CN111600891A - Exoskeleton robot communication protocol, man-machine interaction system and multi-platform interaction software - Google Patents
Exoskeleton robot communication protocol, man-machine interaction system and multi-platform interaction software Download PDFInfo
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Abstract
The invention discloses an exoskeleton robot communication protocol, a man-machine interaction system and multi-platform interaction software, wherein a data frame structure of the communication protocol consists of six parts, namely a frame header, a function type, a data segment length, a data segment, data segment parity check and a frame tail; the man-machine interaction system at least comprises an operating system applied to a client and a framework of an exoskeleton robot communication protocol for realizing information communication between an exoskeleton robot control end and the client operating system; the multi-platform interaction software is developed based on an exoskeleton robot communication protocol, supports terminal equipment used by a man-machine interaction system, and supports multipoint connection. According to the technical scheme, the external skeleton robot can be finely operated by a wearer, a communication network is established in a wireless mode, multi-platform interaction can be achieved, and real-time data can be shared.
Description
Technical Field
The invention discloses an intelligent interaction system, and particularly relates to a communication protocol applied to an exoskeleton robot, a man-machine interaction system based on the communication protocol, and software capable of realizing multi-platform interaction based on the communication protocol.
Background
The exoskeleton robot technology is a comprehensive technology which integrates sensing, control, information, fusion and mobile computing and provides a wearable mechanical mechanism for a person as an operator. It mainly refers to the robot that covers outside the human body simultaneously, also is called "wearable robot". The exoskeleton robot is a new technology, mainly has the functions of rehabilitation, walking aid and enhancement, and develops a rehabilitation type exoskeleton robot, an auxiliary exoskeleton robot and an enhanced exoskeleton robot aiming at the three functions. The rehabilitation exoskeleton robot is mainly used for hemiplegia patients in hospitals and helps the patients to do repetitive rehabilitation movement actions, so that the aim of assisting therapists to perform rehabilitation training is fulfilled; the auxiliary exoskeleton robot is mainly used for patients with spinal cord injury and the like to help the patients to realize walking function; the enhanced exoskeleton robot is mainly applied to industry or military and realizes the enhancement of the motion capability of a human body.
Among the three types of exoskeleton robots, the auxiliary exoskeleton robot is mainly used for patients with spinal cord injuries and the like, and the spinal cord injuries have great probability of being irreparable injuries, so that rehabilitation exercises have little significance for recovering nervous systems.
In order to realize more professional motion control of the exoskeleton robot, a human-computer interaction technology becomes a necessary technology for solving the problem. The man-machine interaction technology is a technology for realizing human-computer conversation in an effective mode through computer input and output equipment. At present, a plurality of exoskeleton robot companies at home and abroad provide a man-machine interaction scheme for motion control of exoskeleton robots, for example, a watch is adopted for control, a plurality of instruction buttons are arranged on the watch, basic operation of the exoskeleton robots is realized, and the current states of the exoskeleton robots are displayed through a plurality of LED lamps on the watch; for another example, a liquid crystal display is arranged on a backpack of the exoskeleton robot, and robot parameters are configured to complete exoskeleton robot control through human hand clicking operation; or the exoskeleton robot parameters are preset and stored in a robot program, and man-machine interaction is carried out through a force sensor of the exoskeleton robot. These approaches have a number of drawbacks, such as:
1. part of the realization modes are only suitable for operators to use and are inconvenient for wearers to use and operate if the back control panel or the remote control handle is adopted for control; the simple operation interface/button can not realize the robot state data viewing of the wearer;
2. no real-time data update and display;
3. a part of operating systems adopt self-research systems, programs do not cross platforms, software portability is not provided, and users cannot install and use the operating systems conveniently;
4. without a unified data management system, unified data management cannot be performed, and fine operation is realized.
Therefore, in view of the defects of the prior art, those skilled in the art are dedicated to develop a communication protocol for an exoskeleton robot and a human-computer interaction system based on the communication protocol, so as to implement specialized and refined operation control for the exoskeleton robot.
