Pneumatic binding system, pneumatic binding control method, exoskeleton robot and medium
By using independently controllable airbag units and a real-time feedback mechanism, the problem of uneven pressure distribution in the exoskeleton robot restraint system has been solved, achieving a stable and comfortable wearing experience.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-01-20
- Publication Date
- 2026-04-10
AI Technical Summary
Existing exoskeleton robot restraint systems cannot make precise local adjustments based on the anatomical structure and movement state of different parts of the human body, resulting in uneven pressure distribution and affecting stability and comfort.
It employs multiple independently controllable airbag units, combined with an airway control module and a pressure sensing module, to automatically adjust the airbag pressure by monitoring pressure distribution and movement posture information in real time, so as to adapt to the anatomical characteristics and dynamic movement needs of different parts of the human body.
It achieves stable and comfortable support for exoskeleton robots in various motion states, avoiding slippage, loosening or excessive pressure, and providing a better wearing experience.
Smart Images
Figure CN121818322A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of robotics, and in particular to a pneumatic restraint system, a pneumatic restraint control method, an exoskeleton robot, and a medium. Background Technology
[0002] With the rapid development of exoskeleton technology, its applications in medical treatment, rehabilitation, and enhancing human function have gradually gained attention. Among related technologies, exoskeleton robots are mainly secured using rigid straps or single pneumatic devices, but these methods have several shortcomings. Traditional strapping systems generally use a single inflatable airbag structure. This approach leads to uneven pressure distribution during airbag inflation, particularly in areas with muscle bulges where excessive pressure can easily occur, while the skeletal areas may not be tightly secured enough, thus affecting the stability and comfort of the exoskeleton.
[0003] Current pneumatic device adjustment methods primarily rely on uniform air pressure control. This prevents the airbag from making precise local adjustments based on the anatomical structure and movement of different parts of the body. For example, during human movement, changes in muscle volume (such as contraction and expansion) cannot be effectively compensated for by reverse pressure, causing discomfort or a feeling of pressure. Furthermore, existing technologies generally rely on positive pressure to prevent the exoskeleton from slipping. While effective, this often requires overall pressure application, leading to an unnecessary feeling of tightness. Once the pressure decreases, the device may slip or shift.
[0004] Therefore, it is necessary to propose a pneumatic restraint system that can avoid the compression problems in related technologies and enhance the stability and comfort of exoskeleton robots. Summary of the Invention
[0005] This invention provides a pneumatic restraint system, a pneumatic restraint control method, an exoskeleton robot, and a medium to solve the technical problem that restraint systems in related technologies easily cause discomfort or pressure to the human body.
[0006] Firstly, a pneumatic restraint system is provided for use in exoskeleton robots, including: Rigid shell, designed for wearing on the human body; An airbag array, disposed on the side of the rigid shell close to the human body, includes multiple independent airbag units that are controllable in their respective airways; The airway control module includes an independent airway corresponding to the airbag unit and a control valve disposed on each of the independent airways. The pressure sensing module is used to acquire the pressure distribution information of the airbag array and / or the motion attitude information of the rigid shell; The control module, connected to the airway control module and the pressure sensing module, is used to perform zone identification of the airbag unit based on the pressure distribution information and / or the motion posture information, and send corresponding control commands to the airway control module according to the identification results, so that the airway control module controls the control valve to maintain the air pressure of the airbag unit in different zones within the corresponding preset air pressure range.
[0007] Secondly, a pneumatic restraint control method is provided, applied to the pneumatic restraint system described in any one of the claims of this application, comprising: The pressure distribution information of the airbag array and / or the motion attitude information of the rigid shell are obtained through the pressure sensing module. Based on the pressure distribution information and / or the motion posture information, the control module performs zoning identification on the airbag unit to obtain the identification result of dividing it into the anchoring area and the breathing area; Based on the identification result, the control module sends a corresponding control command to the airway control module, so that the airway control module controls the corresponding control valve to maintain the air pressure of the first airbag unit in the anchoring area within the first target pressure range, and maintain the air pressure of the second airbag unit in the breathing area within the second target pressure range. The upper limit of the second target pressure range is lower than the lower limit of the first target pressure range.
