CN107485540A - A kind of intelligence that is used for assists the energy injection system for walking walking stick - Google Patents

Abstract

The invention discloses a kind of novel energy injected system for being used for intelligence and assisting step walking stick, including human body attitude measurement module, walking stick module and energy injection device.Energy injection device supplements the mechanical energy that intelligent walking stick is lost due to mechanical friction and with collision on the ground during exercise by Implantation Energy so that intelligent walking stick can support human body to carry out periodicity walking stability.The mechanism can avoid the motor positive and inverse motor overheating brought, increase of consuming energy, mechanism from producing a series of adverse effects such as impact stability difference, be advantageous to the work of intelligent walking stick long-time stable.

Description

A kind of intelligence that is used for assists the energy injection system for walking walking stick

Technical field

The present invention relates to intelligent walking stick system, more particularly to a kind of intelligent walking stick energy injection system for aiding in walking.

Background technology

With the continuous development of society, the quality of life of physical disabilities receives more and more attention.Each enterprise at this stage The intelligent walking stick that industry research institution is developed all is to think that blind man navigation is main purpose, but the auxiliary list with autonomous dynamic The leg intelligent walking stick system that temporarily or permanently disability crowd walks is seldom.

The history in research of the people to leg formula hopping robot's dynamic property existing more than 40 years, in actual applications, phase To the limitation of wheeled robot and caterpillar type robot, leg formula hopping robot is moved in a manner of point-supported, is had not The ability of flexible motion in regular and uneven terrain environment, more suitable for quickly being moved in natural road conditions environment.

It is wherein straight in patent of invention " a kind of intelligent crutch system for aiding in walking " (patent No. ZL 201210098831.8) Connecting Z axis motor positive and inverse drives small support bar progress straight reciprocating motion to carry out Implantation Energy realization auxiliary walking, but should It is a series of unfavorable the Z axis motor positive and inverse motor overheating brought, increase of consuming energy, mechanism generation impact stability difference etc. to be present in mechanism Influence.

The content of the invention

The purpose of the present invention is to overcome the shortcomings of existing energy injection technology, there is provided a kind of low energy consumption, the low loss of electric machine, can The energy injection system design to work long hours.The present invention adopts the following technical scheme that：

A kind of intelligence that is used for assists the energy injection system for walking walking stick, including human body attitude measurement module and walking stick module, its It is characterised by that walking stick module also includes energy injection device, walking stick module includes fuselage and big support bar, and the fuselage includes：Rotation Turn support platform, walking stick support, driving control system is fixed with walking stick support, walking stick support is cut with scissors by Z axis rotating mechanism It is connected on rotation support platform, walking stick supports upper edge to lead to by being welded with multi-axis force transducer on rotation support platform Cross and be welded with the 6th accelerometer and the 6th gyroscope；Big support bar includes：Big support bar shell, small support bar, big branch Respectively by being welded with big post upper lid and big support bar bottom end cover, small support bar is located at strut shell upper and lower ends Big support bar enclosure, big support bar shell is stretched out by big support bar bottom end cover centre bore, has chute on small support bar The extreme position that small support bar moves up and down is limited, big post upper covers to be connected by welding with rotation support platform, is revolved Turn by being welded with X-axis motor in support platform, by being welded with the 7th accelerometer and the 7th on small support bar Gyroscope, small support bar lower end pass through Z, Y plane oscillating machine by being welded with lower multi-axis force transducer, big support bar shell Structure is hinged with rotation support platform, and wherein energy injection device includes X-axis swing mechanism and Y-axis swing mechanism, drive control system System, upper multi-axis force transducer, Z, Y plane swing mechanism, Z axis rotating mechanism, the 7th accelerometer, the 7th gyroscope, lower multiaxis Force snesor, toggle.

The Z, Y-axis swing mechanism include：X-axis motor, small universal hinge；X-axis motor is fixed by welding in rotation support In plane, the rotating shaft of X-axis motor and the top half of small universal hinge are hinged；Small universal hinge upper and lower side is respectively by being welded to connect hand Cane supports and rotation support platform.

The toggle includes：6th accelerometer, the 6th gyroscope, crank block motor, bent axle, connecting rod, Piston slider, spring, crank block motor are fixed by welding in rotation support platform, and bent axle passes through with crank block motor Shaft coupling is connected, and is hinged with connecting rod, and connecting rod is hinged with piston slider, piston slider lower end with spring by being weldingly connected, Whole mechanism is located in big support housing, and lower end is with small support bar by being weldingly connected.