Disclosure of Invention
The invention aims to provide a communication protocol and a human-computer interaction system of an exoskeleton robot to solve the problems in the background art.
The purpose of the invention is realized by the following technical scheme:
a communication protocol of an exoskeleton robot is used for realizing communication between an exoskeleton robot control end and a user client, and a data frame of the communication protocol comprises a request message sent by the client to the exoskeleton robot control end and a response message returned by the exoskeleton robot control end for executing operation; the data frame structure of the communication protocol consists of six parts, namely a frame head, a function type, a data segment length, a data segment parity check and a frame tail; wherein, the frame header is a 2-byte value and represents the start time of the frame; the function type is a 4-byte value and indicates each operation layer of the exoskeleton robot control end; the data segment is a 1-byte value indicating the length of the bytes in the data segment; the data segment is a buffer indicating a particular operation to be performed by the message; the data segment is checked to be a value of 1 byte, and a check sum value of the data part is expressed; the end of frame is a1 byte value indicating the end of the frame.
Further, the operation layer indicated by the function type at least comprises a task layer, a control layer, a robot layer and other layers of the exoskeleton robot control end, and the operation is specified by 4 bytes.
Further, since the digital field length is 1 byte representation, the value of the data portion is limited to 255 bytes.
Further, the request message and the response message in the data segment are different, and the response message further includes a byte for indicating the operation result of the request.
The invention provides a human-computer interaction system which at least comprises an operating system applied to a client and a framework of the exoskeleton robot communication protocol for realizing information communication between an exoskeleton robot control end and the client operating system. The operating system at least comprises a basic action module, a joint control module, a parameter setting module and an information display module, wherein the basic action module is used for controlling the exoskeleton robot to realize the simplest basic operation in the aspects of movement, rotation and the like; the joint control module controls the independent movement of the joints so as to control the exoskeleton robot to realize complex movement; the parameter setting module sets the motion parameters of the exoskeleton robot; the information display module displays basic information of the exoskeleton robot and real-time data of the exoskeleton robot in the current state.
Furthermore, the human-computer interaction system is suitable for clients using Android and iOS as operating systems; the terminal equipment of the client operating system at least comprises an intelligent watch, a mobile phone, a tablet personal computer and a PC computer.
Furthermore, the terminal device using the smart watch as the client operating system is suitable for the exoskeleton robot wearer, so that the exoskeleton robot can be set and operated more finely by the wearer through the smart watch.
The invention provides multi-platform interactive software which is developed based on the exoskeleton robot communication protocol and supports interaction between terminal devices used by the man-machine interactive system, such as mobile phones, tablet computers and PC computers, as terminal devices of a client operating system.
Furthermore, the multi-platform interactive software at least comprises an exoskeleton robot module, an interactive module, a state display module, a control module, a setting module, a driving and sensing module and a data change module; the exoskeleton robot module displays the currently interactive exoskeleton robot; the interaction module is used for selecting the control method and state of the exoskeleton robot interacted currently and updating and upgrading the software system; the state display module is used for realizing connection with the exoskeleton robot; the control module is used for controlling the currently interactive exoskeleton robot to realize actions; the setting module is used for configuring network parameters of the robot, realizing multi-platform network access and recording information of the exoskeleton robot in the connection process; the drive sensing module comprises all drivers and sensor data information; the data change module is used for dynamically displaying the data change of each parameter.