[0008] Thirdly, an exoskeleton robot is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the above-described pneumatic restraint control method.
[0009] Fourthly, a computer-readable storage medium is provided, which stores a computer program that, when executed by a processor, implements the steps of the above-described pneumatic restraint control method.
[0010] In the aforementioned pneumatic restraint system, pneumatic restraint control method, exoskeleton robot, and medium, the pneumatic restraint system, applied to the exoskeleton robot, includes: a rigid shell for wearing on the human body; an airbag array disposed on the side of the rigid shell near the human body, comprising multiple independent airbag units, each controllable in its air path; an air path control module, including independent air paths corresponding to the airbag units and control valves disposed on each independent air path; a pressure sensing module for acquiring pressure distribution information of the airbag array and / or motion posture information of the rigid shell; and a control module connected to the air path control module and the pressure sensing module, for performing zone identification of the airbag units based on the pressure distribution information and / or motion posture information, and sending corresponding control commands to the air path control module according to the identification results, so that the air path control module controls the control valves to maintain the air pressure of the airbag units in different zones within the corresponding preset air pressure range. In this invention, multiple independently controllable airbag units are used, enabling precise adjustment of the air pressure of each airbag to adapt to the anatomical characteristics and dynamic movement needs of different parts of the human body. Furthermore, the integration of the airflow control module and pressure sensing module enhances the pneumatic restraint system's real-time monitoring and responsiveness to human posture. The control module automatically adjusts the airbag pressure based on real-time pressure distribution information and motion posture data, ensuring the exoskeleton robot maintains a close fit with the human body at all times. Through this intelligent adjustment, the pneumatic restraint system can adapt to different motion states and changes in the external environment, maintaining comfort and stability during movement and avoiding problems such as slippage, loosening, or excessive pressure found in traditional technologies. In summary, this application significantly improves the adaptability and comfort of the exoskeleton robot through precise airbag control and a real-time feedback mechanism, providing a more stable and comfortable wearing experience during extended use. Attached Figure Description
[0011] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0012] Figure 1 This is a schematic diagram of a pneumatic binding system according to an embodiment of the present invention; Figure 2 This is a schematic flowchart of a pneumatic binding control method in one embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of an exoskeleton robot according to one embodiment of the present invention; Figure 4 This is another structural schematic diagram of the exoskeleton robot in one embodiment of the present invention.
[0013] Reference numerals: 100, pneumatic restraint system; 10, rigid shell; 20, airbag array; 201, airbag unit; 30, air circuit control module; 301, independent air circuit; 302, control valve; 40, pressure sensing module; 50, control module. Detailed Implementation
[0014] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0015] Please see Figure 1 , Figure 1 This is a schematic diagram of a pneumatic restraint system according to an embodiment of the present invention. Figure 1 As shown, the pneumatic restraint system 100 is applied to an exoskeleton robot (not shown) and includes: a rigid shell 10 for wearing on a human body; that is, the rigid shell 10 can ensure the stable wearing of the pneumatic restraint system 100, so that the pneumatic restraint system 100 can fit closely to the human body and prevent displacement due to movement or external force.
[0016] The airbag array 20, located on the side of the rigid shell 10 closest to the human body, includes multiple independent airbag units 201, each controllable in its airway, thereby providing different air pressures for different parts of the body. In other words, the pneumatic restraint system 100 can precisely adjust the air pressure in each area according to the body's anatomy and movement, thereby improving comfort and stability.
[0017] The air path control module 30 includes an independent air path 301 corresponding to the airbag unit 20 and a control valve 302 disposed on each independent air path 301. The control valve 302 can adjust the air pressure of the airbag unit 201 according to the control command to ensure that the airbag unit 201 can be maintained within the preset air pressure range to achieve the required support effect.
