CN107485540B - Energy injection system for intelligent walking stick - Google Patents

Energy injection system for intelligent walking stick Download PDF

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CN107485540B
CN107485540B CN201710583401.8A CN201710583401A CN107485540B CN 107485540 B CN107485540 B CN 107485540B CN 201710583401 A CN201710583401 A CN 201710583401A CN 107485540 B CN107485540 B CN 107485540B
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walking stick
support rod
axis
walking
stick
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CN107485540A (en
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潘树文
李威燃
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Zhejiang University City College ZUCC
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Zhejiang University City College ZUCC
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635—Hand or arm, e.g. handle
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5061—Force sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5084—Acceleration sensors

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  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
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Abstract

The invention discloses a novel energy injection system for an intelligent walking stick, which comprises a human body posture measuring module, a stick module and an energy injection device. The energy injection device supplements mechanical energy lost by mechanical friction and collision with the ground during the movement of the intelligent walking stick through injecting energy, so that the intelligent walking stick can support the human body for periodic stable walking. The mechanism can avoid a series of adverse effects of overheating of the motor, increase of energy consumption, poor impact stability of the mechanism and the like caused by forward and reverse rotation of the motor, and is favorable for long-time stable work of the intelligent walking stick.

Description

Energy injection system for intelligent walking stick
Technical Field
The invention relates to an intelligent walking stick system, in particular to an intelligent walking stick energy injection system for assisting walking.
Background
With the continuous development of society, the quality of life of disabled people receives more and more attention. At the present stage, intelligent walking sticks developed by various enterprise research institutions are mainly used for navigation of blind people, but few intelligent walking stick systems with autonomous power for assisting the walking of people with temporary or permanent disabilities with single leg are available.
People have a history of more than forty years on the research of the dynamic performance of the leg jumping robot, and in practical application, compared with the limitations of wheeled robots and tracked robots, the leg jumping robot moves in a point supporting mode, has the capability of flexibly moving in irregular and uneven terrain environments, and is more suitable for rapidly moving in natural road conditions.
The invention relates to an intelligent walking aid crutch system (patent number ZL201210098831.8), wherein a Z-axis motor directly rotates forwards and backwards to drive a small supporting rod to do linear reciprocating motion to inject energy to achieve walking aid, but the mechanism has a series of adverse effects of motor overheating, energy consumption increase, poor impact stability of the mechanism and the like caused by the forward and reverse rotation of the Z-axis motor.
Disclosure of Invention
the invention aims to overcome the defects of the existing energy injection technology and provides an energy injection system design which is low in energy consumption and motor loss and can work for a long time. The invention adopts the following technical scheme:
The utility model provides an energy injection system for walking stick is assisted to intelligence, includes human gesture measuring module and stick module, its characterized in that stick module still includes the energy injection device, and the stick module includes fuselage and big bracing piece, the fuselage includes: the walking stick support is internally and fixedly provided with a drive control system, the walking stick support is hinged to the rotary support platform through a Z-axis rotating mechanism, an upper multi-axis force sensor is fixed to the upper edge of the walking stick support through welding, and a sixth accelerometer and a sixth gyroscope are fixed to the rotary support platform through welding; big bracing piece includes: the energy injection device comprises a large support rod shell and a small support rod, wherein a large support rod upper end cover and a large support rod lower end cover are respectively fixed at the upper end and the lower end of the large support rod shell through welding, the small support rod is positioned in the large support rod shell and extends out of the large support rod shell through a central hole of the large support rod lower end cover, a sliding groove is formed in the small support rod to limit the limit position of the vertical movement of the small support rod, the large support rod upper end cover is connected with a rotary support platform through welding, an X-axis motor is fixed on the rotary support platform through welding, a seventh accelerometer and a seventh gyroscope are fixed on the small support rod through welding, a lower multi-axis force sensor is fixed at the lower end of the small support rod through welding, the large support rod shell is connected with a walking stick support through a Z, Y plane swinging mechanism, and the energy injection device comprises an X-axis swinging mechanism, a Y, Z, Y plane swing mechanism, Z-axis rotation mechanism, seventh accelerometer, seventh gyroscope, lower multi-axis force sensor, and crank-link mechanism.
