Hip joint exoskeleton robot standby control method and device and hip joint exoskeleton robot

Abstract

This invention provides a standby control method and apparatus for a hip exoskeleton robot, and the hip exoskeleton robot itself. The hip exoskeleton robot includes a wake-up monitoring circuit, a main circuit, and a main controller. The wake-up monitoring circuit is a circuit used to monitor motion intention signals and trigger the wake-up of the hip exoskeleton robot. The main circuit is the circuit other than the wake-up monitoring circuit. The method includes: determining that the hip exoskeleton robot is in a stationary state based on the acquired hip joint angle and angular velocity, and issuing a standby control command; responding to the standby control command, linearly reducing the output torque of the hip exoskeleton robot to a preset torque threshold within a preset unloading time; after the output torque linearly reduces to the preset torque threshold, maintaining the power supply to the wake-up monitoring circuit, stopping the power supply to the main circuit, and controlling the main controller to enter a sleep state. This application improves the endurance of the hip exoskeleton robot.

Description

Technical Field

[0001] This invention belongs to the field of robot control technology, and specifically relates to a standby control method and device for a hip joint exoskeleton robot and the hip joint exoskeleton robot. Background Technology

[0002] Hip-jointed exoskeleton robots are wearable intelligent mobility aids used in medical rehabilitation, outdoor mountaineering, and industrial load-bearing applications. They assist human walking by outputting assistive torque to reduce the burden on the user's legs. Battery life is one of the key indicators of an exoskeleton robot's practicality, affecting user experience and the product's prospects for large-scale application. However, due to the requirement for lightweight construction, exoskeleton robots typically use small-capacity batteries for power, while the motor drive system and embedded control unit need to operate with continuous power, resulting in relatively low battery life for hip-jointed exoskeleton robots.

[0003] In real-world usage scenarios, users often employ exoskeleton robots in a stop-and-go manner. For example, when hiking outdoors, users need to stop and rest after walking a certain distance; during rehabilitation training, patients need to pause briefly after completing a set of movements; or in daily life, they may naturally stop due to conversation, waiting at traffic lights, etc. These stationary states typically account for more than half of the total usage time. To avoid the cumbersome operation and wear and tear on electronic components caused by frequent power-on and power-off, users generally adopt a standby mode, leaving the robot powered on. However, the inventors of this application have discovered the following technical deficiencies in the standby control of existing exoskeleton robots: First, to maintain real-time responsiveness, most exoskeleton robots continue operating at high power consumption even when the user temporarily stops. Drivers and motors maintain continuous torque output, and the embedded system operates at full load, resulting in standby power consumption of tens of watts and significant battery energy waste. Second, some existing solutions employ simple sleep mode to reduce power consumption, but the wake-up response delay is significant, and simple software sleep mode cannot guarantee standing stability, posing a risk of user instability or tipping over. Third, existing power management architectures are relatively crude, lacking a tiered power supply strategy. All modules (including the main control unit, sensors, communication modules, and voice modules) remain powered on continuously in standby mode, without a dedicated wake-up circuit channel, resulting in enormous energy consumption. Fourth, frequent power on / off cycles are not only cumbersome but also reduce the lifespan of electronic components, making it difficult to achieve an effective balance between battery life, response speed, and ease of use.

[0004] The content of the background section is merely the technology known to the inventor and does not necessarily represent the prior art in this field. Summary of the Invention

[0005] The present invention aims to provide a standby control method and device for a hip joint exoskeleton robot and a hip joint exoskeleton robot, so as to solve at least one of the above-mentioned technical problems.

[0006] According to one aspect of this application, a standby control method for a hip exoskeleton robot is provided. The hip exoskeleton robot includes a wake-up monitoring circuit, a main circuit, and a main controller. The wake-up monitoring circuit is a circuit used to monitor motion intention signals and trigger the wake-up of the hip exoskeleton robot. The main circuit includes all circuits in the hip exoskeleton robot except for the wake-up monitoring circuit. The standby control method includes: determining that the hip exoskeleton robot is in a stationary state based on the obtained hip joint angle and angular velocity of the hip exoskeleton robot, and issuing a standby control command; responding to the standby control command, linearly reducing the output torque of the hip exoskeleton robot to a preset torque threshold within a preset unloading time; after the output torque linearly reduces to the preset torque threshold, maintaining the power supply to the wake-up monitoring circuit, stopping the power supply to the main circuit, and controlling the main controller to enter a sleep state.

[0007] According to some embodiments of this application, determining that the hip joint exoskeleton robot is in a stationary state based on the obtained hip joint angle and angular velocity includes: determining that the hip joint exoskeleton robot is in a stationary state when it is determined that the change in hip joint angle is lower than a preset angle change threshold and the angular velocity is lower than a preset angular velocity threshold within a continuous preset time period.