[0018] The pressure sensing module 40 is used to acquire pressure distribution information of the airbag array 20 and / or motion posture information of the rigid shell 10. Pressure distribution information refers to the spatial distribution of pressure values measured in each airbag unit 201 of the airbag array 20. The pressure of each airbag unit 201 is affected by the motion state and anatomical structure of its surrounding area. Pressure distribution information can be monitored in real time by the sensors of the pressure sensing module 40, reflecting the pressure conditions in different areas. Motion posture information refers to the posture or positional changes of the exoskeleton robot relative to the human body, typically acquired through motion sensors (such as accelerometers or gyroscopes). Motion posture information enables the pneumatic restraint system 100 to perceive the human body's movements and direction of motion (such as walking, sitting, standing, etc.) in real time, and adjust the air pressure of the airbag units 201 according to the motion posture information to ensure the stability of the exoskeleton robot during dynamic activities. For example, when walking, the pneumatic restraint system 100 automatically adjusts the restraint pressure according to the human body's gait to prevent slippage or instability.
[0019] The control module 50, connected to the air path control module 30 and the pressure sensing module 40, is used to perform zone identification of the airbag unit 201 based on pressure distribution information and / or motion posture information, and send corresponding control commands to the air path control module 30 according to the identification results, so that the air path control module 30 controls the control valve 302 to maintain the air pressure of the airbag unit 201 in different zones within the corresponding preset air pressure range, thereby achieving stable wearing and comfortable experience of the exoskeleton robot.
[0020] It should be noted that the preset air pressure range refers to the air pressure range that each airbag unit 201 can maintain during operation. This range can be determined, for example, by a target pressure value preset during design, aiming to provide sufficient support while avoiding excessive pressure. The preset air pressure range varies depending on the area where the airbag unit 201 is located. For example, some areas require a higher and more stable air pressure to lock the exoskeleton robot in place; while airbags in other areas need to operate within a lower air pressure range to adapt to muscle changes and provide a comfortable wearing experience.
[0021] In this embodiment, the control module 50 precisely adjusts the air pressure of the airbag unit to ensure that the exoskeleton robot can provide stable and comfortable support in various motion states, avoiding discomfort or device slippage caused by unsuitable air pressure.
[0022] In some embodiments, the preset air pressure range includes a first target pressure range and a second target pressure range. The control module 50 is configured to: identify the airbag unit 204 into zones based on pressure distribution information and / or motion posture information, obtaining identification results of an anchoring zone and a breathing zone; generate a first control command for the first airbag unit located in the anchoring zone and send it to the airway control module 30, so that the airway control module 30 controls the control valve corresponding to the first airbag unit and maintains the air pressure of the first airbag unit within the first target pressure range; generate a second control command for the second airbag unit located in the breathing zone and send it to the airway control module 30, so that the airway control module 30 controls the control valve corresponding to the second airbag unit and maintains the air pressure of the second airbag unit within the second target pressure range; wherein, the upper limit of the second target pressure range is lower than the lower limit of the first target pressure range.
[0023] For example, the control module 50 uses real-time acquired pressure distribution information and / or motion posture information to perform zone identification on the airbag unit 204. The control module 50 can identify the anchoring zone and the breathing zone based on this information, and divide the airbag unit into these two regions according to the human body's anatomical structure and motion state. The anchoring zone may be located in the skeletal area, while the breathing zone may be located in the muscular area. For the first airbag unit located in the anchoring zone, the control module generates a first control command and sends it to the airway control module 30. The airway control module 30 adjusts the opening and closing of the corresponding control valve of the first airbag unit according to the command to maintain its air pressure within a first target pressure range. For the second airbag unit located in the breathing zone, the control module 50 generates a second control command and sends it to the airway control module 30 to adjust the air pressure of the second airbag unit to maintain it within a second target pressure range.
[0024] It should be noted that the first airbag unit in the anchoring area needs to maintain a high air pressure to ensure the stability of the exoskeleton robot and prevent slippage or displacement during movement. Since the breathing area typically corresponds to muscle regions, the second airbag unit needs to provide a lower air pressure to avoid compressing muscles and to provide comfort. Therefore, the upper limit of the second target pressure range is set lower than the lower limit of the first target pressure range to ensure that the airbags can adapt to muscle contraction and expansion changes in the muscle region while avoiding excessive compression.