By implementing the exoskeleton robot communication protocol, the man-machine interaction system and the multi-platform interaction software, the exoskeleton robot system has the following beneficial effects:
(1) according to the technical scheme, a unified communication protocol is designed, a man-machine interaction program is arranged on the intelligent watch and the intelligent terminals of other different platforms, and the user using different equipment can conveniently check the program; particularly, for a wearer of the exoskeleton robot, the visual field of the wearer is mainly concentrated in the front of the body, and the wearer can frequently check the feet so as to ensure the walking stability, and the wearer can wear the intelligent watch and develop a program on the intelligent watch for displaying the state information of the exoskeleton robot, so that the patient can check the state of the current robot system conveniently in time; the operation plates with different functions can enable a wearer to more finely set and operate the exoskeleton robot through the intelligent watch;
(2) the exoskeleton robot in the technical scheme interactively and innovatively uses WIFI as a hardware basic platform for information communication, and an operator does not need to establish a communication network with the exoskeleton robot in a connection mode by utilizing the wireless communication characteristic of the WIFI;
(3) in the technical scheme, due to the fact that WIFI is widely used by various intelligent devices as a main communication mode, all devices with WIFI connection functions can be connected with the exoskeleton robot, almost all main operating system platforms can communicate with the exoskeleton robot by using software on multi-platform interactive software, and parameter configuration and information state reading of the robot are completed;
(4) in the technical scheme, WIFI communication is used, a plurality of devices are allowed to be connected to the same WIFI wireless network, the exoskeleton robot supports multipoint connection, and a user and a use attendant of the exoskeleton robot can be connected to the same exoskeleton robot at the same time; the robot state information can be viewed together by the robot, and data can be shared in real time.
(5) According to the technical scheme, through the reasonable communication protocol, intelligent terminals of different platforms can communicate with the exoskeleton robot, and other non-exoskeleton robots can also communicate with the terminals if the same communication protocol is used.
Drawings
FIG. 1 is a diagram illustrating a frame structure of a communication protocol according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a human-computer interaction system according to an embodiment of the present invention;
3-7 are schematic diagrams of circular interfaces of man-machine interaction at the smart watch end in an embodiment of the invention;
FIGS. 8-12 are schematic diagrams of square interfaces of human-computer interaction at the smart watch end according to an embodiment of the invention;
FIG. 13 is a diagram illustrating a multi-platform interactive software architecture according to an embodiment of the present invention;
FIGS. 14-22 are schematic diagrams of interfaces of a multi-platform human-computer interaction program according to an embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to enable the exoskeleton robot to communicate with an intelligent terminal which is used by people in daily life, a set of customized exoskeleton robot communication protocol is designed firstly. Based on our construction of a communication system as a client-server architecture, where the client is usually our host, it sends a request message to the server, which is our robot control, which executes the requested operation and returns a response message to tell the client whether the operation was executed successfully or returns the requested data. The communication protocol is used for realizing communication between the exoskeleton robot control end and the user client.
Based on the above communication structure, the data frame structure of the communication protocol is composed of six parts as shown in fig. 1, which are respectively a frame header, a function type, a data segment length, a data segment parity check and a frame tail.
Wherein, the frame header is a 2-byte value and represents the start of the frame;
for the request message, from the client, the header has a value of 0xA0a1, which indicates that:
for the response message, from the server control side, the header has a value of 0xA1a0, which indicates that:
wherein, the function type is a value of 4 bytes, and indicates each operation layer of the exoskeleton robot control end; the operation layer indicated by the function type at least comprises a task layer, a control layer, a robot layer and other layers of the control end of the exoskeleton robot, the operation is specified by 4 bytes, and the representation form is shown in a table:
wherein the data segment has a length of 1 byte, indicating the length of the byte in the data segment; since the length of the data segment parts varies from message to message. Since only 1 byte is used to represent the length here, the value of the data portion is limited to 0-255 bytes, as shown in the table:
| data segment length |
| 0x00-0xFF |
Wherein the data segment is a buffer indicating a particular operation to be performed by the message; the request message and the response message in the data segment are different, and the response message further comprises a byte for indicating the operation result of the request.
Wherein, the check of the data segment is a value of 1 byte, and the check sum value of the data part is expressed; the calculation is performed using all bytes in the data portion, as shown in equation 1, by summing, and then anding with 0xFF to obtain the check result.
Checksum ∑ (data of data section) &0xFF equation 1
The verification of the digital field is shown in the table:
| check word |
| N＊(0x00-0xFF) |
Wherein, the trailer is 1 byte value, which indicates the end of the frame, and for both request message and response message, the trailer value is 0xAA, which indicates as shown in the table:
| frame end |
| 0xAA |
It should be noted that the customization of the communication protocol may be more complex, involving more details of the communication parameters, but the overall format (in a segmented manner) is consistent.
