CN117140474A - Distributed structure power exoskeleton system and control method - Google Patents
Distributed structure power exoskeleton system and control method Download PDFInfo
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- CN117140474A CN117140474A CN202210559153.4A CN202210559153A CN117140474A CN 117140474 A CN117140474 A CN 117140474A CN 202210559153 A CN202210559153 A CN 202210559153A CN 117140474 A CN117140474 A CN 117140474A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention provides a distributed structure power exoskeleton system and a control method, wherein the system comprises a main processor, at least one CAN communication bus connected with the main processor and responsible for information transmission on one side of a body, at least one distributed processor connected with the CAN communication bus and correspondingly positioned on one side of the body, a high-priority executor and a high-priority sensor; the distributed processor is at least connected with one sensor or sensor group, or the distributed processor is at least connected with one actuator or actuator group; the host processor maintains point-to-point communication with the high priority executor and the high priority sensor. The technical scheme of the invention increases the real-time calculation throughput of the whole system, allows low-delay and high-reliability control and feedback signal transmission, has high safety and strong expansibility, and can rapidly realize the expansion of functions from single side to double side and each side.
Description
Technical Field
The invention belongs to the technical field of medical health, and particularly relates to a distributed structure power exoskeleton system and a control method.
Background
In the rehabilitation field, powered exoskeletons help patients with poor mobility to train. Which uses a series of sensors and actuators throughout the body.
Distributed computing (Distributed Computing), as opposed to centralized computing, distributes the computation volume among multiple processors. The use of distributed operations can generally lead to larger parallel operations and thus increase computational throughput, thereby reducing the computation time of the system.
Patent application CN103586867a describes an electric control system for a multi-degree of freedom wearable lower limb exoskeleton robot, which uses a main controller using CAN communication to realize pose calculation and gait planning, and outputs speed and current to realize motor control of variable frequency speed and variable moment. A further patent application CN103203748A describes a control system and method for an exoskeleton robot, wherein a master controller and a plurality of node controllers are connected using CAN communication. The control structure reduces the coupling of the main controller with other components, thereby improving the stability and reliability of the system. Each node controller may store sensor data and be able to control its actuators. Still another patent CN103192389B provides an exoskeleton control system similar to patent application CN103203748a, which is divided into a single upper computer and a plurality of lower computers, wherein a CAN communication bus is used, and the lower computers process the sensor readings and control the actuators. Another patent application CN104027218A describes a lower limb rehabilitation robot control method, which also uses a CAN bus and consists of an upper computer and a plurality of lower units (including a motion control unit, a sensing unit, and a motor control unit).
The prior art proposes a rudiment of distributed processing (without mentioning distributed operations), i.e. using one communication bus to connect the upper and lower control units, but does not describe the execution architecture of operation parallelism and focus on distributed operations. The invention aims to introduce a distributed processing structure and a control method for power exoskeleton application.
Disclosure of Invention
In order to solve the problems, the invention provides a distributed structure power exoskeleton system and a control method.
In a first aspect, an embodiment of the present invention provides a distributed-structure power exoskeleton system, where the system includes a main processor, at least one CAN communication bus connected to the main processor and responsible for transmission of information on a body side, at least one distributed processor connected to the CAN communication bus and located on a body side, a high-priority actuator, and a high-priority sensor; the distributed processor is at least connected with one sensor or sensor group, or the distributed processor is at least connected with one actuator or actuator group; the host processor maintains point-to-point communication with the high priority executor and the high priority sensor.
In one possible design, the main processor is connected with two CAN communication buses, each CAN communication bus is respectively responsible for signal transmission on the left and right sides of the body, and each CAN communication bus is connected with at least one distributed processor.
In one possible design, the high priority actuator in point-to-point communication with the host processor includes a wireless communication module and an LED variable color indicator or LED variable color indicator module.
In one possible design, the high priority sensor is an inertial sensor located at the waist of the human body.
In one possible design, the distributed processor-connected sensor or sensor group includes an inertial sensor located on the calf of the human body, an inertial sensor located on the instep of the human body, and a force sensor; the distributed processor-connected actuator or group of actuators includes an LED variable color indicator light.