The design of the structure enormously simplify mechanical structure and control system hsrdware requirements, while also cause the patent of invention The performance of product is greatly improved.Concrete structure optimization is as follows：1st, because new Zhu Neng mechanisms avoid motor positive and inverse The problem of, the performance requirement of motor is substantially reduced, therefore in terms of the type selecting of motor, low price, low noise, small can be selected The motor of volume.2nd, walking stick volume greatly reduces, and quality mitigates significantly, and production cost substantially reduces.3rd, it is flat by rotating support Platform and walking stick support with rotating shaft are be hinged, walking stick the latter half is possessed the scope of activities of lower half sphere (to meet hand Cane adjusts the requirement of itself posture according to human body attitude).4th, the optimization of the structure solves motor positive and inverse in former patent of invention The velocity jump that brings and the problem of produce unstable impact so that whole walking stick system is more stable, reduces energy consumption and production The service life of product, the control system of the system, it is the walking period according to people, external environment, walking stick posture and pressure data Etc. integrated information, the advanced, adaptive fuzzy controller control of design.The control system can be according to different external environments, human body Posture and walking stick stressing conditions, carry out adjust automatically walking stick posture, to ensure that user can complete normal walking period.

The driving control system can be comprehensive according to the walking period of people, external environment, walking stick posture and pressure data etc. Information, Adaptive Fuzzy Control is carried out to walking stick；The control system can be according to different external environments, human body attitude and walking stick Stressing conditions, carry out adjust automatically walking stick posture, to ensure that user can complete normal walking period.

Energy injection device in the present invention possesses detecting and the control system of energy injection.The system passes through mounted in rotation The 6th acceleration transducer and the 6th gyroscope in support platform, two are carried out by the information obtained to acceleration sensing machine Multiple integral can obtain its posture and displacement information, come the posture and misalignment of detecting real-time walking stick.Control on walking stick System processed contrasts the range of normal value of setting with the posture Displacement Feedback information obtained according to FUZZY ALGORITHMS FOR CONTROL, to slide crank The output of block motor is controlled so that walking stick is attained by similar motion state in each period of motion, to make up hand The kinetic energy and mechanical energy that cane loses in motion process, energy expenditure is reduced for user, realize that walking stick assists the function of walking. Intelligent assistance walking cane corresponding to the present invention is directed to mutually tying intelligent walking stick concept and single-leg jumping robot technology Close, jump gait is adjusted in real time so as to reach the purpose of auxiliary walking by detecting the information such as user's body pose speed.Pass System walking stick needs user to lift, move forward from chief commander's walking stick, and invent corresponding intelligent assistance walking cane can allow walking stick with User and move forward autonomous skip-forwards.

Brief description of the drawings

Below in conjunction with the accompanying drawings and embodiment the present invention is further detailed explanation：

Fig. 1 is the system schematic；

Fig. 2 a are the partial enlarged drawing of the walking stick；

Fig. 2 b are internal crank block slider structure figure；

Fig. 3 is using walking stick structure after the energy injection system and former patent crutch structure comparison diagram；

Fig. 4 a are this patent executing agency (crank block) schematic diagram；

Fig. 4 b be and former patent executing agency structural representation；

Fig. 5 is control system block diagram；

Fig. 6 is control principle block diagram；

Fig. 7 is each plane of human body (Body Planes) schematic diagram；

Fig. 8 is human body-walking stick system sagittal plane periodically walking stability schematic diagram.

Embodiment

As shown in figure 1, the intelligent walking stick system of auxiliary walking includes human body attitude measurement module and intelligent assistance walking hand Cane, both support the use；Wherein human body attitude measurement module includes：First accelerometer 1, the second accelerometer the 2, the 3rd accelerate The 3, the 4th accelerometer 4 of degree meter, the 5th accelerometer 5, the first gyroscope 8, the second gyroscope 9, the 3rd gyroscope 10, the 4th top Spiral shell instrument 11, the 5th gyroscope 12；First accelerometer 1 and the first gyroscope 8 are fixed on human body front by silica gel paster, and second The gyroscope 9 of accelerometer 2 and second is fixed on front side of human body right thigh by silica gel paster, the 3rd accelerometer 3 and the 3rd top Spiral shell instrument 10 is fixed on front side of human body left thigh by silica gel paster, and the 4th accelerometer 4 and the 4th gyroscope 11 are pasted by silica gel Piece is fixed on front side of human body right leg, and it is small that the 5th accelerometer 5 and the 5th gyroscope 12 by silica gel paster are fixed on a human body left side On front side of leg.