The Z, Y plane swing mechanism comprises: an X-axis motor and a small universal hinge; the X-axis motor is fixed on the rotary supporting plane through welding, and a rotating shaft of the X-axis motor is hinged with the upper half part of the small universal hinge; the upper end and the lower end of the small universal hinge are respectively connected with the walking stick support and the rotary support platform through welding.
The crank link mechanism includes: the six accelerometer, the sixth gyroscope, the slider-crank motor, the bent axle, the connecting rod, the piston slider, the spring, the slider-crank motor passes through welded fastening in rotatory supporting platform, and the bent axle links to each other through the shaft coupling with the slider-crank motor, and is articulated mutually with the connecting rod, and the connecting rod is articulated mutually with the piston slider, and the piston slider lower extreme links to each other through the welding with the spring, and whole mechanism is located big supporting shell, and the lower extreme links to each other through the welding with little bracing piece.
The design of the structure greatly simplifies the requirements of a mechanical structure and hardware of a control system, and simultaneously, the performance of the product disclosed by the invention is greatly improved. The specific structure is optimized as follows: 1. because the new energy injection mechanism avoids the problem of positive and negative rotation of the motor, the performance requirement on the motor is greatly reduced, and therefore, the motor with low price, low noise and small volume can be selected in the aspect of type selection of the motor. 2. The volume of the walking stick is greatly reduced, the mass is greatly reduced, and the production cost is greatly reduced. 3. The rotary supporting platform is hinged with the walking stick support with the rotating shaft, so that the lower half part of the walking stick can have the moving range of the lower hemispherical surface (the requirement that the walking stick adjusts the posture of the walking stick according to the posture of a human body is met). 4. The optimization of the structure solves the problem of unstable impact caused by speed mutation caused by positive and negative rotation of the motor in the original invention patent, so that the whole walking stick system is more stable, the energy consumption is reduced, and the service life of a product is prolonged. The control system can automatically adjust the posture of the walking stick according to different external environments, human body postures and walking stick stress conditions so as to ensure that a user can complete a normal walking cycle.
The driving control system can perform self-adaptive fuzzy control on the walking stick according to comprehensive information such as the walking cycle of a person, the external environment, the posture of the walking stick, pressure data and the like; the control system can automatically adjust the posture of the walking stick according to different external environments, human body postures and walking stick stress conditions so as to ensure that a user can complete a normal walking cycle.
The energy injection device of the invention is provided with an energy injection detection and control system. The system can obtain the attitude and displacement information of the walking stick by carrying out double integration on the information acquired by the acceleration sensing machine through a sixth acceleration sensor and a sixth gyroscope arranged on the rotary supporting platform, so as to detect the attitude and displacement conditions of the walking stick in real time. The control system arranged on the walking stick compares the set normal value range with the obtained posture displacement feedback information according to a fuzzy control algorithm, and controls the output of the crank slider motor, so that the walking stick can reach a similar motion state in each motion period, the kinetic energy and the mechanical energy lost in the motion process of the walking stick are compensated, the energy consumption is reduced for a user, and the walking assisting function of the walking stick is realized. The intelligent walking assisting walking stick corresponding to the invention combines the intelligent walking stick concept with the single-leg jumping robot technology, and adjusts the jumping gait in real time by detecting the information such as the body pose speed of the user and the like so as to achieve the aim of assisting walking. The traditional walking stick needs a user to lift and move the walking stick forwards, and the intelligent assistance walking stick corresponding to the invention can enable the walking stick to automatically jump forwards along with the forward movement of the user.