[0025] In the above embodiment, through this differentiated air pressure control, the pneumatic restraint system 100 can precisely adjust the airbag pressure in different areas, providing stable support while ensuring the wearer's comfort. In the anchoring area, the airbags provide sufficient pressure to secure the exoskeleton; while in the breathing area, the airbags dynamically adjust the air pressure to adapt to muscle changes, avoiding pressure and improving overall comfort.
[0026] Based on the above embodiments, the control module 50 is further configured to: monitor the real-time air pressure of the second airbag unit in the breathing zone; when the real-time air pressure is detected to rise and exceed the upper limit of the second target pressure range, control the corresponding control valve to perform a deflation operation to reduce the real-time air pressure to the second target pressure range; when the real-time air pressure is detected to drop and fall below the lower limit of the second target pressure range, control the corresponding control valve to perform an inflation operation to raise the real-time air pressure to the second target pressure range.
[0027] For example, when the control module 50 detects a real-time increase in the air pressure of the second airbag unit in the breathing zone, exceeding the upper limit of the second target pressure range, the control module 50 initiates a deflation operation via the control valve 302 in the airway control module 30. The deflation operation lowers the air pressure in the airbag, preventing discomfort or pressure caused by excessively high pressure, thus bringing the air pressure back down to the predetermined second target pressure range. This process can handle air pressure fluctuations in muscle areas caused by movement or other factors during human activity, preventing discomfort caused by excessively high pressure. Furthermore, when the control module 50 detects a real-time decrease in air pressure below the lower limit of the second target pressure range, the control module 50 initiates an inflation operation via the control valve 302, causing the air pressure in the airbag to rise. The inflation operation raises the air pressure in the airbag to the second target pressure range, ensuring that the airbag provides sufficient support and comfort, preventing the exoskeleton robot from losing its proper fixation or slipping due to excessively low air pressure.
[0028] The above embodiments enable the pneumatic restraint system 100 to respond in real time to changes in human movement or external factors. Through automatic deflation and inflation operations, the airbag is always kept within the second target pressure range, thereby ensuring the comfort, stability and adaptability of the breathing zone and avoiding discomfort caused by excessive pressure fluctuations.
[0029] In some embodiments, the control module 50 is further configured to: obtain the pressure difference between two airbag units 201 symmetrically distributed based on a preset central axis of the rigid shell 10, and determine whether the pressure difference exceeds a first preset threshold; when the pressure difference exceeds the first preset threshold, determine that the rigid shell 10 has generated a rotational offset, and control the air path control module 30 to increase the air pressure of the airbag unit 201 with a smaller pressure value, and / or decrease the air pressure of the airbag unit 201 with a larger pressure value, so as to correct the rotational offset of the rigid shell 10.
[0030] For example, the control module 50 can acquire the pressure difference between two symmetrically distributed airbag units 201 based on a preset central axis of the rigid shell 10. The preset central axis of the rigid shell 10 defines the ideal center of symmetry of the exoskeleton robot, and the airbag units 201 should generally have pressure evenly distributed along this axis. The control module 50 can monitor the pressure difference between the two airbag units 201 in real time to ensure the balance of the exoskeleton robot when worn. Once the control module 50 acquires the pressure difference between the two airbag units 201, it can compare it with a first preset threshold. If the pressure difference exceeds the first preset threshold, it indicates that the rigid shell 10 of the exoskeleton robot has shifted, which may cause the exoskeleton robot to rotate or tilt relative to the human body, thereby affecting the stability and comfort of wearing it. When the pressure difference is detected to exceed the first preset threshold, indicating that the rigid shell 10 has shifted, the control module 50 will take measures to correct it. Specifically, the control module controls the air path control module 30 to adjust the air pressure of the airbag unit: the control module 30 increases the air pressure of the airbag unit 201 with a smaller pressure value, and / or decreases the air pressure of the airbag unit 201 with a larger pressure value.
[0031] In the above embodiments, this dynamic adjustment automatically corrects the rotational deviation of the exoskeleton robot, ensuring that the rigid shell 10 maintains the correct alignment with the human body during wear, thus avoiding instability or discomfort during use. In this way, the pneumatic restraint system 100 effectively prevents device displacement caused by pressure differences, thereby improving wearing comfort and stability.