The human-computer interaction system shown in fig. 2 is a system developed based on the exoskeleton robot communication protocol, and the human-computer interaction system at least comprises an operating system applied to a client and a framework of the exoskeleton robot communication protocol for realizing information communication between an exoskeleton robot control end and the client operating system. The client operating system at least comprises a basic action module, a joint control module, a parameter setting module and an information display module, wherein the basic action module is used for controlling the exoskeleton robot to realize the simplest basic operation in the aspects of movement, rotation and the like; the joint control module controls the independent movement of the joints so as to control the exoskeleton robot to realize complex movement; the parameter setting module sets the motion parameters of the exoskeleton robot; the information display module displays basic information of the exoskeleton robot and real-time data of the exoskeleton robot in the current state.
The human-computer interaction system is suitable for clients taking Android and iOS as operating systems; the terminal equipment of the client operating system at least comprises an intelligent watch, a mobile phone, a tablet personal computer and a PC computer.
When the intelligent watch is used as a client operating system terminal, the intelligent watch is suitable for exoskeleton robot wearers, and the exoskeleton robot can be set and operated by the wearers more finely through the intelligent watch. The operation interface can be set into a circular interface and a square interface according to the dial plate interface of the intelligent watch, the interface shape is formulated based on the shape of the current dial plate of the intelligent watch, and the operation interface is also applicable to other dial plate shapes.
Fig. 3-8 show an operation interface of a circular interface, and fig. 3 shows a main circular interface, which is mainly used to display the current status of the exoskeleton robot and some basic command buttons, such as four buttons of "sit", "stand", "go" and "menu" in the interface of fig. 3; the 'sitting', 'standing', 'walking' is a basic instruction of the exoskeleton and is a basic action module of a human-computer interaction system, and a 'menu' key is used for a program jump menu interface; the menu interface is displayed as shown in fig. 4, the menu interface is used for displaying additional functions provided by the smart watch, and the menu interface includes four keys, which are respectively: joint control, information display, parameter setting and company information, and clicking a corresponding key to enter a corresponding interface.
The joint control is a joint control module of the human-computer interaction system, as shown in fig. 5, a joint control interface is used for controlling the joint to move independently, two types of keys, namely a + key and a-key, are mainly arranged below the interface, clicking of the + key controls the positive rotation of the joint motor corresponding to the exoskeleton robot, clicking of the-key controls the negative rotation of the joint motor corresponding to the exoskeleton robot, releasing the key and stopping the rotation of the joint motor corresponding to the exoskeleton robot.
The information display is an information setting module of the human-computer interaction system, and as shown in fig. 6, the information display interface is used for displaying basic information of the sensor and the joint, such as an angle of the joint.
The parameter setting is a parameter setting module of the human-computer interaction system, as shown in fig. 7, a parameter setting interface sets walking parameters of the exoskeleton robot, and the walking parameters are adjusted by pulling a slider. The parameters that can be set here include: sitting speed, standing speed, walking step length, walking step height and the like.
Wherein, the "company information" is the name of the conventional research and development enterprise and logo pattern.
When the dial interface of the smart watch is square, as shown in fig. 8-12, the use interface diagram of the square interface is shown, the interface content, the operation mode and the function effect are all the same as those of the circular interface, and only the appearance is different, which is not described herein in any greater detail.
According to the communication protocol proposed by the technical scheme, the exoskeleton robot multi-platform interactive software is developed based on Unity3D (a development framework). In actual practice, instead of using Unity3D to implement cross-platform development, development solutions using, for example, Qt (cross-platform C + + graphical user interface application development framework), JDK (Java development Kit Java development toolkit) or other cross-platforms can also be used to implement cross-platform development, and although the cross-platform effect may be poor, the software interface display effect may not be so uniform, but the same functional effect can be achieved basically.