A kind of intelligence that is used for as Figure 1-3 assists the energy injection system for walking walking stick, including human body attitude measurement module With walking stick module, walking stick module also includes energy injection device, and walking stick module, which includes fuselage and big support bar, fuselage, to be included：Rotation Turn support platform 15, walking stick support 16, driving control system is fixed with walking stick support 16, walking stick support 16 is revolved by Z axis Rotation mechanism is hinged on rotation support platform 15, and walking stick supports 16 upper edges to be revolved by being welded with multi-axis force transducer 19 Turn to be hinged on the 6th accelerometer 6 and the 6th gyroscope 13, rotation support platform 15 by being welded with support platform 15 There is Z axis rotating mechanism；Big support bar includes：Big support bar shell 21, small support bar 31, the big upper and lower ends of support bar shell 21 point Not by being welded with big post upper lid 26 and big support bar bottom end cover 24, small support bar 31 is located at big support bar shell Inside 21, big support bar shell 21 is stretched out by the big centre bore of support bar bottom end cover 24, has chute on small support bar 31 to limit The extreme position that small support bar 31 moves up and down, it is connected by welding with rotation support platform 15 on big post upper lid 26, By being welded with X-axis motor 18 on rotation support platform 15, by being welded with the 7th acceleration on small support bar 31 The gyroscope 14 of meter 7 and the 7th, the small lower end of support bar 31 is by being welded with lower multi-axis force transducer 23；Big support bar shell 21 Be hinged with rotation support platform 15 by Z, Y plane swing mechanism 20, wherein energy injection device is by X-axis swing mechanism and Y-axis Swing mechanism, driving control system, upper multi-axis force transducer 19, Z, Y plane swing mechanism 20, Z axis rotating mechanism, the 7th accelerate The 7, the 7th gyroscope 14 of degree meter, lower multi-axis force transducer 23, X-axis motor 18, toggle composition.

Z axis rotating mechanism includes：Z axis motor 17, Z axis rotation platform 22, Z axis motor 17 are fixed by welding in walking stick branch In support 16, machine shaft is connected with Z axis rotation platform 22 by shaft coupling.

Z, Y-axis swing mechanism includes：X-axis motor 18, small universal hinge；X-axis motor 18 is fixed by welding in rotation support In plane 15, the rotating shaft of X-axis motor 18 and the top half of small universal hinge are hinged；Small universal hinge upper and lower side passes through the company of welding respectively Take over cane support 16 and rotation support platform 15.

Toggle includes：6th accelerometer 6, the 6th gyroscope 13, crank block motor 25, bent axle 27, company Bar 30, piston slider 29, spring 28, crank block motor 25 are fixed by welding in rotation support platform 15, bent axle 27 with Crank block motor 25 is connected by shaft coupling, is hinged with connecting rod 30, and connecting rod 30 is hinged with piston slider 29, piston slider With spring 28 by being weldingly connected, whole mechanism is located in big support housing 21 for 29 lower ends, and lower end passes through weldering with small support bar 31 Connect connected.

As shown in fig. 6, driving control system can be according to the walking period of people, external environment, walking stick posture and pressure data Etc. integrated information, Adaptive Fuzzy Control is carried out to walking stick；The control system can be according to different external environments, human body attitude And walking stick stressing conditions, carry out adjust automatically walking stick posture, to ensure that user can complete normal walking period.

Energy injection device in the present invention possesses driving control system, and the system passes through on rotation support platform 6th acceleration transducer and the 6th gyroscope, carrying out double integral by the information obtained to acceleration sensing machine can obtain Its posture and displacement information carry out the posture and misalignment of detecting real-time walking stick, the driving control system on walking stick according to FUZZY ALGORITHMS FOR CONTROL contrasts the range of normal value of setting with the posture Displacement Feedback information obtained, to crank block motor 25 Output is controlled so that walking stick is attained by similar motion state in each period of motion, realizes that walking stick assists walking Function.