[0008] According to some embodiments of this application, the standby control method further includes: when the main controller is in a sleep state, after the wake-up monitoring circuit receives a motion intention signal, restoring the power supply to all power supply circuits other than the wake-up monitoring circuit, and triggering the main controller to wake up within a preset wake-up time.

[0009] According to another aspect of this application, a standby control device for a hip joint exoskeleton robot is also provided, used to execute the standby control method described above. The standby control device includes a sensing module, a main controller, a drive module, and a power management module. The sensing module is used to acquire the hip joint angle and angular velocity of the hip joint exoskeleton robot; the main controller is used to determine that the hip joint exoskeleton robot is in a stationary state based on the hip joint angle and angular velocity, and issue a standby control command; the drive module is used to respond to the standby control command and linearly reduce the output torque of the hip joint exoskeleton robot to a preset torque threshold within a preset unloading time; the power management module is used to maintain the power supply to the wake-up monitoring circuit, stop the power supply to the main circuit, and control the main controller to enter a sleep state after the output torque linearly reduces to the preset torque threshold.

[0010] According to some embodiments of this application, the sensing module includes a hip joint angle encoding unit, an attitude sensing unit, and a wake-up detection unit. The hip joint angle encoding unit is used to acquire the hip joint angle; the attitude sensing unit is used to acquire the angular velocity; the wake-up detection unit is connected to the wake-up monitoring loop and is used to trigger the main controller to wake up within a preset wake-up time after the wake-up monitoring loop receives a motion intention signal.

[0011] According to some embodiments of this application, the power management module includes a wake-up power circuit and a main power circuit. The wake-up power circuit is connected to the wake-up monitoring circuit; the main power circuit is connected to the main circuit.

[0012] According to some embodiments of this application, the wake-up power supply circuit includes a low-dropout linear regulator. The low-dropout linear regulator is connected to the wake-up monitoring circuit, and the quiescent current of the low-dropout linear regulator is less than a preset quiescent current threshold.

[0013] According to some embodiments of this application, the drive module includes a motor, a driver, and a reducer.

[0014] According to some embodiments of this application, the preset unloading time is 0.3s and the preset torque threshold is zero.

[0015] According to another aspect of this application, a hip exoskeleton robot is also provided, including the standby control device described above.

[0016] According to another aspect of this application, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement any of the standby control methods described above.

[0017] According to another aspect of this application, a computer-readable medium having processor-executable non-volatile program code is also provided, the program code causing the processor to perform any of the standby control methods described above.

[0018] According to another aspect of this application, a computer program product is also provided, including a computer program stored on a computer-readable medium, the computer program including program instructions that, when executed by a computer, cause the computer to perform any of the standby control methods described above.

[0019] The beneficial effects of the technical solution provided by the embodiments of the present invention are as follows: This application achieves seamless switching without user intervention through a four-step closed-loop control system: identifying the stationary state of the hip joint exoskeleton robot based on the hip joint angle and angular velocity; linearly reducing the output torque of the hip joint exoskeleton robot to zero within a preset unloading time; maintaining power supply to the wake-up monitoring circuit while completely cutting off all other circuits; and putting the main controller into sleep mode. This effectively solves the technical problems of high power consumption, slow response, poor safety, and cumbersome operation in the prior art. When the robot stops, it automatically unloads power smoothly to ensure standing stability, and then completely disconnects power to the drive module and all unnecessary peripherals, retaining only the wake-up monitoring circuit for low-power continuous standby. This significantly extends the battery life of the hip joint exoskeleton robot and improves its practicality and user experience. Attached Figure Description

[0020] 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.

[0021] Figure 1 A flowchart illustrating the standby control method of a hip exoskeleton robot according to an embodiment of this application is shown. Figure 2 A schematic diagram of the standby control device of the hip joint exoskeleton robot according to an embodiment of this application is shown; Figure 3 The power topology diagram of the main circuit and wake-up monitoring circuit of the hip exoskeleton robot according to an embodiment of this application is shown; Figure 4 This paper shows a block diagram of the static determination logic of the hip joint exoskeleton robot according to an embodiment of this application; Figure 5 A system architecture diagram of the hip exoskeleton robot according to an embodiment of this application is shown; Figure 6 The diagram shows the LDO power architecture and communication system architecture of the hip exoskeleton robot according to an embodiment of this application. Figure 7 This diagram illustrates the entire standby and wake-up process of a hip exoskeleton robot according to an embodiment of this application.