The platform that multi-platform interactive software currently supports is Windows, Linux, Mac, Android and IOS, and supports the interaction between the terminal devices used by the aforementioned human-computer interactive system, such as mobile phones, tablet computers and PC computers, as the terminal devices of the client operating system.
As shown in fig. 13, the multi-platform interactive software at least includes an exoskeleton robot module, an interaction module, a status display module, a control module, a setting module, a driving and sensing module, and a data change module; the exoskeleton robot module displays the currently interactive exoskeleton robot; the interaction module is used for selecting the control method and state of the exoskeleton robot interacted currently and updating and upgrading the software system; the state display module is used for realizing connection with the exoskeleton robot; the control module is used for controlling the currently interactive exoskeleton robot to realize actions; the setting module is used for configuring network parameters of the robot, realizing multi-platform network access and recording information of the exoskeleton robot in the connection process; the drive sensing module comprises all drivers and sensor data information; the data change module is used for dynamically displaying the data change of each parameter.
Based on multi-platform interactive software, the display interfaces of the mobile phone, the tablet computer and the PC computer are the same under the same WiFi wireless network, as shown in fig. 14-22.
Fig. 14 shows a main interface, in the center of which is an exoskeleton robot module that can support interaction by the current software, and is an interaction software; the bottom of the main interface is provided with interactive keys which are interactive modules, and one part of the main interface has seven keys which respectively correspond to seven sub-pages, and the functions and meanings of the seven functional keys are as shown in the figure:
the key Init is mainly used for initializing some exoskeleton robot operations, such as setting a target IP (Internet protocol), ports, connecting, disconnecting zero and the like;
key BasicControl: the exoskeleton robot is mainly controlled simply and basically, and the state of the exoskeleton robot is changed by selecting different control methods and inputting parameter values;
key advance control: the exoskeleton robot control method mainly comprises the steps of performing complicated and difficult control on an exoskeleton robot, and changing the state of the exoskeleton robot by selecting different control methods and inputting parameter values;
and (4) pressing a Program: mainly carries out secondary development on the program;
key Setting: the method mainly comprises the steps of setting an IP of a local host, and setting the model, bottom layer updating and the like of the exoskeleton robot;
and a button Log: the method mainly comprises the steps of outputting part of information transmitted back by the exoskeleton robot in the process of connecting the exoskeleton robot with the exoskeleton robot;
key About: the basic information of the software is mainly displayed, such as: debug software version number, communication protocol number, etc.
Fig. 15 shows an initialization interface and a status interface of software, which is a status display module of the software, wherein the initialization interface is used to establish a connection with the exoskeleton robot, and when the exoskeleton robot is successfully connected, the status interface displays various attribute statuses of the exoskeleton robot, such as: the exoskeleton robot comprises information such as a connection state, a motor state and a power state.
As shown in fig. 15, the initialization interface has five buttons and two input boxes, and the functions and actions of the buttons are as follows:
input box Target IP Address: an IP address which represents the IP address for connecting the exoskeleton robot to communicate, wherein the default IP address of the bottom layer of the exoskeleton robot is 192.168.102.200 at present, and the value is generally recommended not to be changed;
input box TargetPort: the port number represents the port number for connecting the machine communication, the default port number of the bottom layer of the machine is 4196, and the value is generally recommended not to be changed;
the key Connect: connecting the exoskeleton robot, and if the key is clicked and the connection is successful, displaying parameter information such as pictures, machine types, hardware version numbers and the like of the exoskeleton robot on a RobotStatus interface (as shown in figure 15); if the connection is unsuccessful, the server will display 'in connection with server'
Button Disconnect: disconnecting the connection;
the key Enable: the motor is started, the driving motor of the exoskeleton robot is electrified to work after the key is clicked, and the handle or the rotating shaft is locked by the motor in the aspect of equipment performance;
key Disable: stopping the motor, and stopping the motor after clicking the key;
key ClearFault: and clearing errors, wherein when the motor can give an alarm due to overload and the like and cannot work continuously, the error can be cleared by clicking the key at the moment, so that the motor can work normally continuously.