[0032] In some embodiments, the control module 50 is further configured to: determine whether the rigid shell 10 has a tendency to slide relative to the human body; if there is a tendency to slide, the control air path control module 30 pressurizes the multiple airbag units 201 in the airbag array 20 in a preset order to generate a directional thrust to counteract the tendency to slide.
[0033] For example, the control module 50 determines whether there is a slippage tendency by monitoring the stability of the rigid shell 10 relative to the human body. Slippage tendencies are usually caused by uneven pressure distribution in the airbag units of the exoskeleton robot or by external forces (such as impacts during movement). If the air pressure distribution in the airbag array 20 is uneven, or if external environmental factors affect the stability of the exoskeleton robot, a slippage tendency may be detected. For example, during movement, airbag units 201 in certain areas may cause the exoskeleton robot to move downwards or laterally due to reduced pressure or external forces. When a slippage tendency is detected, the control module 50 will pressurize multiple airbag units 201 in the airbag array 20 sequentially according to a preset pressurization sequence. The pressurization sequence is preset based on the structure and requirements of the exoskeleton robot, typically from distal to proximal (e.g., from bottom to top). This pressurization sequence generates directional thrust in specific areas, effectively counteracting the slippage tendency and maintaining the stability of the exoskeleton robot.
[0034] By pressurizing, the airbag units 201 generate a directional thrust to help counteract forces in the direction of slippage. These pressurized airbag units 201 provide support to the exoskeleton robot, preventing the device from slipping, shifting, or losing stability during use. For example, increasing the air pressure in the thigh airbag unit 201 can prevent the exoskeleton robot from slipping off the thigh, ensuring that the exoskeleton robot remains in the correct position.
[0035] Through this slip detection and pressure countermeasure mechanism, the pneumatic restraint system 100 can effectively cope with various dynamic changes, maintain the stability of the exoskeleton robot, and provide a more comfortable and safer wearing experience.
[0036] In some embodiments, the control module 50 is specifically configured to: analyze the pressure rise slope or pressure fluctuation frequency corresponding to the airbag unit 201; identify regions where the pressure rise slope is lower than a second preset threshold and / or the pressure fluctuation frequency is lower than a third preset threshold as anchoring regions; and identify regions where the pressure rise slope is higher than or equal to the second preset threshold and / or the pressure fluctuation frequency is higher than or equal to the third preset threshold as breathing regions.
[0037] It should be noted that the pressure rise slope refers to the rate of change of air pressure in the airbag unit 201 over a certain period of time, i.e., the speed at which the air pressure rises. If the air pressure rises rapidly, it indicates that the area may be a muscle region, and muscles expand rapidly during exercise, so the airbag needs to be able to respond quickly to changes. The pressure fluctuation frequency refers to the frequency of pressure fluctuations in the airbag unit 201 over a certain period of time, reflecting whether the air pressure changes frequently. If the pressure fluctuation frequency is high, it may mean that the muscles in that area are undergoing frequent contraction and relaxation (such as muscle movements during walking or running).
[0038] Regions with a pressure rise slope below a second preset threshold and / or a pressure fluctuation frequency below a third preset threshold are identified as anchoring zones. These anchoring zones can be located in skeletal areas of the human body (such as the thigh or tibia), where drastic pressure changes are less likely to occur during movement, resulting in lower pressure change slopes and fluctuation frequencies. For these regions, the pneumatic restraint system 100 requires the airbags to maintain relatively stable and high air pressure to ensure the stability of the exoskeleton robot. Regions with a pressure rise slope higher than or equal to the second preset threshold and / or a pressure fluctuation frequency higher than or equal to the third preset threshold are identified by the control module 50 as breathing zones.
[0039] It should be noted that the second preset threshold is a standard value used to determine the pressure rise slope. The pressure rise slope is the rate of change of air pressure in the airbag unit 201, reflecting the speed of pressure change in the airbag unit 201 over a short period of time. The second preset threshold sets a critical value; when the pressure rise slope of the airbag unit 201 is lower than this value, the control module 50 will identify the area as the anchoring zone. The third preset threshold is a standard value used to determine the pressure fluctuation frequency. The pressure fluctuation frequency refers to the frequency of air pressure fluctuations in the airbag unit 201 within a certain period of time, reflecting the degree of change in air pressure within the airbag over a specific time period. The third preset threshold sets a critical value; when the pressure fluctuation frequency of the airbag unit 201 is lower than this value, the control module 50 will identify the area as the anchoring zone; while when the pressure fluctuation frequency is higher than this value, the area is identified as the breathing zone.