[0022] Explanation of reference numerals in the attached figures: Standby control device 1; sensing module 11; main controller 12; drive module 13; power management module 14; hip joint angle encoding unit 111; posture sensing unit 112; wake-up detection unit 113; motor 131; driver 132; reducer 133; main power circuit 141; wake-up power circuit 142; main circuit 21; wake-up monitoring circuit 22; battery 23. Detailed Implementation

[0023] The present invention will now be described in detail with reference to the accompanying drawings and embodiments. Various examples are provided by way of explanation and not by way of limitation. Indeed, those skilled in the art will recognize that modifications and variations can be made to the invention without departing from its scope or spirit. For example, a feature represented or described as part of one embodiment may be used in another embodiment to produce yet another embodiment. Therefore, it is desirable that the present invention encompass such modifications and variations falling within the scope of the appended claims and their equivalents.

[0024] The accompanying drawings illustrate one or more examples of the invention. The detailed description uses numerals and letters to refer to features in the drawings. Similar or analogous reference numerals in the drawings and description have been used to refer to similar or analogous parts of the invention. As used herein, the terms “first,” “second,” “third,” and “fourth,” etc., are used interchangeably to distinguish one component from another and are not intended to indicate the location or importance of a single component.

[0025] The accompanying drawings in the following embodiments clearly and completely describe the technical solutions of this application. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0026] Figure 1 A flowchart illustrating the standby control method of a hip joint exoskeleton robot according to an embodiment of this application is shown. According to an example embodiment, such as... Figure 1 As shown, the standby control method includes steps S100-S300. The standby control method of this application can be executed in a computer system such as a set of executable instructions. Exemplarily, the computer system is a standby control device. Furthermore, although the logical sequence is shown in the flowchart, under default conditions, the steps shown or described can be executed in a different order than that shown in the flowchart. Exemplarily, the hip exoskeleton robot includes a wake-up monitoring loop, a main circuit, and a main controller. The wake-up monitoring loop is a circuit for monitoring motion intention signals and triggering the wake-up of the hip exoskeleton robot. The main circuit includes all circuits in the hip exoskeleton robot except for the wake-up monitoring loop.

[0027] Hip exoskeleton robot wake-up refers to the process by which a hip exoskeleton robot resumes its assisted working state from standby. The wake-up monitoring circuit is a circuit that maintains power supply to the hip exoskeleton robot in standby mode, monitors motion intention signals, and triggers the wake-up of the main controller when a motion intention signal is detected. The wake-up monitoring circuit includes a wake-up sensor and an MCU (Microcontroller Unit) wake-up circuit.

[0028] For example, the main controller is a 32-bit ARM MCU that supports STOP or STANDBY mode, can be woken up by EXTI (External Interrupt), has multiple GPIO (General Purpose Input Output) controls for the power switch, and features high-speed CAN (Controller Area Network) bus communication. Here, EXTI refers to an interrupt triggered by a level change signal received by the MCU through an external pin.

[0029] In step S100, based on the obtained hip joint angle and angular velocity of the hip joint exoskeleton robot, it is determined that the hip joint exoskeleton robot is in a stationary state, and a standby control command is issued.

[0030] According to an example embodiment, the standby control device includes a sensing module, which includes an attitude sensing unit, a hip joint angle encoding unit, and a wake-up detection unit. Exemplarily, the attitude sensing unit is an IMU (Inertial Measurement Unit) attitude sensor used to collect acceleration, angular velocity, and attitude angle data of the hip joint exoskeleton robot; the hip joint angle encoding unit is a hip joint angle encoder used to acquire the hip joint angle of the hip joint exoskeleton robot; and the wake-up detection unit is used to monitor motion intention signals and trigger the main controller to wake up when the hip joint exoskeleton robot is in standby mode.

[0031] For example, the standby control device collects hip joint angle, angular velocity, and attitude tilt data in real time with a period of 10ms, and calculates the change in hip joint angle and the amplitude of angular velocity. The standby control device includes a main controller, which determines that the hip joint exoskeleton robot is in a stationary state when the change in hip joint angle is lower than a preset angle change threshold and the angular velocity is lower than a preset angular velocity threshold, and issues a standby control command.

[0032] In step S200, in response to the standby control command, the output torque of the hip exoskeleton robot is linearly reduced to a preset torque threshold within a preset unloading time.

[0033] According to an example embodiment, the standby control device further includes a drive module. In response to a standby control command, the drive module drives the output torque of the hip exoskeleton robot to linearly decrease to a preset torque threshold within a preset unloading time. During the preset unloading time, the rate of change of the output torque remains at a fixed value. Exemplarily, the preset unloading time ranges from 0.2 to 0.5 seconds, and exemplarily, the preset unloading time can be 0.3 seconds. The preset torque threshold ranges from 0 to 0.4 Nm, and exemplarily, the preset torque threshold is 0 Nm.

[0034] In step S300, when the output torque linearly decreases to the preset torque threshold, the power supply to the wake-up monitoring circuit is maintained, the power supply to the main circuit is stopped, and the main controller is controlled to enter a sleep state.