In one possible design, at least one of the at least one distributed processor is/are a drive controller including a motor; the motor driving controller is connected with a motor and used for controlling and detecting the running position, speed, temperature and current of the motor.
In a second aspect, an embodiment of the present invention provides a method for controlling a distributed structural dynamic exoskeleton, the method comprising:
collecting, by at least one distributed processor, data of a sensor or a set of sensors connected thereto;
the distributed processor calculates the space orientation of the exoskeleton parts and corresponding control instructions according to the acquired data;
the distributed processor packages and transmits the acquired exoskeleton data and/or the calculated data to the main processor through the CAN communication bus;
the main processor receives the high-priority sensor data point to point with the main processor and combines the received data transmitted by the distributed sensors to calculate control instruction data;
the host processor issues control instruction data to the high priority executors and/or the distributed processors to control the actions of the exoskeleton components.
In one possible design, the sensor or sensor group includes a force sensor and an inertial sensor disposed at the instep and lower leg area.
In one possible design, the distributed processors include a distributed processor on the left side of the body and a distributed processor on the right side of the body;
in one possible design, the distributed processor on the left side of the body collects and processes data of the left sensor or sensor group;
in one possible design, the distributed processor on the right side of the body collects data from the right side sensor or sensor group and processes it.
In one possible design, at least one of the at least one distributed processor is/are a drive controller including a motor; the motor driving controller is connected with a motor and used for controlling and detecting the running position, speed, temperature and current of the motor.
In one possible design, the control instructions formed by the distributed processor include control instructions of an actuator or group of actuators connected thereto, control instructions of an LED variable color indicator connected thereto, and control instructions of a motor connected thereto;
in one possible design, the high priority sensor is a waist inertial sensor for acquiring human waist posture data; the high-priority executor comprises an LED variable color indicator light module and a wireless communication module.
In one possible design, the distributed processor updates the spatial orientation data of the exoskeleton parts and the corresponding control instruction data of the distributed processor according to the acquired exoskeleton data, the self-calculated data and/or the data sent by the main processor;
in one possible design, the distributed processor issues control instruction data to a corresponding actuator or group of actuators on the exoskeleton to control its actions.
Compared with the prior art, the technical scheme provided by the invention has the following advantages:
the technical scheme of the invention increases the real-time calculation throughput of the whole system, has low delay control and feedback, and has high safety and strong expansibility.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a diagram of a distributed architecture dynamic exoskeleton system according to an embodiment of the present invention.
Fig. 2 is a diagram of a distributed architecture dynamic exoskeleton system according to another embodiment of the present invention.
Fig. 3 is a diagram of a distributed architecture powered exoskeleton system according to yet another embodiment of the present invention.
FIG. 4 is a flow chart of a method for controlling a distributed architecture dynamic exoskeleton according to an embodiment of the present invention.
FIG. 5 is a flowchart of a method for controlling a distributed architecture dynamic exoskeleton according to another embodiment of the present invention.
Fig. 6 is a flow chart of the distributed architecture powered exoskeleton system operation of an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1, an embodiment of the present invention provides a power exoskeleton system with a distributed structure, where the system includes a main processor, at least one CAN communication bus connected to the main processor and responsible for transmission of information on one side of a body, at least one distributed processor connected to the CAN communication bus and located on one side of the body, a high priority actuator, and a high priority sensor; the distributed processor is at least connected with one sensor or sensor group, or the distributed processor is at least connected with one actuator or actuator group; the host processor maintains point-to-point communication with the high priority executor and the high priority sensor.
The actuator or the actuator group connected with the distributed processor comprises an LED variable color indicator lamp or a motor.
Furthermore, the main processor is connected with two CAN communication buses, each CAN communication bus is respectively responsible for signal transmission on the left side and the right side of the body, and each CAN communication bus is connected with at least one distributed processor. The high priority actuator in point-to-point communication with the main processor comprises a wireless communication and LED variable color indicator light module. The main processor directly controls the change of the LED variable-color indicator lamp; the high-priority executor also comprises a wireless communication module which is in point-to-point communication with the main processor, is directly controlled by the main processor and also comprises a high-priority sensor which is in point-to-point communication with the main processor, and is positioned at an inertial sensor of the waist of a human body.