[0040] Through this analysis based on the pressure rise slope and pressure fluctuation frequency, the control module 50 can intelligently identify the characteristics of different parts of the human body and divide them into anchoring zones and breathing zones. In this way, the pneumatic restraint system 100 can provide appropriate air pressure regulation for each zone, ensuring that the exoskeleton robot provides sufficient stable support while maintaining comfort during wear, avoiding excessive pressure or slippage.
[0041] In some embodiments, the pressure sensing module 40 includes: a plurality of pressure sensors (not shown) respectively disposed on an independent air passage 301 for acquiring the pressure of the airbag unit 201; and / or, a thin-film pressure sensor array (not shown) attached to the surface of the airbag array 20 on the side closer to the human body for acquiring the pressure distribution image of the airbag array 20.
[0042] For example, pressure sensors are mounted on independent air passages 301 to directly monitor the air pressure in the air passages connected to each airbag unit 201. These sensors can acquire the air pressure value of each airbag unit 201 in real time and feed the data back to the control module 50. Using this information, the control module 50 can determine the air pressure status of each airbag unit and decide whether adjustments are needed, such as whether a preset target air pressure range has been reached or whether air pressure fluctuations have occurred. A thin-film pressure sensor array is attached to the surface of the airbag array 20 on the side closest to the human body. This sensor array is used to monitor the pressure distribution in the contact area between the surface of the airbag array 20 and the human body. The thin-film pressure sensors can provide detailed pressure distribution images, which helps to understand the pressure status of the airbag array 20 at each contact point in real time.
[0043] The above information is crucial for dynamically adjusting the air pressure of the airbag unit 201, which can help the pneumatic restraint system 100 adjust the pressure under different movement postures to avoid pressure or discomfort.
[0044] As can be seen, in the above solution, the present invention employs multiple independently controllable airbag units 201, which can precisely adjust the air pressure of each airbag to adapt to the anatomical characteristics and dynamic movement needs of different parts of the human body. Furthermore, the combination of the air path control module 30 and the pressure sensing module 40 enhances the real-time monitoring and response capability of the pneumatic restraint system 100 to human posture. The control module 50 automatically adjusts the air pressure of the airbags based on real-time pressure distribution information and movement posture data, ensuring that the exoskeleton robot always maintains a good fit with the human body. Through this intelligent adjustment, the pneumatic restraint system 100 can adapt to different movement states and changes in the external environment, maintaining comfort and stability during movement and avoiding problems such as slippage, loosening, or excessive compression in traditional technologies. In summary, this application, through precise airbag control and a real-time feedback mechanism, greatly improves the adaptability and comfort of the exoskeleton robot, providing a more stable and comfortable wearing experience during prolonged use.
[0045] Please see Figure 2 As shown, Figure 2 A schematic flowchart of a pneumatic restraint control method provided in an embodiment of the present invention, wherein the method is applied to any of the pneumatic restraint systems described in this application embodiment, and includes the following steps: S10: Obtain pressure distribution information of the airbag array and / or motion attitude information of the rigid shell through the pressure sensing module.
[0046] S20: Based on pressure distribution information and / or motion posture information, the control module performs zone identification on the airbag unit to obtain the identification results of dividing it into anchoring zone and breathing zone.
[0047] S30: Based on the identification result, the control module sends the corresponding control command to the airway control module so that the airway control module controls the corresponding control valve to maintain the air pressure of the first airbag unit in the anchoring area within the first target pressure range and maintain the air pressure of the second airbag unit in the breathing area within the second target pressure range. The upper limit of the second target pressure range is lower than the lower limit of the first target pressure range.