[0035] According to the example embodiment, when the output torque linearly decreases to a preset torque threshold, the standby control device maintains power supply to the wake-up monitoring circuit. The standby control device controls multiple independent controllable switches through multiple GPIOs to cut off power supply to all circuits (i.e., the main circuit) except for the wake-up monitoring circuit.

[0036] In one specific embodiment, the standby control device first shuts off the enable signal of the hip exoskeleton robot's driver, causing the driver to stop PWM (Pulse Width Modulation) output. Then, it cuts off the power supply to the hip exoskeleton robot's drive module (including the motor, driver, and reducer), bringing the drive module into a zero-power state. The motor phase current drops to zero, and the copper loss, iron loss, and static loss of the driver and motor are all reduced to zero. Next, the standby control device cuts off the power supply to the hip exoskeleton robot's redundant sensors (i.e., non-wake-up sensing modules). These non-wake-up sensing modules include sensors that do not participate in wake-up monitoring, such as the hip joint angle encoding unit and posture sensing unit. Then, the standby control device cuts off the power supply to all non-essential peripheral modules. Exemplarily, non-essential peripheral modules include Bluetooth modules, 4G modules, power display modules, and voice broadcast modules. These non-essential peripheral modules are completely powered off in standby mode.

[0037] The standby control device maintains power to the wake-up monitoring circuit, ensuring that the wake-up sensor and MCU (Microcontroller Unit) wake-up circuit are continuously powered. This allows the wake-up monitoring circuit to continuously monitor the user's movement intentions during the standby time of the hip exoskeleton robot.

[0038] Finally, the main controller enters STOP or STANDBY mode and enters sleep mode. The standby control device shuts down the high-speed clock, ADC (Analog-to-Digital Converter), SPI (Serial Peripheral Interface), UART (Universal Asynchronous Receiver / Transmitter), CAN (Controller Area Network), and other peripheral clocks, retaining only the EXTI external interrupt function to receive interrupt signals sent by the wake-up monitoring loop.

[0039] Through the above embodiments, this application achieves seamless switching without user intervention by identifying the stationary state of the hip joint exoskeleton robot based on the hip joint angle and angular velocity, linearly reducing the output torque of the hip joint exoskeleton robot to zero within a preset unloading time, maintaining power supply to the wake-up monitoring circuit while completely cutting off all other circuits, and putting the main controller into sleep mode through a four-step closed-loop control. This effectively solves the technical problems of high power consumption, slow response, poor safety, and cumbersome operation in the prior art. When stopping, the system automatically ensures standing stability by smoothly unloading the force, and then completely disconnects the power supply to the drive module and all unnecessary peripheral modules, retaining only the wake-up monitoring circuit for low-power continuous standby, significantly extending the battery life of the hip joint exoskeleton robot, while improving the practicality and user experience of the exoskeleton robot.

[0040] According to the example embodiment, step S100 may include step S110. In step S110, if it is determined that the change in hip joint angle is lower than a preset angle change threshold and the angular velocity is lower than a preset angular velocity threshold within a continuous preset time period, it is determined that the hip joint exoskeleton robot is in a stationary state.

[0041] According to the example embodiment, the continuous preset time period is greater than or equal to 2 seconds. For example, the continuous preset time period is 2 seconds. The preset angle change threshold is 3°, and the preset angular velocity threshold is 5° / s. The continuous preset time period, preset angle change threshold, and preset angular velocity threshold are set by the user and are not limited here. For example, the standby control device determines whether the angular velocity is ≤5° / s and the angle change of the hip joint is ≤3° within 2 seconds. If both are satisfied, the hip joint exoskeleton robot is determined to be in a stationary state.

[0042] For example, the system calculates the human motion state in real time with a high refresh rate of 10ms. By setting dual thresholds of hip joint angle change ≤3° and angular velocity ≤5° / s, and combining them with a confirmation mechanism of delay for more than 2 seconds, it achieves highly reliable identification of static state.

[0043] Through the above embodiments, this application achieves reliable identification of the static state of the hip joint exoskeleton robot by confirming that the change in hip joint angle is lower than a preset angle change threshold and the angular velocity is lower than a preset angular velocity threshold within a continuous preset time period. This avoids misjudgment and frequent state switching caused by slight body swaying or sensor noise.

[0044] According to the example embodiment, the standby control method further includes step S400. In step S400, when the main controller is in a sleep state, after the wake-up monitoring circuit receives a motion intention signal, the power supply to all power supply circuits other than the wake-up monitoring circuit is restored, and the main controller is triggered to wake up within a preset wake-up time.