Wherein specific control method is as follows：

The motion of human body-walking stick system in the present invention is in each plane of human body as shown in Figure 7 (sagittal plane (Sagittal Plane), coronal-plane (Coronal Plane) and cross section (Transverse Plane)) in carry out.This project is intended first studying System controls in the walking movement of sagittal plane periodically；Study again and add the three-dimensional periodic walking that coronal-plane rolls the free degree Motion control；Finally study aperiodicity three-dimensional walking movement control.

1) walking movement of sagittal plane periodically controls

Sagittal plane periodically walking is foundation motion form of the human body-walking stick system on flat ground, therefore this Project carries out primary study to it.As shown in figure 8, trunk, left leg, right leg, walking stick are represented with a, b, c, d respectively, human body- One period of motion in each stage of walking stick system is followed successively by：(1) left and right leg lands (support phase 1) simultaneously with walking stick；(2) left leg with Walking stick, which lifts, to be swung forward, and right leg lands (swing phase 1)；(3) left and right leg lands (support phase 2) simultaneously with walking stick；(4) right leg lift Rise and swing forward, left leg lands (swing phase 2) simultaneously with walking stick；(5) left and right leg lands simultaneously with walking stick and (returns to support phase 1).

In the above period of motion, swing phase 1 and 2 has different kinetics equation models, during this period each variable of system It is successive value.The duration of support phase 1 and 2 is extremely short, therefore ground can be considered as pulse signal in face of the impact of system, cause be Saltus step occurs for speed variables of uniting.So, the mixing that continuous and pulsed quantity of the walking stick system within a period of motion coexists (Hybrid) kinetic model is as follows：

The continuous state equation of swing phase 1 and 2 can be obtained by the walking stick equation of motion (3) in formula (4), wherein state variableControl input u=T₂, external disturbance u₁=δ T₂；The state transition equation of support phase 1 and 2WithThen can be by formula (3) impulse response is tried to achieve, wherein x^-And x⁺The state of saltus step respectively before and after the foot portion impact ground moment.S₁、S₂Respectively Left foot (walking stick), right crus of diaphragm foot impacts ground moment system mode switching surface.In summary, this project is intended being directed to planar hybrid Kinetic model (4) research and design controlled quentity controlled variable u so that walking stick state variable x can disturb u in human body₁Under converge on and set in real time The stable periodicity track of meter, so as to ensure the walking stability of whole human body-walking stick system.As extraneous input reference quantity When gait parameter changes, controlled quentity controlled variable u can make walking stick adjustment leg speed enter the new walking stability cycle.

The internal layer continuous system controlled quentity controlled variable u of double-layer control structure is undertaken in human body-walking stick system each walking period Stability contorting task, it is contemplated that walking stick number of degrees of freedom, is more than drive volume number, and system shown in formula (4) is drive lacking nonlinear system. The global stability of this kind of control system is difficult to be guaranteed, and can design controlled quentity controlled variable u for this makes system mode enter the zero of dimensionality reduction Dynamic space (dimension is the difference n-m of state and control input dimension), and converge on the periodicity stable trajectory being pre-designed. Therefore m dimension control outputs y=y is chosen first₁-y_d, wherein y₁And y_dIt is to represent the displacement of walking stick motion feature and corresponding respectively The design path of the continuous bounded of all-order derivative, the purpose of control are to make y → 0 in walking period, i.e. walking stick displacement asymptotic tracking Converge on design path.Because drive lacking legged mobile robot system Relative order is 2, problem above can be by exporting derivation twice And carry out Input-output Linearization.But in view of the model uncertainty and known disturbance of continuous state equation in formula (4) u₁、u₂Error will deteriorate control result, this project intend use sliding mode variable structure control method to improve tracing control robust Property, key is to make system mode to tend to be balanced a little fast robust, and and can enough eliminates sliding formwork control and trembled to greatest extent Shake (Chattering), makes walking stick action smooth.

To enable the Phase Pathway of design stably to be returned within a walking period time, Poincare can be used to analyze Method (Poincar é Analysis), using walking stick and collision on the ground moment as the beginning of a walking period, writ state diverter surface S₁For Poincare section (Poincar é Section), Poincare section S is utilized₁On fixed point (Fixed Point, system rail Line at the beginning and end of the cycle with Poincare section S₁Meet at identical state point) closed with periodically stable the corresponding of path System, periodicity stable state path planning problem is converted into the problem of finding fixed point., can be by multinomial after finding fixed point The method of formula interpolation cooks up the Phase Pathway in whole cycle.