[0048] For example, in this embodiment, step S10 obtains pressure distribution information of the airbag array and / or motion posture information of the rigid shell through the pressure sensing module. This information helps the pneumatic restraint system monitor the working status of the airbag array in real time and provides pressure distribution data on the contact area between the exoskeleton robot and the human body, or monitors the motion posture of the exoskeleton robot relative to the human body. Based on this data, the control module can determine and analyze the air pressure in each area of the airbag array and the relative posture of the exoskeleton.
[0049] In step S20, the control module analyzes the acquired pressure distribution and motion posture information to identify different areas where the airbag units are located, dividing them into anchoring and breathing zones. Then, in step S30, the control module sends corresponding control commands to the airflow control module based on the identification results to adjust the air pressure of the airbag units. Specifically, the air pressure of the airbag units in the anchoring zone is maintained within a higher first target pressure range to ensure the stability of the exoskeleton robot; while the air pressure of the airbag units in the breathing zone is maintained within a lower second target pressure range to avoid muscle compression and improve comfort. It is important to note that the upper limit of the second target pressure range is lower than the lower limit of the first target pressure range, ensuring that the air pressure in the two zones meets different requirements.
[0050] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.
[0051] In one embodiment, an exoskeleton robot is provided, which can be a server-side component, and its internal structure diagram can be as follows: Figure 3As shown, the exoskeleton robot includes a processor, memory, network interface, and database connected via a system bus. The processor provides computational and control capabilities. The memory includes non-volatile and / or volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface allows communication with external clients via a network connection. When executed by the processor, the computer program implements the functions or steps of a pneumatic restraint control method on the server side.
[0052] In one embodiment, an exoskeleton robot is provided, which can be a client, and its internal structure diagram can be as follows: Figure 4 As shown, the exoskeleton robot includes a processor, memory, network interface, display screen, and input devices connected via a system bus. The processor provides computational and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communication with an external server via a network connection. When the computer program is executed by the processor, it implements the functions or steps of a pneumatic restraint control method on the client side.
[0053] In one embodiment, an exoskeleton robot is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it performs the following steps: The pressure distribution information of the airbag array and / or the motion attitude information of the rigid shell are obtained through the pressure sensing module. Based on the pressure distribution information and / or the motion posture information, the control module performs zoning identification on the airbag unit to obtain the identification result of dividing it into the anchoring area and the breathing area; Based on the identification result, the control module sends a corresponding control command to the airway control module, so that the airway control module controls the corresponding control valve to maintain the air pressure of the first airbag unit in the anchoring area within the first target pressure range, and maintain the air pressure of the second airbag unit in the breathing area within the second target pressure range. The upper limit of the second target pressure range is lower than the lower limit of the first target pressure range.
[0054] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor: The pressure distribution information of the airbag array and / or the motion attitude information of the rigid shell are obtained through the pressure sensing module. Based on the pressure distribution information and / or the motion posture information, the control module performs zoning identification on the airbag unit to obtain the identification result of dividing it into the anchoring area and the breathing area; Based on the identification result, the control module sends a corresponding control command to the airway control module, so that the airway control module controls the corresponding control valve to maintain the air pressure of the first airbag unit in the anchoring area within the first target pressure range, and maintain the air pressure of the second airbag unit in the breathing area within the second target pressure range. The upper limit of the second target pressure range is lower than the lower limit of the first target pressure range.
[0055] It should be noted that the functions or steps that can be implemented by the computer-readable storage medium or computer device described above can be referred to the relevant descriptions on the server side and client side in the foregoing method embodiments. To avoid repetition, they will not be described one by one here.
[0056] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.
[0057] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.
[0058] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.
Claims
1. A pneumatic restraint system, characterized in that, Applications in exoskeleton robots include: Rigid shell, designed for wearing on the human body; An airbag array, disposed on the side of the rigid shell close to the human body, includes multiple independent airbag units that are controllable in their respective airways; The airway control module includes an independent airway corresponding to the airbag unit and a control valve disposed on each of the independent airways. The pressure sensing module is used to acquire the pressure distribution information of the airbag array and / or the motion attitude information of the rigid shell; The control module, connected to the airway control module and the pressure sensing module, is used to perform zone identification of the airbag unit based on the pressure distribution information and / or the motion posture information, and send corresponding control commands to the airway control module according to the identification results, so that the airway control module controls the control valve to maintain the air pressure of the airbag unit in different zones within the corresponding preset air pressure range.