[0045] According to the example embodiment, when the hip exoskeleton robot is in standby mode, the wake-up sensor in the wake-up monitoring loop continuously monitors the hip exoskeleton robot's posture tilt angle and joint micro-movements. Motion intention signals refer to changes in physical quantities that characterize a user's upcoming walking or change of motion state.

[0046] In one specific embodiment, the motion intention signal includes two detection conditions: first, the posture sensor detects a torso tilt angle greater than 5°, indicating that the user is leaning forward in preparation for taking a step; second, the hip joint angle encoder detects a hip joint angle change greater than 3°, indicating that the user is beginning to lift their leg or change their standing posture. Meeting either of these two detection conditions determines that the motion intention signal is valid. The standby control device restores power to all power supply circuits except the wake-up monitoring circuit and triggers the main controller to wake up within a preset wake-up time.

[0047] For example, the preset wake-up time is less than or equal to 100ms. Specifically, the preset wake-up time can be 100ms. The standby control device completes the process of triggering the main controller's MCU wake-up, driver power-on, CAN synchronization, and output torque reconstruction within 100ms, so as to realize the wake-up of the main controller.

[0048] Through the above embodiments, this application uses a wake-up mechanism triggered in real time by motion intention. In the standby state, the wake-up sensor continuously monitors the posture tilt angle and joint micro-movements. When a motion intention signal is detected, the power supply to all power supply circuits except the wake-up monitoring circuit is restored, and the main controller is triggered to wake up within a preset wake-up time. This enables the hip joint exoskeleton robot to switch from standby state to assisted working state, improving walking continuity and smoothness of use.

[0049] Figure 2 A schematic diagram of the standby control device of a hip exoskeleton robot according to an embodiment of this application is shown. Figure 3 The diagram illustrates the power topology of the main circuit and wake-up monitoring loop of a hip exoskeleton robot according to an embodiment of this application. Based on an example embodiment, such as... Figure 2 As shown, the standby control device 1 includes a sensing module 11, a main controller 12, a drive module 13, and a power management module 14. The standby control device 1 is used to execute the standby control method described above.

[0050] According to the example embodiment, such as Figure 2 and Figure 3 As shown, the battery 23 of the hip exoskeleton robot powers the main circuit 21 and the wake-up monitoring circuit 22. The main circuit 21 and the wake-up monitoring circuit 22 are physically independent, each undertaking different power supply tasks. The main circuit 21 powers the drive module 13, the non-wake-up sensing module, and the unnecessary peripheral modules. The non-wake-up sensing module includes sensors that do not participate in wake-up monitoring, such as the hip joint angle encoding unit 111 and the posture sensing unit 112. Exemplarily, the unnecessary peripheral modules include a Bluetooth module, a 4G module, a power display module, and a voice broadcast module. These unnecessary peripheral modules are powered off in standby mode. In the assisted working mode, the main controller 12 controls switches 1, 2, and 3 to all close via GPIO, fully energizing the main circuit 21 and providing the necessary power to the drive module 13, the non-wake-up sensing module, and the unnecessary peripheral modules. In standby mode, the main controller 12 controls switches 1, 2 and 3 to be completely disconnected via GPIO, the main circuit 21 is completely shut down, and the drive module 13, the non-wake-up sensing module and all unnecessary peripheral modules are powered off, achieving zero-power standby.

[0051] Additionally, the wake-up monitoring circuit 22 includes an LDO (Low Dropout Regulator). In the assisted operating mode, the LDO supplies power to the wake-up detection unit 113 and the main controller wake-up circuit (MCU wake-up circuit). When switches 4 and 5 are closed, the wake-up monitoring circuit 22 is fully conductive, energizing the wake-up detection unit 113 and the main controller wake-up circuit. The main controller wake-up circuit is a circuit module used to receive interrupt signals from the wake-up detection unit 113 and restore the main controller 12 from the STOP low-power mode to the normal assisted operating state. It belongs to the wake-up logic unit inside the main controller 12 or cooperates with the main controller 12 and is continuously powered by the wake-up power supply circuit 142 through the LDO. Exemplarily, the main controller wake-up circuit is an MCU wake-up circuit. Exemplarily, switches 4 and 5 are both normally closed. According to the example embodiment, the quiescent current of the low dropout linear regulator is less than a preset quiescent current threshold. Exemplarily, the preset quiescent current threshold of the LDO is 50μA. For example, switches 1-5 are independent controllable electronic switches (such as MOSFETs or load switch chips) controlled by the main controller 12 via GPIO.

[0052] The wake-up channel utilizes an LDO design to achieve a quiescent current of less than 50μA. The low-dropout linear regulator features low dropout voltage, low quiescent current, and low noise, enabling it to smoothly transition from the battery voltage to the low voltage required to wake up the sensors and MCU wake-up circuitry. This ensures continuous power supply to the wake-up monitoring circuit in standby mode while maintaining extremely low battery power consumption.