Drawings
The invention is described in further detail below with reference to the following figures and embodiments:
FIG. 1 is a schematic view of the system;
FIG. 2a is an enlarged view of a portion of the cane;
FIG. 2b is a view of the internal crank block configuration;
FIG. 3 is a diagram showing the comparison between the walking stick structure and the original patent walking stick structure after the energy injection system is applied;
FIG. 4a is a schematic view of the actuator (crank block) of this patent;
FIG. 4b is a schematic structural diagram of an actuator according to the prior art;
FIG. 5 is a control system block diagram;
FIG. 6 is a control schematic block diagram;
FIG. 7 is a schematic representation of the various planes (BodyPlanes) of the human body;
Fig. 8 is a schematic view of the periodic stable walking in the sagittal plane of the body-cane system.
Detailed Description
As shown in fig. 1, the walking-assisted intelligent walking stick system comprises a human body posture measuring module and an intelligent assisting walking stick which are used in a matching way; wherein human gesture measuring module includes: a first accelerometer 1, a second accelerometer 2, a third accelerometer 3, a fourth accelerometer 4, a fifth accelerometer 5, a first gyroscope 8, a second gyroscope 9, a third gyroscope 10, a fourth gyroscope 11, and a fifth gyroscope 12; the first accelerometer 1 and the first gyroscope 8 are fixed in front of the chest of a human body through silica gel patches, the second accelerometer 2 and the second gyroscope 9 are fixed on the front side of the right thigh of the human body through silica gel patches, the third accelerometer 3 and the third gyroscope 10 are fixed on the front side of the left thigh of the human body through silica gel patches, the fourth accelerometer 4 and the fourth gyroscope 11 are fixed on the front side of the right shank of the human body through silica gel patches, and the fifth accelerometer 5 and the fifth gyroscope 12 are fixed on the front side of the left shank of the human body through silica gel patches.
An energy injection system for an intelligent walking stick as shown in fig. 1-3, comprising a body posture measuring module and a stick module, the stick module further comprising an energy injection device, the stick module comprising a body and a large support bar, the body comprising: the walking stick device comprises a rotary supporting platform 15 and a walking stick support 16, wherein a driving control system is fixedly arranged in the walking stick support 16, the walking stick support 16 is hinged on the rotary supporting platform 15 through a Z-axis rotating mechanism, an upper multi-axis force sensor 19 is fixedly welded on the upper edge of the walking stick support 16, a sixth accelerometer 6 and a sixth gyroscope 13 are fixedly welded on the rotary supporting platform 15, and the Z-axis rotating mechanism is hinged on the rotary supporting platform 15; big bracing piece includes: the large support rod shell 21 and the small support rod 31 are fixed at the upper end and the lower end of the large support rod shell 21 respectively through welding, a large support rod upper end cover 26 and a large support rod lower end cover 24 are fixed at the upper end and the lower end of the large support rod shell 21 respectively, the small support rod 31 is positioned in the large support rod shell 21 and extends out of the large support rod shell 21 through a central hole of the large support rod lower end cover 24, a sliding chute is arranged on the small support rod 31 to limit the limit position of the vertical movement of the small support rod 31, the large support rod upper end cover 26 is connected with the rotary support platform 15 through welding, an X-axis motor 18 is fixed on the rotary support platform 15 through welding, a seventh accelerometer 7 and a seventh gyroscope 14 are fixed on the small support rod 31 through welding, and a lower multi; the large support rod shell 21 is connected with the walking stick support 16 through an Z, Y plane swinging mechanism 20, wherein the energy injection device consists of an X-axis swinging mechanism, a Y-axis swinging mechanism, a driving control system, an upper multi-axis force sensor 19, a Z, Y plane swinging mechanism 20, a Z-axis rotating mechanism, a seventh accelerometer 7, a seventh gyroscope 14, a lower multi-axis force sensor 23, an X-axis motor 18 and a crank link mechanism.
The Z-axis rotating mechanism comprises: the walking stick comprises a Z-axis motor 17 and a Z-axis rotating platform 22, wherein the Z-axis motor 17 is fixed in the walking stick support 16 through welding, and a rotating shaft of the motor is connected with the Z-axis rotating platform 22 through a coupler.