In summary, internal layer continuous controller design procedure is：(1) existing Phase Pathway to be designed is assumed, using cunning Moding structural approach design controller u makes system asymptotic tracking design path, and at this moment u is the function of Phase Pathway；(2) it is determined that Walking stick system gait parameter (speed, step-length) under, the methods of passing through state coordinate transformation, reduces computation burden, obtains Poincare Section S₁Upper fixed point x^*；(3) polynomial interpolating function factor alpha, wherein α=[α are tried to achieve₁ α₂], α₁By fixed point x^*It is determined that α₂ To be available for the redundancy multinomial coefficient of optimization.In order to reduce walking stick sports energy consumption, a cycle self-energy object function can be established And simulation optimization is carried out to obtain optimal multinomial coefficient α₂；(4) the optimum state path of α structures is substituted into the result of (1), Continuous control amount u can be obtained.

Because human body speed constantly changes in walking, thus also need to consider outer layer control adjustment walking stick walking speed with With human motion.By system path and Poincare section S₁Intersection point can obtain following nonlinear discrete time system：

In formula (5),WithMoment system mode respectively in face of kth+1 and k walking periods walking stick collision ground；P isPoincare Hui-Hui calendar (Poincar é Return Map) function, factor alpha_1,kInputted for kth periodic Control.I Control task be design α_1,kChange fixed point and Phase Pathway, with making walking stick fast and stable track reference gait.To eliminate The dynamic and steady-state error of speed tracing, it is contemplated that the model uncertainty in discrete system (5), intend controlling using discrete sliding mode Method, propose the proportional, integral type sliding-mode surface and α of timing change_1,kControl law enables a system to quick between different fixed point Smoothly switch, needed for this on the premise of nonlinear system stationarity (linearized system is stable i.e. at fixed point) is ensured Consider the equilibrium problem smoothly between robust performance.

2) three dimensions periodically controls along straight line walking movement

More generally motion mode is that three-dimensional is carried out in sagittal plane and coronal-plane to human body-walking stick system on flat ground Along straight line periodicity walking, due to moving along a straight line, walking stick does not have the beat free degree.Now walking stick during two dimensional motion than adding 2 rolling frees degree of hip, foot, and 1 rolling control moment of hip is increase only, therefore of the system drive lacking free degree Number causes periodicity walking stability motion control difficulty to increase than adding 1 during two dimensional motion.

Cyclically-varying is also presented in view of energy of the system in a walking stability cycle, therefore layer including this project Intend turning into human body-walking stick system decoupling in sagittal plane and coronal-plane using based on the method for energy decoupling in (each step) control Dynamics is controlled and integrated respectively, realizes that step is as follows：(1) human body-walking stick of 3 d-line walking movement is established System Lagrange energy function, by the function decomposition be rolled in sagittal plane in two dimensional motion energy and coronal-plane energy it With；(2) achievement in research of two-dimentional walking stability motion control in this project is used to sagittal plane after decoupling and coronal-plane internally-powered Be controlled, and changes each property move in plane energy performance period；(3) integrating controlled quentity controlled variable in each plane makes three dimension system total Physical efficiency amount property performance period changes, that is, carries out periodicity walking stability.

In addition to the internal layer motion control of above three dimension system, this project also intend using two-dimentional system outer layer periodicity gait from Control achievement in research is dissipated, for the Poincare nonlinear mapping function of three-dimensional dynamical systems, designs corresponding proportional, integral type Sliding mode controller, study it and done in the continuous-stable regulation for realizing advance leg speed the coupling between resistance sagittal plane and coronal-plane Effect in disturbing.Among these, how to realize the decoupling of Poincaré map function is the emphasis of research.

3) aperiodicity walking movement controls in three dimensions

Aperiodicity walking movement control is the emphasis of outer layer control in three dimensions, it is therefore an objective to makes to enter aperiodic walking Broad sense robot return to cycle walking (or special case of static-cycle walking).The walking and during exercise on rugged ground Steering is two kinds of aperiodic walking situations that human body-walking stick system often faces in practice.The former is due to uneven ground Situation causes each step portion contact time of system unequal and system is moved into aperiodicity, and the latter is then due to straight Deflection angle has been superimposed in line motion.Therefore this project will be studied targetedly.