[0053] According to an example embodiment, the sensing module 11 is used to acquire the hip joint angle and angular velocity of the hip joint exoskeleton robot. The sensing module 11 includes a hip joint angle encoding unit 111, an attitude sensing unit 112, and a wake-up detection unit 113. Exemplarily, the attitude sensing unit 112 is an IMU (Inertial Measurement Unit) attitude sensor used to acquire the angular velocity of the hip joint exoskeleton robot; the hip joint angle encoding unit 111 is a hip joint angle encoder used to acquire the hip joint angle of the hip joint exoskeleton robot; the wake-up detection unit 113 is connected to the wake-up monitoring loop 22 and is used to trigger the main controller 12 to wake up within a preset wake-up time after the wake-up monitoring loop 22 receives a motion intention signal.

[0054] The posture sensing unit 112 can also acquire acceleration and posture angle data of the hip exoskeleton robot for gait analysis, motion pattern recognition, and assistive strategy adjustment in assisted working mode, rather than motion intention detection in standby mode. The motion intention signal generation process is as follows: The wake-up sensor in the wake-up monitoring loop 22 continuously monitors the user's posture tilt angle and hip joint angle changes when the hip exoskeleton robot is in standby mode. The wake-up sensor includes a low-power IMU and a low-power angle sensor. When the low-power IMU detects that the user's posture tilt angle is greater than 5°, it indicates that the user is leaning forward and preparing to take a step, thus generating a motion intention signal and sending it to the wake-up monitoring loop 22; when the low-power angle sensor detects that the user's hip joint angle change is greater than 3°, it indicates that the user is starting to lift their leg, also generating a motion intention signal and sending it to the wake-up monitoring loop 22. If any of the above conditions are met, the wake-up detection unit 113 triggers the main controller 12 to wake up.

[0055] For example, in the assisted working mode, the posture sensing unit 112 can collect hip joint angle, angular velocity and posture tilt angle data in real time with a period of 10ms. The main controller 12 calculates the hip joint angle change and angular velocity amplitude based on the hip joint angle and angular velocity, and issues a standby control command when the hip joint angle change is lower than a preset angle change threshold and the angular velocity is lower than a preset angular velocity threshold.

[0056] According to the example embodiment, the motion intent signal received by the wake-up detection unit 113 comes from a low-power wake-up sensor (e.g., a low-power IMU and a low-power angle sensor) in the wake-up monitoring loop. This low-power wake-up sensor is continuously powered by the wake-up power supply loop via an LDO.

[0057] According to an example embodiment, the drive module 13 is a hip joint motor module, including a motor 131, a driver 132, and a reducer 133. Exemplarily, the driver 132 is a dual-channel PMSM (Permanent Magnet Synchronous Motor) driver, supporting enable / disable and independent power disconnection. This application achieves compact integration of the drive module through an integrated hip joint motor module design, while supporting enable / disable and independent power disconnection, providing a hardware foundation for complete power-off and zero power consumption during standby.

[0058] The main controller 12 is used to determine that the hip joint exoskeleton robot is in a stationary state based on the hip joint angle and angular velocity, and to issue a standby control command. For example, the main controller 12 determines that the hip joint exoskeleton robot is in a stationary state when the change in hip joint angle is lower than a preset angle change threshold and the angular velocity is lower than a preset angular velocity threshold, and issues a standby control command.

[0059] Figure 4 A block diagram illustrating the static determination logic of a hip-jointed exoskeleton robot according to an embodiment of this application is shown. According to an example embodiment, as... Figure 4 As shown, the static determination process starts from the data acquisition node. The sensing module 11 is used to acquire the hip joint angle and angular velocity of the hip joint exoskeleton robot. The main controller 12 receives the hip joint angle and angular velocity in real time and calculates the hip joint angle change data in real time. First, the main controller 12 determines whether the angular velocity is ≤5° / s. If not, it is determined to be non-static, and the hip joint exoskeleton robot maintains the assisted working mode. If the angular velocity is ≤5° / s, it further determines whether the hip joint angle change is ≤3°. If the hip joint angle change does not meet the ≤3° requirement, it is determined to be non-static, and the hip joint exoskeleton robot maintains the assisted working mode. If the hip joint angle change also meets the ≤3° requirement, it is initially determined to meet the static condition.

[0060] If the angular velocity is ≤5° / s and the hip joint angle change is ≤3°, the main controller 12 continuously monitors and determines whether the above conditions are met for more than 2 seconds. If both conditions are met for more than 2 seconds, the hip joint exoskeleton robot is finally determined to be in a stationary state.