Z, Y the plane swing mechanism includes: an X-axis motor 18 and a small universal hinge; the X-axis motor 18 is fixed on the rotary supporting plane 15 through welding, and a rotating shaft of the X-axis motor 18 is hinged with the upper half part of the small universal hinge; the upper end and the lower end of the small universal hinge are respectively connected with a walking stick support 16 and a rotary support platform 15 through welding.
the crank link mechanism includes: the six accelerometer comprises a sixth accelerometer 6, a sixth gyroscope 13, a crank block motor 25, a crankshaft 27, a connecting rod 30, a piston block 29 and a spring 28, wherein the crank block motor 25 is fixed in the rotary supporting platform 15 through welding, the crankshaft 27 is connected with the crank block motor 25 through a coupler and is hinged with the connecting rod 30, the connecting rod 30 is hinged with the piston block 29, the lower end of the piston block 29 is connected with the spring 28 through welding, the whole mechanism is positioned in the large supporting shell 21, and the lower end of the piston block is connected with the small supporting rod 31 through welding.
As shown in fig. 6, the driving control system can perform adaptive fuzzy control on the walking stick according to the comprehensive information of the walking cycle, the external environment, the posture of the walking stick, the pressure data and the like of the person; the control system can automatically adjust the posture of the walking stick according to different external environments, human body postures and walking stick stress conditions so as to ensure that a user can complete a normal walking cycle.
The energy injection device provided by the invention is provided with a drive control system, the system can acquire the attitude and displacement information of the walking stick in real time by carrying out double integration on the information acquired by an acceleration sensing machine through a sixth acceleration sensor and a sixth gyroscope which are arranged on a rotary supporting platform, and the drive control system arranged on the walking stick compares the set normal value range with the acquired attitude displacement feedback information according to a fuzzy control algorithm and controls the output of a crank slider motor 25, so that the walking stick can reach a similar motion state in each motion cycle, and the function of assisting walking of the walking stick is realized.
The specific control method comprises the following steps:
the movement of the body-pole system according to the invention takes place in the various planes of the body (sagittal plane, CoronalPlane and transverse plane) as shown in fig. 7. The project is designed to study the periodic walking motion control of the system in the sagittal plane; then, three-dimensional periodic walking motion control with increased coronal plane rolling freedom is researched; and finally, researching the aperiodic three-dimensional walking motion control.
1) Sagittal plane periodic gait motion control
periodic walking in the sagittal plane is the fundamental movement pattern of the body-cane system on flat ground and is therefore of major interest to this project. As shown in fig. 8, the human body trunk, the left leg, the right leg and the walking stick are respectively represented by a, b, c and d, and each stage of a movement cycle of the human body-walking stick system is as follows: (1) the left leg and the right leg are simultaneously grounded with the walking stick (a support phase 1); (2) the left leg and the walking stick are lifted to swing forwards, and the right leg is grounded (swing phase 1); (3) the left leg and the right leg are simultaneously grounded with the walking stick (a support phase 2); (4) the right leg is lifted to swing forwards, and the left leg and the walking stick are simultaneously landed (swing phase 2); (5) the left and right legs are grounded simultaneously with the pole (returning to the support phase 1).
In the above motion cycle, the oscillatory phases 1 and 2 have different kinetic equation models, during which the system variables are continuous values. The support phases 1 and 2 are extremely short in duration, so the impact of the ground on the system can be considered as a pulse signal, causing a jump in the system speed variation. Thus, the Hybrid (Hybrid) kinetic model of the cane system for continuous and pulsed volumes in one cycle of motion is as follows:
The continuous equation of state for the oscillatory phases 1 and 2 in equation (4) can be derived from the equation of motion for a pole (3), where the state variablesControl input u ═ T2External disturbance u1＝δT2(ii) a Equation of state transition for support phases 1 and 2andThen, it can be obtained from the impulse response of the formula (3), where x-and x+The states are respectively the front and back jumping states of the foot part impacting the ground. S1、S2The system state switching planes are respectively the time when the left foot (walking stick) and the right foot impact the ground. In conclusion, the project aims at researching and designing the control quantity u for the plane hybrid dynamic model (4), so that the state variable x of the walking stick can be disturbed by the human body u1The lower convergence is to a stable periodic trajectory designed in real time, thereby ensuring stable walking of the whole human body-cane system. When the gait parameter as the external input reference quantity changes, the control quantity u can enable the walking stick to adjust the walking speed to enter a new stable walking cycle.