The sensor or the sensor group connected with the distributed processor comprises an inertial sensor positioned on the lower leg of the human body, an inertial sensor positioned on the foot surface of the human body and a force sensor; the distributed processor-connected actuator or group of actuators includes an LED variable color indicator light.
The at least one distributed processor is a motor drive controller, and the motor drive controller is connected with a motor to detect the running position, speed, temperature and current of the motor.
In this embodiment, the at least one distributed processor includes at least two distributed processors, as shown in fig. 1, including a distributed processor 1 and a distributed processor 2, where the distributed processor 1 is connected with a sensor or a sensor group, an actuator or an actuator group, and the distributed processor 2 is connected with a motor, a sensor or a sensor group.
The sensor or the sensor group comprises an inertial sensor and a force sensor; the inertial sensor comprises an inertial sensor positioned on the lower leg of the human body and an inertial sensor positioned on the foot surface of the human body; the actuator or group of actuators comprises an LED variable color indicator light/group. Further, the distributed processor 2 is/includes a motor drive controller to control, detect motor operating position, speed, temperature and current. The motor driving controller is used for driving a motor on one side of the body of the exoskeleton system to realize the assistance of the exoskeleton to a wearer.
As shown in fig. 2, another embodiment of the present invention further proposes a distributed system of an exoskeleton, where the system includes a main processor, a CAN1 bus and a CAN2 bus connected to the main processor, n distributed processors on the left side of the body are connected to the main processor through the CAN1 bus, n distributed processors on the right side of the body are connected to the main processor through the CAN2 bus, and a high-priority sensor and a high-priority actuator are connected to the main processor point-to-point. And n is an integer greater than or equal to 2.
Further, a distributed processor is arranged on the left side and the right side of the body and is a motor driving controller, and the motor driving controller is connected with a motor to control and detect the running position, speed, temperature and current of the motor. The distributed processors 1 on the left and right sides of the body are connected with the sensor group 1 and the actuator group 1 to collect data of the sensor group 1 and send control instructions to the actuator group 1.
The sensor group 1 at least comprises an inertial sensor positioned on the lower leg of a human body and an inertial sensor positioned on the foot surface of the human body, and the actuator group 1 at least comprises an LED variable-color indicator lamp/group. The control instruction sent by the distributed processor comprises a control instruction generated according to the sensor data collected by the distributed processor, or a control instruction generated by combining the sensor data collected by the distributed processor with the data sent by the main processor, or a control instruction directly generated by the main processor.
The main processor collects data through a high priority sensor. The main processor also generates control instructions to control the actions of the high priority executor according to the received data. The main processor also generates a control instruction according to the received data to control the high priority executor, wherein the action comprises generating the control instruction according to the data of the high priority sensor, or generating the control instruction according to the data of the high priority sensor and the data transmitted by the CAN1 and/or CAN2 bus, or generating the control instruction according to the data transmitted by the CAN1 and/or CAN2 bus.
Fig. 3 is a schematic diagram of a distributed system of exoskeleton according to another embodiment of the present invention. In this embodiment, a main processor is connected to at least one CAN communication bus, and in the case of two CAN communication buses in general, each CAN communication bus is responsible for signal transmission on one side of the body. Each communication bus is connected with at least two distributed processors, wherein the communication bus at least comprises one distributed processor connected with a motor and one distributed processor connected with a sensor and an LED variable-color indicator lamp. The main processor directly controls at least one high priority actuator, which is typically the highest priority in the control hierarchy. The main processor is connected with at least one high-priority sensor, and the high-priority sensor is an inertial sensor. In this embodiment, the LED variable color indicator is an actuator or group of actuators connected to the distributed processor.