2. The pneumatic restraint system according to claim 1, characterized in that, The preset pressure range includes a first target pressure range and a second target pressure range, and the control module is used for: Based on the pressure distribution information and / or the motion posture information, the airbag unit is divided into zones for identification, resulting in identification results divided into anchoring zone and breathing zone; For the first airbag unit located in the anchoring area, a first control command is generated and sent to the airway control module so that the airway control module controls the control valve corresponding to the first airbag unit and maintains the air pressure of the first airbag unit within the first target pressure range. For the second airbag unit located in the breathing zone, a second control command is generated and sent to the airway control module so that the airway control module controls the control valve corresponding to the second airbag unit and maintains the air pressure of the second airbag unit within the second target pressure range; The upper limit of the second target pressure range is lower than the lower limit of the first target pressure range.
3. The pneumatic restraint system according to claim 2, characterized in that, The control module is also used for: Monitor the real-time air pressure of the second airbag unit in the breathing zone; When the real-time air pressure is detected to rise and exceed the upper limit of the second target pressure range, the corresponding control valve is controlled to perform a venting operation to reduce the real-time air pressure to the second target pressure range. When the real-time air pressure is detected to drop below the lower limit of the second target pressure range, the corresponding control valve is controlled to perform an inflation operation to raise the real-time air pressure to the second target pressure range.
4. The pneumatic restraint system according to claim 1, characterized in that, The control module is also used for: Obtain the pressure difference between two airbag units symmetrically distributed along a preset central axis based on the rigid shell, and determine whether the pressure difference exceeds a first preset threshold. When the pressure difference exceeds the first preset threshold, it is determined that the rigid shell has rotated and the air circuit control module is controlled to increase the air pressure of the airbag unit with a smaller pressure value and / or decrease the air pressure of the airbag unit with a larger pressure value in order to correct the rotational offset of the rigid shell.
5. The pneumatic restraint system according to claim 1, characterized in that, The control module is also used for: Determine whether the rigid shell has a tendency to slip relative to the human body; If the slippage trend exists, the air path control module is controlled to pressurize multiple airbag units in the airbag array in a preset order to generate a directional thrust to counteract the slippage trend.
6. The pneumatic restraint system according to claim 1, characterized in that, The control module is specifically used for: Analyze the pressure rise slope or pressure fluctuation frequency corresponding to the airbag unit. The region where the pressure rise slope is lower than the second preset threshold and / or the pressure fluctuation frequency is lower than the third preset threshold is identified as the anchoring zone; as well as, The region where the pressure rise slope is higher than or equal to the second preset threshold and / or the pressure fluctuation frequency is higher than or equal to the third preset threshold is identified as the breathing zone.
7. The pneumatic restraint system according to claim 1, characterized in that, The pressure sensing module includes: Multiple pressure sensors are respectively installed on the independent air lines to obtain the air pressure of the airbag unit; and / or, A thin-film pressure sensor array is attached to the surface of the airbag array on the side closest to the human body to acquire pressure distribution images of the airbag array.
8. A pneumatic restraint control method, applied to the pneumatic restraint system according to any one of claims 1-7, characterized in that, include: The pressure distribution information of the airbag array and / or the motion attitude information of the rigid shell are obtained through the pressure sensing module. Based on the pressure distribution information and / or the motion posture information, the control module performs zoning identification on the airbag unit to obtain the identification result of dividing it into the anchoring area and the breathing area; Based on the identification result, the control module sends a corresponding control command to the airway control module, so that the airway control module controls the corresponding control valve to maintain the air pressure of the first airbag unit in the anchoring area within the first target pressure range, and maintain the air pressure of the second airbag unit in the breathing area within the second target pressure range. The upper limit of the second target pressure range is lower than the lower limit of the first target pressure range.
9. An exoskeleton robot, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the pneumatic restraint control method as described in claim 8.
10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the pneumatic binding control method as described in claim 8.