The control quantity u of the inner-layer continuous system of the double-layer control structure bears the stable control task of the human body-walking stick system in each walking cycle, and the system shown in the formula (4) is an under-actuated nonlinear system considering that the degree of freedom of the walking stick is greater than the number of driven quantities. The global stability of such control systems is difficult to guarantee, for which the control quantity u can be designed such that the system state enters a reduced-dimension zero dynamic space (dimension is the difference n-m between the state and the control input dimension) and converges to a pre-designed periodic stable trajectory. So, first, the m-dimensional control output y is selected as y1-ydWherein y is1And ydRespectively, displacement quantities representative of the characteristics of the stick movement and the respective continuously bounded design trajectories of the respective order derivatives, the aim of the control being to make the y → 0, i.e. asymptotic tracking of the stick displacement, converge on the design trajectories during the walking cycle. Since the relative order of the under-actuated legged robot system is 2, the above problem can be linearized by deriving the output twice and performing input-output linearization. However, taking into account the model uncertainty and the known perturbation u of the continuous equation of state in equation (4)1、u2The control result is deteriorated by the error, the tracking control robustness is improved by adopting a sliding mode variable structure control method, and the key point is that the system state can quickly and robustly approach to a balance point, and sliding mode control buffeting (Chattering) can be eliminated to the maximum extent, so that the walking stick acts smoothly.
In order to make the designed state trajectory return stably within a walking cycle time, Poincar Analysis (Poincar Analysis) can be used, taking the moment of impact of the pole with the ground as the start of a walking cycle, and switching the state of the state plane S1Using a Poincare Section S as a Poincare Section (Poincare Section)1Fixed point (FixedPoint) above, the system trajectory at the beginning and end of the cycle and the Poincare section S1Delivered to the same state point) and a periodic stable trajectory, and converting the problem of periodic stable trajectory planning into the problem of finding an immobile point. After the fixed point is found, the state trajectory in the whole period can be planned through a polynomial interpolation method.
In summary, the inner layer continuous controller is designed by the following steps: (1) assuming a state trajectory to be designed, designing a controller u by adopting a sliding mode variable structure method to enable a system to asymptotically track the designed trajectory, wherein u is a function of the state trajectory; (2) under the determined gait parameters (speed and step length) of the walking stick system, the calculation load is reduced by methods such as state coordinate transformation and the like, and the immobile point x on the Poincare section S1 is obtained*(ii) a (3) Determining a polynomial interpolation function coefficient α, where α ═ α1α2]α 1 from a stationary point x*Determination of alpha2are redundant polynomial coefficients that can be optimized. In order to reduce the energy consumption of walking stick movement, an energy objective function in one period can be established and simulation optimization is carried out to obtain the optimal polynomial coefficient alpha2(ii) a (4) The continuous controlled variable u can be obtained by substituting the optimum state trajectory constructed by alpha into the result of (1).