As shown in fig. 16, the basic control interface and the advanced control interface shown in fig. 17 are control modules of interactive software, where the basic control interface is a basic operation for controlling the robot to implement the simplest movement, rotation, and the like, and when the robot is debugged, whether the robot works normally can be determined by a control method of the basic control interface; the control module of the interface adopts an Jog control method, can control the exoskeleton robot joint to move forwards in a designated direction at a small movement speed, clicks a '+' key in the interface to enable the exoskeleton robot joint to move in a designated positive direction, clicks a '-' key in the interface to enable the exoskeleton robot joint to move in a designated negative direction, and releases the key to stop the movement of the joint.
The high-level control interface is used for controlling the exoskeleton robot to realize complex motion, and can realize high-level algorithms such as 'transparent control', 'quality simulation' and the like; the control module of the interface adopts a Pasive control method, can control the tail end of the exoskeleton robot to move according to the motion of a joint space, and ensure that the tail end of the exoskeleton robot reaches a final designated Position, the arrival Position of the exoskeleton robot joint is set in a Position input frame of the interface, the rotation speed of the exoskeleton robot reaching a target Position is set in a velocity input frame of the interface, and the Acceleration of the exoskeleton robot reaching the target rotation speed is set in an Acceleration input frame of the interface.
FIG. 18 shows a setup interface and the log interface of FIG. 19, which are setup modules of the interactive software; when a plurality of machines are accessed to a local area network, a plurality of computers cannot share one IP due to the uniqueness of the IP, and the IP address of the local machine can be modified through the interface; the log interface is used for recording prompts, warnings, errors and the like of the exoskeleton robot in the connection process.
As shown in fig. 20, the driver information interface and the sensor information interface shown in fig. 21 are driving sensing modules of the interactive software, wherein the driver interface information interface includes numerical information of all drivers, including joint position, joint speed, end position, end speed, and the like; the numerical information is changed in real time according to the state change of the exoskeleton robot; the sensor information interface comprises numerical information of all sensors of the exoskeleton robot, including whether the sensors are identified, IMU acceleration, IMU speed and the like.
The curve drawing interface shown in fig. 22 is a data change module of the interactive software, and the curve drawing panel is an interface for dynamically displaying data changes. As shown in the figure, the interface provides six curve interfaces, each curve is distinguished by using one color, and a user can observe the change process of the corresponding parameter by selecting the parameter in the drop-down list. After selection, the top curve interface displays all data for the parameter. The amount of recorded data per parameter is 500 by default.
By the communication protocol, the interactive system and the multi-platform interactive software, the man-machine interactive program is realized on the intelligent watch and the intelligent terminals of other different platforms, and the user using different devices can check the program conveniently. A wearer who is an exoskeleton robot focuses his or her field of vision mainly directly in front of his or her body and frequently looks under his or her feet to ensure walking stability. The patient wears the intelligent watch, and the program is developed on the intelligent watch and used for displaying the state information of the exoskeleton robot, so that the patient can check the state of the current robot system conveniently in time. Meanwhile, a plurality of virtual keys with different functions are added on an interactive interface of the intelligent watch, so that a wearer can more finely set and operate the exoskeleton robot through the intelligent watch; WiFi is innovatively used as a hardware basic platform for information communication, due to the wireless communication characteristic of WiFi, an operator does not need to establish a communication network with an exoskeleton robot in a connection mode, meanwhile, due to the fact that WiFi is widely used by various intelligent devices as a main communication mode, the exoskeleton robot can be connected with all devices with WiFi connection functions, almost all mainstream operating system platforms can communicate with the exoskeleton robot by using software based on developed cross-platform software, and parameter configuration and information state reading of the robot are completed; the exoskeleton robot is characterized in that WiFi communication is used, a plurality of devices are connected to the same WiFi wireless network, the exoskeleton robot supports multipoint connection, a user of the exoskeleton robot and a use attendant can be connected to the same exoskeleton robot at the same time, state information of the robots can be checked together, and data can be shared in real time.