As shown in fig. 3, the left distributed processor 20 is a motor drive controller and is connected to a motor. The left distributed processor 10 is connected with an inertial sensor of the left calf of the human body, an inertial sensor of the foot surface of the human body and a force sensor, and meanwhile, the left distributed processor 10 is connected with an LED variable color indicator lamp. The right distributed processor 30 is a motor drive controller that is connected to the motor. The right distributed processor 40 is connected with the inertial sensor of the right calf of the human body, the inertial sensor of the instep and the force sensor, and the right distributed processor 40 is connected with the LED variable color indicator lamp. The high-priority executor comprises a wireless communication module, an LED variable-color indicator lamp or an LED variable-color indicator lamp module. The high priority sensor comprises an inertial sensor, and the inertial sensor is a human waist inertial sensor.
The distributed processor may process the raw readings of the sensor, make a certain preliminary solution, and send the sensor readings and/or the resolved values using a specific communication protocol. Meanwhile, the distributed processor CAN also adjust parameters and receiving and transmitting frequencies of a data processing strategy through a specific communication protocol based on CAN communication by the main processor.
While the distributed processor may process information from the main processor or another distributed processor and control at least one actuator controlled thereby. Meanwhile, the control strategy, parameters and receiving and transmitting frequency of the distributed processor CAN be adjusted by the main processor through communication based on CAN through a specific communication protocol.
The host processor is in point-to-point communication directly with at least one high priority sensor or data input port and at least one high priority actuator. Such point-to-point communication may maximize the low latency and stability of these high priority connections. The system immediate response can be ensured when security-related controls and interactions are taken.
After the system is powered on, the main processor firstly receives the input of the high-priority sensor and the data end, and then acquires the input of the CAN bus. And the main processor performs corresponding operation and processing after acquiring all the inputs to obtain corresponding control output and related control parameters. The corresponding control outputs and parameters are first sent to all high priority actuators in a point-to-point manner and then sent to the distributed processors via the CAN. If the corresponding distributed processor does not receive the message of the main processor, the existing task CAN be terminated or the original calculation and the CAN communication task CAN be continuously executed according to the function requirement. And if the corresponding distributed processor receives the control output or parameter setting of the main processor, executing calculation and communication tasks according to the latest control output or parameter setting of the main processor.
Further, in the embodiment of the invention, the inertial sensor is a six-axis inertial sensor. The skilled person will appreciate that the six-axis inertial sensor may be replaced by a nine-axis inertial sensor to increase the measurement of the direction of the earth's magnetic field.
The system provided by the embodiment of the invention can be used for the power exoskeleton for lower limb rehabilitation. The exoskeleton uses two motors to pull the force moment of the bowden cable when the heel leaves the ground in walking to assist the ankle joint. At the same time, the exoskeleton is equipped with two inertial sensors (six-axis inertial sensors on the lower leg and foot sides respectively) on each side of the body, one force sensor, one LED variable color indicator, all sensors on each side of the body and LED variable color indicator are connected to one distributed processor.
The distributed processors on each side are connected to the main processor by their body side CAN bus.
After the power is turned on, the main processor and the distributed processors start to work. All CAN communications accessing the host processor operate at a transmission rate of 1000 kbits/s. The distributed processor at each side receives the readings of two six-axis or nine-axis inertial sensors and calculates the spatial orientation of the two inertial sensors; the distributed processor then receives readings of the force sensors; finally, the distributed processor packages the readings of the sensor, the calculated spatial orientation and the readings of the force sensor and sends the packaged readings to the main processor according to a set CAN communication protocol. When the communication is normal, the distributed processor sets the LED variable-color indicator lamp to be blue and bright, and when the communication is wrong, sets the LED variable-color indicator lamp to be red and green to flash alternately.
The main processor uses the wireless communication module to read the new settings that the user may input, such as the update of the motor boost level. And then the main processor receives information from the distributed processors respectively, analyzes gait through a control algorithm, calculates driving control signals of motors on the left side and the right side, and sends out distributed processors which are responsible for motor driving on the bus to receive and drive the motors through the CAN buses on the left side and the right side respectively. After the control signal is sent, the main processor sets the color of the LED variable-color indicator lamp connected with the main processor, if the blue color is normally on, the power assisting is turned on, and if the orange color is normally on, the power assisting is turned off.
Finally, the distributed processor collects the data again, performs preprocessing and then sends the data, and the process is repeated.