[0061] The drive module 13, in response to a standby control command, linearly reduces the output torque of the hip exoskeleton robot to a preset torque threshold within a preset unloading time. Exemplarily, the rate of change of the output torque remains constant within the preset unloading time. Exemplarily, the preset unloading time ranges from 0.2 to 0.5 seconds, and can be 0.3 seconds. The preset torque threshold ranges from 0 to 0.4 Nm, and can be 0 Nm. Exemplarily, in the pre-standby state, the drive module 13 linearly reduces the output torque to 0 within 0.3 seconds, maintaining smooth control during the reduction process without overshoot, abrupt changes, impacts, jitter, or reverse torque, thus avoiding the impact and instability caused by instantaneous unloading.

[0062] The power management module 14 is used to maintain the power supply to the wake-up monitoring circuit 22, stop the power supply to the main circuit 21, and control the main controller 12 to enter a sleep state when the output torque drops linearly to a preset torque threshold.

[0063] According to the example embodiment, the power management module 14 includes a main power circuit 141 and a wake-up power circuit 142. The wake-up power circuit 142 is connected to the wake-up monitoring circuit 22; the main power circuit 141 is connected to the main circuit 21.

[0064] For example, the wake-up power circuit 142 is connected via an LDO (low dropout linear regulator) to continuously power the wake-up monitoring circuit 22 in standby mode. The main power circuit 141 is used to power the main circuit 21.

[0065] According to another aspect of this application, a hip exoskeleton robot is also provided, including the standby control device 1 described above. Figure 5 A system architecture diagram of a hip exoskeleton robot according to an embodiment of this application is shown. According to an example embodiment, such as... Figure 5 As shown, the hip joint exoskeleton robot adopts a distributed modular architecture, including a main control board (i.e., main controller 12), a left leg integrated joint module and a right leg integrated joint module, a battery 23, a base plate for force adjustment buttons, and an RCP (Rapid Control Prototyping).

[0066] For example, the main control board uses a 32-bit ARM MCU to run a standby control algorithm, process sensor data, and send torque commands outwards. The main control board is connected to the left and right integrated joint modules via a CAN bus to achieve bidirectional communication.

[0067] The left and right integrated joint modules are the actuators of the exoskeleton robot. Each integrated joint module integrates a motor 131, a dual-channel PMSM driver, a reducer 133, and an angle encoder, forming an integrated drive module 13. The driver 132 receives CAN commands from the main control board and controls the output torque of the motor 131 through PWM signals; the reducer 133 converts the high-speed, low-torque output of the motor 131 into a low-speed, high-torque output; the angle encoder detects the hip joint angle in real time for closed-loop control and motion intention recognition.

[0068] The Bluetooth and 4G modules form a remote communication link. The Bluetooth module is used for local communication with a mobile phone or computer to achieve parameter adjustment, status monitoring, and data export; the 4G module is used for communication with a remote server to achieve cloud data monitoring, rehabilitation record uploading, and remote algorithm updates. During the development phase, the RCP rapid prototyping machine connects to the main control board via wired or wireless means for rapid verification of control algorithms and parameter debugging.

[0069] Figure 6 This diagram illustrates the LDO power architecture and communication system architecture of a hip exoskeleton robot according to an embodiment of this application. Based on an example embodiment, as... Figure 6 As shown, battery 23 serves as the main power input for the hip exoskeleton robot, connecting to both a fuel gauge and a power management chip. The fuel gauge monitors the battery's charge, voltage, current, and temperature parameters in real time. The battery voltage is also stepped down to 5V DC via a DC-DC converter. This 5V provides power to the Bluetooth module and also serves as the input voltage for the first LDO (Low Dropout Linear Regulator) and the second LDO. The first LDO converts the 5V to 3.3V to power the microprocessor, attitude sensor, and CAN transceiver; the second LDO converts the 5V to 3.3V to power the 4G module.

[0070] Figure 7 This illustration shows a schematic diagram of the entire standby and wake-up process of a hip joint exoskeleton robot according to an embodiment of this application. According to an example embodiment, as... Figure 7 As shown, the standby control process of the hip joint exoskeleton robot starts from the assisted working mode (walking assistance). The standby control device 1 monitors the hip joint angle and angular velocity in real time with a period of 10ms to determine whether the static condition of hip joint angle change ≤3° and angular velocity ≤5° / s is met for more than 2 consecutive seconds. If not, the system continues to maintain the assisted working mode for walking assistance; if the static condition is met, the system enters the pre-standby stage, and linearly reduces the output torque to zero within 0.3s to complete a smooth force unloading transition, ensuring that the human body posture does not sway and the joint does not become unstable.