Because the human body speed is constantly changing in walking, the outer layer control is also needed to adjust the walking speed of the walking stick to follow the motion of the human body. The following nonlinear discrete-time system is obtained from the intersection of the system trajectory and the poincare section S1:
In the formula (5), the reaction mixture is,AndThe instantaneous system states before the walking stick collides with the ground in the k +1 th walking cycle and the k th walking cycle respectively; p ispoincare regression map (poincare ReturnMap) function of (a), coefficient α1and k is the kth period control input. Our control task is to design alpha1And k, changing the fixed point and the state trajectory, so that the walking stick can quickly and stably track the reference gait. In order to eliminate dynamic and steady-state errors of speed tracking, considering model uncertainty in a discrete system (5), a discrete sliding mode control method is adopted, and a time-varying proportional-integral sliding mode surface and alpha are designed1The k-control law enables the system to switch between different fixed points quickly and smoothly, and therefore, the balance between smooth performance and robust performance needs to be considered comprehensively on the premise of ensuring the stability of the nonlinear system (namely, the stability of the linearized system at the fixed points).
2) periodic linear walking motion control in three-dimensional space
The more common way of movement of the body-cane system on flat ground is periodic walking in a straight line in three dimensions in the sagittal and coronal planes, the cane having no yaw freedom due to the movement in a straight line. At the moment, compared with the walking stick which moves in two dimensions, the walking stick increases 2 rolling degrees of freedom of the hip and the foot, and only 1 rolling control moment of the hip is increased, so that the number of the system under-actuated degrees of freedom is increased by 1 compared with the walking stick which moves in two dimensions, and the difficulty of controlling the periodic stable walking motion is increased.
considering that the energy of the system in a stable walking cycle also changes periodically, the project adopts an energy decoupling-based method to decouple the human body-walking stick system into dynamics in a sagittal plane and a coronal plane in the control of an inner layer (each step) for respective control and integration, and the implementation steps are as follows: (1) establishing a Lagrange energy function of a human body-walking stick system in three-dimensional linear walking motion, and decomposing the function into the sum of two-dimensional motion energy in a sagittal plane and rolling energy in a coronal plane; (2) controlling dynamics in a sagittal plane and a coronal plane after decoupling by using a research result of two-dimensional stable walking motion control in the project, so that motion energy in each plane realizes periodic change; (3) and integrating the control quantities in each plane to realize periodic change of the total energy of the three-dimensional system, namely performing periodic stable walking.
Besides the inner layer motion control of the three-dimensional system, the project also aims to design a corresponding proportional-integral sliding mode controller by utilizing the outer layer periodic gait discrete control research result of the two-dimensional system aiming at the Poincare nonlinear mapping function of the three-dimensional dynamic system, and researches the effect of the proportional-integral sliding mode controller in realizing the continuous stable adjustment of the forward pace and resisting the coupling interference between the sagittal plane and the coronal plane. Among these, how to achieve decoupling of poincare mapping functions is the focus of research.
3) Aperiodic ambulatory motion control in three-dimensional space
The control of aperiodic walking motion in three-dimensional space is the key point of outer control, and the purpose is to make the generalized robot entering into aperiodic walking return to periodic walking (or special case of stationary-periodic walking). Walking on rough ground and turning in motion are two non-periodic walking situations that human-cane systems often face in practice. The former is due to uneven ground conditions causing the system to enter into non-periodic motion due to unequal foot contact times at each step of the system, while the latter is due to the superposition of yaw angles in the linear motion. The project will therefore be studied in a targeted manner.
For the former case, robust preview control is to be used to improve the inner layer trajectory control. The preview control can improve control transient performance by referring to information in the future. The method is based on a linear dynamic model, takes the future motion trail of the foot of the walking stick as a reference quantity, takes the hip moment of the walking stick as a control input, defines an objective function including H infinity constraint and minimizes and solves a control quantity. In order to construct a future motion trail of the foot of the walking stick, the time information of a walking cycle is collected, a time probability density function is estimated, and the time when the walking stick hits the ground is predicted. The project adopts a discrete Bayesian filtering method to complete the task.
for the latter case, firstly, path planning is carried out, the human body turning trend is estimated through the attitude and gait parameters, the stick deflection angle and the angular speed around the Z axis of the cross section are predicted, and the stick turning path is planned through polynomial interpolation; and (3) constructing the walking stick motion tracks in a sagittal plane and a coronal plane by combining other gait parameters, and adopting a robust prespection control method to track the tracks in the coronal plane to improve the transient performance (inner layer control) of the controller. Because the fixed point on the Poincare section is continuously changed in the steering process, the variable fixed point during tracking is controlled by adopting a discrete sliding mode control method, and the robustness (outer layer control) is improved.