Further, as shown in fig. 4, an embodiment of the present invention further provides a method for controlling a distributed structure power exoskeleton, where the method includes: collecting, by at least one distributed processor, data of a sensor or a set of sensors connected thereto; the distributed processor calculates the space orientation of the exoskeleton parts and corresponding control instructions according to the acquired data; the distributed processor packages and transmits the acquired exoskeleton data and/or the calculated data to the main processor through the CAN communication bus; the main processor receives the high-priority sensor data point to point with the main processor and combines the received data transmitted by the distributed sensors to calculate control instruction data; the host processor issues control instruction data to the high priority executors and/or the distributed processors to control the actions of the exoskeleton components.
The sensor group comprises a force sensor and an inertial sensor arranged on the instep and the lower leg.
The distributed processors comprise a distributed processor on the left side of the body and a distributed processor on the right side of the body; the distributed processor on the left side of the body collects and processes data of the sensor or the sensor group on the left side; the distributed processor on the right side of the body collects and processes data of the sensor or the sensor group on the right side.
One distributed processor on the left side of the body collects and processes data of a sensor or a sensor group on the left side, and the other distributed processor collects motor operation parameters and controls the motor to operate; one distributed processor on the right side of the body collects and processes data of a sensor or a sensor group on the right side, and the other distributed processor collects motor operation parameters and controls motor operation.
The distributed processor is a motor driving controller, and the motor driving controller is connected with a motor to control and detect the running position, speed, temperature and current of the motor.
The control instructions formed by the distributed processors comprise control instructions for controlling an actuator group connected with the distributed processors, control instructions for an LED variable color indicator lamp connected with the distributed processors and control instructions for a motor connected with the distributed processors; the high-priority sensor is a waist inertial sensor for acquiring human waist posture data; the high-priority executor comprises an LED variable color lamp and a wireless communication module.
Further, the method further comprises: after the main processor generates control instruction data, the control instruction is sent to the corresponding distributed processor; the distributed processor updates the space orientation data of the exoskeleton parts and the corresponding control instruction data of the distributed processor according to the acquired exoskeleton data, the self-calculated data and/or the data sent by the main processor; the distributed processor sends control instruction data to a corresponding actuator or group of actuators on the exoskeleton to control the actions thereof.
Further, as shown in fig. 5, the present invention also provides another embodiment of a distributed structure power exoskeleton control method, which includes: collecting exoskeleton data through a first data collection interface of the main processor and a second data collection interface of the n distributed processors; the n distributed processors calculate the space orientation data of the exoskeleton parts and corresponding control instruction data according to the acquired exoskeleton data; the n distributed processors transmit the acquired exoskeleton data and/or the calculated data to the main processor through the CAN communication bus; the main processor calculates control instruction data according to the received and collected data, and sends the control instruction data to control the exoskeleton movement. And n is an integer greater than or equal to 2.
The main processor acquires data of a corresponding sensor group on the exoskeleton or data input from the outside through a first data acquisition interface; and the second data acquisition interface of each distributed processor is connected with a corresponding sensor group to acquire data.
The main processor calculates control instructions according to the received and collected data, and sends the control instructions to control the exoskeleton motions, including: the main processor sends control instruction data to a corresponding main actuator group on the exoskeleton through a first instruction output port so as to control the action of the main actuator group.
The method further comprises the steps of: after the main processor generates control instruction data, the control instruction is sent to the corresponding distributed processor through the CAN communication bus; the n distributed processors update the space orientation data of the exoskeleton parts and the corresponding control instruction data of the distributed processors according to the acquired exoskeleton data, the self-calculated data and/or the data sent by the main processor; the distributed processor sends control instruction data to the corresponding actuator group on the exoskeleton through the second instruction output port so as to control the action of the actuator group.
In the method, the distributed processor at least comprises a distributed processor connected with the sensor and a distributed processor connected with the motor; the distributed processor connected with the motor is/are a motor controller.
Fig. 6 is a schematic diagram of a workflow of a distributed architecture dynamic exoskeleton system provided by the present invention. Each distributed processor of the exoskeleton obtains sensor data; each distributed processor of the exoskeleton processes all acquired data (including data of the sensors and data sent by the main processor) to form control instructions; the distributed processor transmits the data acquired by the distributed processor to the main processor; the main processor executes control operation and forms a control instruction; the main processor sends the formed control instruction to the executor; and the main processor sends corresponding control instruction data to each distributed processor. This cycle is done to complete the system work.