For the previous case, intend improving internal layer TRAJECTORY CONTROL using the method for robust preview control.Preview control can Control transient performance is improved by future reference information.Intend herein based on linearisation kinetic model, transported so that walking stick foot is following Dynamic rail mark is reference quantity, and walking stick hip torque is control input, and definition includes that H ∞ constrain in interior object function and minimum is asked Solve controlled quentity controlled variable.For structure walking stick foot Future movement track, then intend collection walking period temporal information, estimate time probability density Function, prediction walking stick hit the ground moment.This project is intended taking discrete Bayesian filter method to complete above-mentioned task.

For latter event, path planning is carried out first, and plan first passes through posture and turns to gait parameter estimation human body Gesture, prediction walking stick plan walking stick turning path around cross section Z axis deflection angle and angular speed by polynomial interopolation；With reference to it Its gait parameter, walking stick movement locus in sagittal plane and coronal-plane is built, intend emphasis using robust preview control method tracking hat Track in shape face, improve controller transient performance (internal layer control).Because the fixed point in steering on Poincare section connects Continuous change, therefore intend using discrete sliding mode control method control tracking time-varying fixed point, increase robustness (outer layer control).

When broad sense robot is due to collision or other reason disequilibriums, original periodicity walking is changed into aperiodicity Ambulatory status.Therefore used in integrated compensation control aspect, the balance control method for planning project team's biped early stage anthropomorphic robot In intelligent walking stick system, illustrate being applicable for each elementary tactics using three's logical relation in capture point, acquisition domain and space Condition；Moved for the integrated compensation in stability region, by the way of fictitious force control, pass through three groups of virtual spring-resistances Buddhist nun's model produces fictitious force effect to robot, implements the integrated compensation control of power to robot by the reaction force to ground System；Fall in capture point when outside vola, by whole body torque strategy, using maximum body torque as output target, realize machine People recovers to stable state from unsteady state.

The reciprocating motion of piston slider 29 can be converted to bent axle 27 by the toggle in energy injection device Rotary motion, crank block motor 25 are connected with bent axle 27, and the top of drivening rod 30 moves in a circle, and at this moment piston slider 29 exists Under the constraint of sleeve, it is merely able to move up and down, while the torque conversion that bent axle 27 is externally exported is to act on work Power beyond the Great Wall, with spring 28 and small support bar 31 of the drive connection in the lower end of piston slider 29, realize and aid in people to intelligent walking stick The function of body walking.

The system will be accelerated by the first accelerometer 1 in human body attitude measurement module, the second accelerometer the 2, the 3rd The 3, the 4th accelerometer 4 of degree meter, the 5th accelerometer 5, the first gyroscope 8, the second gyroscope 9, the 3rd gyroscope 10, the 4th top The gyroscope 12 of spiral shell instrument 11 and the 5th gathers body motion information, passes through the 6th accelerometer 6, the 6th top in energy injection device Spiral shell instrument 13 gathers the posture and displacement information of walking stick module, passes through the upper multi-dimension force sensor 19 in walking stick module and lower multi-dimensional force Sensor 23 gather walking stick module by force information, these information pass through capture card and are sent into driving control system, summary letter After breath, driving control system will send control signal, and control Z axis motor 17, X-axis motor 18 and crank block motor 25 rotate, Z Spindle motor 17, X-axis motor 18 are driven by shaft coupling transmission, crank block motor 25 by toggle, Z axis whirler Structure controls the rotation about the z axis of big support bar, and Z, Y plane swing mechanism control swing of the big support bar on Z, Y plane, big branch Piston slider 29 in strut controls the flexible of small support bar 31 by spring 28, walking stick is swung automatically with user same When, energy injection system injects appropriate energy to supplement the mechanical energy lost in motion process and move by toggle Can, realize that energy converts, reduce the energy loss of walking stick system, while allow user's walking not hinder, wherein in the present embodiment, Z Axle is the vertical direction in ground, and X-axis represents the left and right directions of walking stick, and Y-axis represents the fore-and-aft direction of walking stick, and X, Y-axis are formed Plane is parallel to the ground.

According to the characteristics of each communications protocol, different communication modes are used in system, are used between driver and controller CAN agreement is communicated, and is communicated using USART agreements between controller and PC, is adopted between sensor and controller Use I²C agreements are communicated, and driving control system includes crank block motor 25, driver and drive control device 32, and it drives The hardware correlation of device and control system is as shown in 5 figures, and controller is after the information of sensor feedback is received, drive control Device 32 is driven to control Z axis motor 17, X-axis motor 18 and crank block motor 25, and driver is produced from Ming Lang companies The multi-functional more structure direct current servo driver drivers of MLDS3610B have three mode of operations：Position adjustments pattern, speed Shaping modes and current regulation mode, here we mainly use position adjustments pattern and speed shaping modes, can pass through Motion state of the encoder feedback to driver motor, realizes the closed loop PID control to motor, and controller is given birth to from ARM companies The STM32 chips STM32 of production has the characteristics of high-performance, low cost, low-power consumption, and can calculate in real time.