When the generalized robot loses balance due to collision or other reasons, the original periodic walking becomes a non-periodic walking state. Therefore, in the aspect of balance recovery control, the balance control method of the double-foot humanoid robot at the early stage of the project group is used for the intelligent walking stick system, and the logic relationship among the capture point, the capture domain and the motion space is used for explaining the applicable conditions of each basic strategy; aiming at the balance recovery movement in the stable area, a virtual force control mode is adopted, virtual force is applied to the robot through three groups of virtual spring-damping models, and the balance recovery control of force is applied to the robot through the reaction force to the ground; when the capture point falls outside the sole, the robot is recovered from the unstable state to the stable state by using the whole body torque strategy and taking the maximum body torque as an output target.
The crank-connecting rod mechanism in the energy injection device can convert the reciprocating motion of the piston slide block 29 into the rotating motion of the crankshaft 27, the crank-slide block motor 25 is connected with the crankshaft 27 to drive the top end of the connecting rod 30 to do circular motion, at this time, the piston slide block 29 can only do up-and-down reciprocating motion under the constraint of the sleeve, and simultaneously, the torque output by the crankshaft 27 to the outside is converted into force acting on the piston to drive the spring 28 and the small support rod 31 connected to the lower end of the piston slide block 29, so that the function of assisting the intelligent walking stick in walking of a human body is realized.
The system collects human body movement information through a first accelerometer 1, a second accelerometer 2, a third accelerometer 3, a fourth accelerometer 4, a fifth speedometer 5, a first gyroscope 8, a second gyroscope 9, a third gyroscope 10, a fourth gyroscope 11 and a fifth gyroscope 12 in a human body posture measuring module, collects posture and displacement information of a walking stick module through a sixth accelerometer 6 and a sixth gyroscope 13 in an energy injection device, collects stress information of the walking stick module through an upper multi-axis force sensor 19 and a lower multi-axis force sensor 23 in the walking stick module, the stress information is sent to a driving control system through a collection card, after the information is synthesized, the driving control system sends out control signals to control a Z-axis motor 17, an X-axis motor 18 and a crank slider motor 25 to rotate, the Z-axis motor 17 and the X-axis motor 18 are transmitted through a coupler, the crank-slider motor 25 is driven by a crank-link mechanism, a Z-axis rotating mechanism controls the rotation of the large supporting rod around a Z axis, an Z, Y plane swinging mechanism controls the swinging of the large supporting rod on a Z, Y plane, a piston slider 29 in the large supporting rod controls the stretching of the small supporting rod 31 through a spring 28, so that the walking stick can automatically swing along with a user, and an energy injection system injects proper energy through the crank-link mechanism to supplement mechanical energy and kinetic energy lost in the motion process, thereby realizing energy conversion, reducing the energy loss of the walking stick system and simultaneously enabling the user to walk without obstruction, wherein in the embodiment, the Z axis is a direction vertical to the ground, the X axis represents the left-right direction of the walking stick, the Y axis represents the front-back direction of the walking stick, and a plane formed by the X, Y axis is parallel.
according to the characteristics of each communication protocol, different communication modes are adopted in the system, a CAN bus protocol is adopted for communication between the driver and the controller, a USART protocol is adopted for communication between the controller and the PC, an I2C protocol is adopted for communication between the sensor and the controller, the drive control system comprises a slider-crank motor 25, a driver and a drive controller 32, the hardware interrelation of the driver and the control system is shown in figure 5, after the controller receives information fed back by the sensor, the drive controller 32 drives the Z-axis motor 17, the X-axis motor 18 and the slider-crank motor 25, and the driver adopts a MLDS3610B multifunctional multi-structure direct current servo driver manufactured by Nao-Lang company and has three working modes: the controller selects an STM32 chip STM32 produced by ARM company, has the characteristics of high performance, low cost and low power consumption, and can calculate in real time.