[0071] After the torque is reduced to zero, the hip exoskeleton robot enters standby mode: the main controller 12 enters a STOP low-power sleep state, the main power circuit 141 is completely shut down, the drive module 13 and non-essential peripheral modules are powered off, and only the wake-up monitoring circuit 22 (wake-up sensors and MCU wake-up core circuit) is continuously powered by an LDO, with a static current of less than 50μA. In standby mode, the wake-up monitoring circuit 22 continuously detects the user's movement intention, i.e., whether the tilt angle is greater than 5° or the hip joint angle change is greater than 3°. If no movement intention is detected, the system remains in standby mode; if a movement intention is detected, the system immediately triggers an interrupt to wake up the main controller 12, restores power to the main power circuit 141, completes CAN synchronization and torque reconstruction within 100ms, and enables the hip exoskeleton robot to return to the assisted working mode, achieving seamless switching.

[0072] According to another aspect of this application, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement any of the standby control methods described above.

[0073] According to another aspect of this application, a computer-readable medium having processor-executable non-volatile program code is also provided, the program code causing the processor to perform any of the standby control methods described above.

[0074] According to another aspect of this application, a computer program product is also provided, including a computer program stored on a computer-readable medium, the computer program including program instructions that, when executed by a computer, cause the computer to perform any of the standby control methods described above.

[0075] As is known from common technical knowledge, this application can be implemented through other embodiments that do not depart from its spirit or essential characteristics. Therefore, the disclosed embodiments described above are merely illustrative in all respects and are not the only ones. All modifications within the scope of this application or equivalent to this application are included in this application.

Claims

1. A standby control method of a hip exoskeleton robot, characterized by, The hip joint exoskeleton robot includes a wake-up monitoring circuit, a main circuit, and a main controller. The wake-up monitoring circuit is a circuit used to monitor motion intention signals and trigger the wake-up of the hip joint exoskeleton robot. The main circuit consists of all circuits in the hip joint exoskeleton robot except for the wake-up monitoring circuit. The standby control method includes: Based on the obtained hip joint angle and angular velocity of the hip joint exoskeleton robot, it is determined that the hip joint exoskeleton robot is in a stationary state, and a standby control command is issued. In response to the standby control command, the output torque of the hip joint exoskeleton robot is linearly reduced to a preset torque threshold within a preset unloading time. When the output torque linearly decreases to the preset torque threshold, the power supply to the wake-up monitoring circuit is maintained, the power supply to the main circuit is stopped, and the main controller is controlled to enter a sleep state.

2. The standby control method according to claim 1, characterized in that, The step of determining that the hip joint exoskeleton robot is in a stationary state based on the obtained hip joint angle and angular velocity includes: If it is determined that the change in the hip joint angle is lower than a preset angle change threshold and the angular velocity is lower than a preset angular velocity threshold within a continuous preset time period, the hip joint exoskeleton robot is determined to be in a stationary state.

3. The standby control method according to claim 1, characterized in that, Also includes: When the main controller is in a sleep state, after the wake-up monitoring circuit receives a motion intention signal, it restores the power supply to the main circuit and triggers the main controller to wake up within a preset wake-up time.

4. A standby control device for a hip joint exoskeleton robot, used to execute the standby control method according to any one of claims 1-3, characterized in that, The standby control device includes: The sensing module is used to acquire the hip joint angle and angular velocity of the hip joint exoskeleton robot. The main controller is used to determine whether the hip joint exoskeleton robot is in a stationary state based on the hip joint angle and angular velocity, and to issue a standby control command. The drive module is used to respond to the standby control command and linearly reduce the output torque of the hip joint exoskeleton robot to a preset torque threshold within a preset unloading time. The power management module is used to maintain the power supply to the wake-up monitoring circuit, stop the power supply to the main circuit, and control the main controller to enter a sleep state when the output torque linearly drops to the preset torque threshold.

5. The standby control device according to claim 4, characterized in that, The sensing module includes: A hip joint angle encoding unit is used to obtain the hip joint angle; An attitude sensing unit is used to acquire the angular velocity; A wake-up detection unit, connected to the wake-up monitoring loop, is used to trigger the main controller to wake up within a preset wake-up time after the wake-up monitoring loop receives a motion intention signal.

6. The standby control device according to claim 4, characterized in that, The power management module includes: The wake-up power circuit is connected to the wake-up monitoring circuit. The main power supply circuit is connected to the main circuit.

7. The standby control device according to claim 6, characterized in that, The wake-up power circuit includes: A low-dropout linear regulator is connected to the wake-up monitoring circuit, and the quiescent current of the low-dropout linear regulator is less than a preset quiescent current threshold.

8. The standby control device according to claim 4, characterized in that, The drive module includes a motor, a driver, and a reducer.

9. The standby control device according to claim 4, characterized in that, The preset unloading time is 0.3s, and the preset torque threshold is zero.

10. A hip joint exoskeleton robot, characterized in that, Includes the standby control device as described in any one of claims 4-9.

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