The embodiment of the invention comprises at least one CAN communication bus connected with the main processor and responsible for information transmission on one side of a body, and at least two distributed processors connected with the CAN communication bus and correspondingly positioned on one side of the body, wherein one distributed processor is connected with at least one sensor or sensor group; preferably, the distributed processor may be coupled to one or more actuators or groups of actuators; another distributed processor is connected to and controls one motor.
The distributed processor pre-processes the data interaction between the sensor and the actuator, and then packages the processed data and sends the packaged data to the main processor through the communication bus. Meanwhile, the distributed processors can independently execute and calculate control instructions of the local executor. Further, the distributed processor may receive an upper level instruction generated by the host processor, perform local computations to convert the upper level instruction into a lower level instruction for its group of actuators. Further, the distributed processor may receive an operation task requested by the main processor, in which case the distributed processor is equivalent to a branch thread of the main processor. Finally, the distributed processor can receive an operation setting parameter sent by the main processor to adjust the data preprocessing strategy and the communication strategy of the distributed processor in real time.
The main processor is directly connected to at least one actuator or group of actuators, via the drive board of the actuator. The main processor directly controls the actuator or the actuator group and obtains the feedback of the relevant operation parameters of the actuator or the actuator group. The actuator or group of actuators is typically a subsystem with a high priority.
The embodiment of the invention reserves an interface for the main processor to be directly connected with the high-priority executor. Direct connection using the host processor and the actuator minimizes communication delay (e.g., CAN communication blockage, CAN wire physical disconnection). This is important in safety-related (e.g. human interactive) control.
The data of the connected sensors may be pre-processed using a distributed processor. These preprocessing include filtering, data pre-integration and computation, and on-line functional diagnostics. While a portion of the control of the actuator group may be carried out entirely or partially by a local distributed processor. This results in a reduced real-time operational requirement of the host processor, while the real-time operational throughput of the overall system is greater. At the same time, having operations parallel and distributed across distributed processors provides a potentially lower cost implementation than increasing the real-time computation of a single processor.
The data of the sensor group has digital and analog signals and no related communication protocol, and the signals are attenuated in a physical layer to cause insufficient communication signal reception and distortion of information, so that the detection and the restoration cannot be performed or are difficult (unless a plurality of signal enhancers are used for other methods). The use of distributed processors allows for unified post-processing packaging of local data, which data packaging and transmission uses a communication protocol that is already existing and widely used in the industry and has a standard (i.e., CAN communication protocol). This enables the distributed architecture of the present invention to provide more reliable data exchange and communication.
By using distributed processors, the complex system can be divided into mutually independent subsystems, which makes the development of control simpler. Because the subsystems are independent of each other, errors can be better isolated when each system runs, and therefore the whole system is not affected, and the robustness of the system is higher. Meanwhile, the main processor only has a fixed number of data interfaces, the distributed processor and the corresponding needed communication buses are used, and the number and variety of the sensors and the executors can be expanded by adding the distributed processor or using the redundant interfaces of the existing distributed processor, so that the architecture of the invention has stronger expansibility.
Preferably, the present invention can use two communication buses corresponding to the two sides of the body, and for the same signal, such as ankle angle, the left and right signals are physically separated, and this separation gives the following benefits: the system can determine the case of an anti-wear because an anti-wear by the wearer when wearing would cause each side distributed processor to issue an unregistered message identifier on its bus (because the left and right leg message identifiers can distinguish between signals). In contrast, if all the communications on the left and right sides are classified as one bus, the system needs to rely on an additional algorithm to detect the reverse threading, and meanwhile, separating the left and right sides can effectively reduce congestion of the communication lines, so as to reduce communication delay. Finally, the communication buses on each side of the body improve the expandability of the system, and only one communication bus is needed to be added for expanding the body from one side to two sides and similar distributed processors and software are configured, so that the complexity of system development and configuration is reduced.