It is to be understood that unless otherwise defined, technical or scientific terms used herein have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any uses or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It will be understood that the present invention is not limited to the structures that have been described above and shown in the drawings, and that various modifications and changes can be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
Claims (10)
1. An exoskeleton robot communication protocol is used for realizing communication between an exoskeleton robot control end and a user client, and is characterized in that a data frame of the communication protocol comprises a request message sent by the client to the exoskeleton robot control end and a response message returned by the exoskeleton robot control end for executing operation;
the data frame structure of the communication protocol consists of six parts, namely a frame head, a function type, a data segment length, a data segment parity check and a frame tail; wherein, the frame header is a 2-byte value and represents the start time of the frame; the function type is a 4-byte value and indicates each operation layer of the exoskeleton robot control end; the data segment is a 1-byte value indicating the length of the bytes in the data segment; the data segment is a buffer indicating a particular operation to be performed by the message; the data segment is checked to be a value of 1 byte, and a check sum value of the data part is expressed; the end of frame is a1 byte value indicating the end of the frame.
2. The communication protocol for an exoskeletal robot as claimed in claim 1, wherein the functional type indicating operational layers include at least a task layer, a control layer, a robot layer and other layers of the control end of the exoskeletal robot, with operations specified by 4 bytes.
3. A communication protocol for an exoskeletal robot as claimed in claim 1 wherein the data portion is limited to 255 bytes in value due to the digital field being 1 byte in length.
4. The communication protocol for an exoskeletal robot as claimed in claim 1, wherein the request message and the response message are different in data field, the response message further comprising a byte for indicating the result of the requested operation.
5. A human-computer interaction system, characterized in that the human-computer interaction system comprises at least an operating system applied to a client and an architecture of the exoskeleton robot communication protocol as claimed in any one of the preceding claims 1 to 4 for realizing information communication between the exoskeleton robot control end and the client operating system.
6. The human-computer interaction system of claim 5, wherein the operating system of the client comprises at least a basic action module, a joint control module, a parameter setting module and an information display module; the basic action module is used for controlling the exoskeleton robot to realize the simplest basic operation in the aspects of movement, rotation and the like; the joint control module controls the independent movement of the joints so as to control the exoskeleton robot to realize complex movement; the parameter setting module sets the motion parameters of the exoskeleton robot; the information display module displays basic information of the exoskeleton robot and real-time data of the exoskeleton robot in the current state.
7. A human-computer interaction system as claimed in claim 6, wherein the human-computer interaction system is adapted to client terminals with Android and iOS as operating systems; the terminal equipment of the operating system of the client at least comprises a smart watch, a mobile phone, a tablet personal computer and a PC computer.
8. A human-computer interaction system as claimed in claim 7, wherein the terminal device using the smart watch as the client operating system is suitable for the exoskeleton robot wearer to enable the wearer to set up and operate the exoskeleton robot more finely by the smart watch.
9. The multi-platform interactive software is developed based on the exoskeleton robot communication protocol of any one of claims 1 to 4, supports terminal devices used by the human-computer interaction system of any one of claims 5 to 8, and uses a WiFi wireless network as a hardware basic platform for information communication, so that multiple terminal devices are connected to the same WiFi wireless network, and multipoint connection is supported.
10. The multi-platform interactive software of claim 9, wherein the multi-platform interactive software comprises at least an exoskeleton robot module, an interaction module, a status display module, a control module, a setup module, a drive and sense module, and a data change module; the exoskeleton robot module displays the currently interactive exoskeleton robot; the interaction module is used for selecting the control method and state of the exoskeleton robot interacted currently and updating and upgrading the software system; the state display module is used for realizing connection with the exoskeleton robot; the control module is used for controlling the currently interactive exoskeleton robot to realize actions; the setting module is used for configuring network parameters of the robot, realizing multi-platform network access and recording information of the exoskeleton robot in the connection process; the drive sensing module comprises all drivers and sensor data information; the data change module is used for dynamically displaying the data change of each parameter.
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