circuit and a charging circuit for each battery in the battery pack, wherein a first switch is provided on the charging circuit and a second switch is provided on the power supply circuit; The control circuit for the charging management and control to isolate batteries with a charge level lower than a preset charge level from the battery pack includes: A first switch on the charging circuit of a battery with a power level lower than a preset power level is turned on, and a second switch on the power supply circuit of a battery with a power level lower than a preset power level is turned off to isolate the battery. When the first switch is turned off and the second switch is turned on, the battery is in a power supply state. When the first switch is turned on and the second switch is turned off, the battery is in a charging state.

9. The method according to claim 8, characterized in that, The battery pack comprises N+1 batteries, and the method further includes: When the reversible motor is in motor mode, the battery with the smallest charge is determined from the N+1 batteries, the first switch on the charging circuit of the battery with the smallest charge is turned off, the second switch on the power supply circuit of the battery with the smallest charge is turned off, the first switch on the charging circuit of the remaining N batteries is turned off, and the second switch on the power supply circuit of the remaining N batteries is turned on. When the reversible motor switches to generator mode, the first switch on the charging circuit of the battery with the lowest power level is turned on, and the second switch on the power supply circuit of the battery with the lowest power level is turned off. The first switches on the charging circuits of the remaining N batteries are turned off, and the second switches on the power supply circuits of the remaining N batteries are turned off.

10. The method according to any one of claims 1 to 5, characterized in that, The armature resistance of the reversible motor is less than the preset resistance, and the friction coefficient of the gear reducer of the reversible motor is lower than the preset coefficient.

11. An exoskeleton device, characterized in that, The device includes a reversible motor, a processor, a memory, and a computer program stored in the memory and executable on the processor, characterized in that, when the processor executes the computer program, the exoskeleton device controls the reversible motor to implement the method as described in any one of claims 1 to 10.

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