Claims (4)

1. The utility model provides an energy injection system for walking stick is assisted to intelligence, includes human gesture measuring module and stick module, its characterized in that stick module still includes the energy injection device, and the stick module includes fuselage and big bracing piece, the fuselage includes: the walking stick device comprises a rotary supporting platform (15) and a walking stick support (16), wherein a driving control system is fixedly arranged in the walking stick support (16), the walking stick support (16) is hinged to the rotary supporting platform (15) through a Z-axis rotating mechanism, an upper multi-axis force sensor (19) is fixedly welded on the upper edge of the walking stick support (16), and a sixth accelerometer (6) and a sixth gyroscope (13) are fixedly welded on the rotary supporting platform (15); big bracing piece includes: the large support rod shell (21) and the small support rod (31) are fixedly connected with an upper large support rod end cover (26) and a lower large support rod end cover (24) through welding respectively at the upper end and the lower end of the large support rod shell (21), the small support rod (31) is positioned inside the large support rod shell (21), the large support rod shell (21) extends out of a central hole of the lower large support rod end cover (24), a chute is formed in the small support rod (31) to limit the limit position of the vertical movement of the small support rod (31), the upper large support rod end cover (26) is connected with the rotary support platform (15) through welding, an X-axis motor (18) is fixedly welded on the rotary support platform (15), a seventh accelerometer (7) and a seventh gyroscope (14) are fixedly welded on the small support rod (31), a lower multi-axis force sensor (23) is fixedly welded at the lower end of the small support rod (31), and the large support rod shell (21) is fixed with the lower multi, The Y plane swinging mechanism (20) is connected with the walking stick support (16); the energy injection device comprises an X-axis swing mechanism, a Y-axis swing mechanism, a drive control system, an upper multi-axis force sensor (19), an Z, Y plane swing mechanism (20), a Z-axis rotation mechanism, a seventh accelerometer (7), a seventh gyroscope (14), a lower multi-axis force sensor (23) and a crank-link mechanism;
The crank link mechanism includes: sixth accelerometer (6), sixth gyroscope (13), slider-crank motor (25), bent axle (27), connecting rod (30), piston slide (29), spring (28), slider-crank motor (25) passes through welded fastening in rotatory supporting platform (15), bent axle (27) link to each other through the shaft coupling with slider-crank motor (25), it is articulated mutually with connecting rod (30), connecting rod (30) are articulated mutually with piston slide (29), slider-piston (29) lower extreme links to each other through the welding with spring (28), whole mechanism is located big supporting shell (21), the lower extreme links to each other through the welding with little bracing piece (31).
2. An energy injection system for a smart walking stick according to claim 1, characterized in that the Z-axis rotation mechanism comprises: the walking stick comprises a Z-axis motor (17) and a Z-axis rotating platform (22), wherein the Z-axis motor (17) is fixed in the walking stick support (16) through welding, and a rotating shaft of the motor is connected with the Z-axis rotating platform (22) through a coupler.
3. The energy infusion system of claim 1, wherein said Z, Y planar rocking mechanism comprises: an X-axis motor (18) and a small universal hinge; an X-axis motor (18) is fixed on the rotary supporting plane (15) through welding, and a rotating shaft of the X-axis motor (18) is hinged with the upper half part of the small universal hinge; the upper end and the lower end of the small universal hinge are respectively connected with a walking stick support (16) and a rotary support platform (15) through welding.
4. An energy injection system for a smart walking stick according to claim 1, characterized in that: the driving control system can perform self-adaptive fuzzy control on the walking stick according to the comprehensive information of the walking cycle, the external environment, the posture of the walking stick and the pressure data of the person; the control system can automatically adjust the posture of the walking stick according to different external environments, human body postures and walking stick stress conditions so as to ensure that a user can complete a normal walking cycle.
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