Claims (5)

1. a kind of intelligence that is used for assists the energy injection system for walking walking stick, including human body attitude measurement module and walking stick module, it is special Sign is that walking stick module also includes energy injection device, and walking stick module includes fuselage and big support bar, and the fuselage includes：Rotation Support platform（15）, walking stick support（16）, walking stick support（16）Inside it is fixed with driving control system, walking stick support（16）Pass through Z axis rotating mechanism is hinged on rotation support platform（15）On, walking stick support（16）Upper edge is passed by being welded with multi-axial forces Sensor（19）, rotation support platform（15）On by being welded with the 6th accelerometer（6）With the 6th gyroscope（13）；Big branch Strut includes：Big support bar shell（21）, small support bar（31）, big support bar shell（21）Upper and lower ends are solid by welding respectively Surely there is big post upper lid（26）With big support bar bottom end cover（24）, small support bar（31）Positioned at big support bar shell（21）It is interior Portion, pass through big support bar bottom end cover（24）Centre bore stretches out big support bar shell（21）, small support bar（31）On have chute to limit Make small support bar（31）The extreme position of up and down motion, big post upper lid（26）It is upper to pass through welding and rotation support platform （15）Connection, rotation support platform（15）On by being welded with X-axis motor（18）, small support bar（31）It is upper solid by welding Surely there is the 7th accelerometer（7）With the 7th gyroscope（14）, small support bar（31）Lower end is passed by being welded with lower multi-axial forces Sensor（23）, big support bar shell（21）Pass through Z, Y plane swing mechanism（20）With rotation support platform（15）It is be hinged；Wherein can Amount injection device includes X-axis swing mechanism and Y-axis swing mechanism, driving control system, upper multi-axis force transducer（19）, Z, Y put down Face swing mechanism（20）, Z axis rotating mechanism, the 7th accelerometer（7）, the 7th gyroscope（14）, lower multi-axis force transducer（23）、 Toggle.

2. a kind of intelligence that is used for according to claim 1 assists the energy injection system for walking walking stick, it is characterised in that the Z axis Rotating mechanism includes：Z axis motor（17）, Z axis rotation platform（22）, Z axis motor（17）It is fixed by welding in walking stick support （16）It is interior, machine shaft and Z axis rotation platform（22）It is connected by shaft coupling.

3. a kind of intelligence that is used for according to claim 1 assists the energy injection system for walking walking stick, it is characterised in that described Z, Y Plane rocking mechanism includes：X-axis motor（18）, small universal hinge；X-axis motor（18）It is fixed by welding in rotation supporting plane （15）On, X-axis motor（18）Rotating shaft and the top half of small universal hinge be hinged；Small universal hinge upper and lower side passes through the company of welding respectively Take over cane support（16）And rotation support platform（15）.

4. a kind of intelligence that is used for according to claim 1 assists the energy injection system for walking walking stick, it is characterised in that the song Handle linkage includes：6th accelerometer（6）, the 6th gyroscope（13）, crank block motor（25）, bent axle（27）, connecting rod （30）, piston slider（29）, spring（28）, crank block motor（25）It is fixed by welding in rotation support platform（15）It is interior, Bent axle（27）With crank block motor（25）It is connected by shaft coupling, with connecting rod（30）It is hinged, connecting rod（30）With piston slider （29）It is hinged, piston slider（29）Lower end and spring（28）By being weldingly connected, whole mechanism is located at big support housing（21） It is interior, lower end and small support bar（31）By being weldingly connected.

5. a kind of intelligence that is used for according to claim 1 assists the energy injection system for walking walking stick, it is characterised in that：The drive Autocontrol system external environment, the integrated information such as walking stick posture and pressure data, can be carried out according to the walking period of people to walking stick Adaptive Fuzzy Control；The control system can be come automatic according to different external environments, human body attitude and walking stick stressing conditions Walking stick posture is adjusted, to ensure that user can complete normal walking period.