While certain specific embodiments of the invention have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the invention. It will be appreciated by those skilled in the art that changes may be made to the embodiments described above, or equivalents may be substituted for elements thereof without departing from the scope and spirit of the invention, and that they are within the scope of the invention.
Claims (12)
1. The distributed structure power exoskeleton system is characterized by comprising a main processor, at least one CAN communication bus connected with the main processor and responsible for information transmission on one side of a body, at least one distributed processor connected with the CAN communication bus and correspondingly positioned on one side of the body, a high-priority actuator and a high-priority sensor; the distributed processor is at least connected with one sensor or sensor group, or the distributed processor is at least connected with one actuator or actuator group; the host processor maintains point-to-point communication with the high priority executor and the high priority sensor.
2. The distributed architecture power exoskeleton system of claim 1, wherein said main processor is connected to two CAN communication buses, each CAN communication bus being responsible for transmission of signals on the left and right sides of the body, and each CAN communication bus being connected to at least one distributed processor.
3. The distributed architecture power exoskeleton system of claim 1, wherein said high priority actuator in point-to-point communication with the host processor includes a wireless communication module and an LED variable color indicator module.
4. The distributed architecture powered exoskeleton system of claim 1 wherein said high priority sensor is an inertial sensor located at the lumbar region of the human body.
5. The distributed architecture powered exoskeleton system of claim 1, wherein:
the sensor or the sensor group connected with the distributed processor comprises an inertial sensor positioned on the lower leg of the human body, an inertial sensor positioned on the foot surface of the human body and a force sensor; the distributed processor-connected actuator or group of actuators includes an LED variable color indicator light.
6. The distributed architecture powered exoskeleton system of claim 2, wherein: at least one of the at least one distributed processor is/are a motor drive controller; the motor drive controller is connected with the motor and used for controlling and detecting the running position, speed, temperature and current of the motor.
7. A method of distributed structural dynamic exoskeleton control, the method comprising:
collecting, by at least one distributed processor, data of a sensor or a set of sensors connected thereto;
the distributed processor calculates the space orientation of the exoskeleton parts and corresponding control instructions according to the acquired data;
the distributed processor packages and transmits the acquired exoskeleton data and/or the calculated data to the main processor through the CAN communication bus;
the main processor receives the high-priority sensor data point to point with the main processor and combines the received data transmitted by the distributed sensors to calculate control instruction data;
the host processor issues control instruction data to the high priority executors and/or the distributed processors to control the actions of the exoskeleton components.
8. The method of claim 7, wherein the sensor or sensor set includes force sensors and inertial sensors disposed on the instep and calf areas.
9. The distributed architecture power exoskeleton control method of claim 7 wherein said distributed processors include a left side of the body distributed processor and a right side of the body distributed processor;
the distributed processor on the left side of the body collects and processes data of the sensor or the sensor group on the left side;
the distributed processor on the right side of the body collects and processes data of the sensor or the sensor group on the right side.
10. The distributed architecture power exoskeleton control method of claim 7, wherein at least one of said at least one distributed processor is/are a drive controller including a motor; the motor driving controller is connected with a motor and used for controlling and detecting the running position, speed, temperature and current of the motor.
11. The method of claim 7, wherein the control instructions formed by the distributed processor include control instructions for an actuator or group of actuators connected thereto, control instructions for an LED variable color indicator connected thereto, and control instructions for a motor connected thereto;
the high-priority sensor is a waist inertial sensor for acquiring human waist posture data; the high-priority executor comprises an LED variable color indicator lamp or an LED variable color indicator lamp module and a wireless communication module.
12. The distributed architecture power exoskeleton control method of claim 7, wherein said method further comprises:
the distributed processor updates the space orientation data of the exoskeleton parts and the corresponding control instruction data of the distributed processor according to the acquired exoskeleton data, the self-calculated data and/or the data sent by the main processor;
the distributed processor sends control instruction data to a corresponding actuator or group of actuators on the exoskeleton to control the actions thereof.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210559153.4A CN117140474A (en) | 2022-05-22 | 2022-05-22 | Distributed structure power exoskeleton system and control method |
| PCT/CN2022/138036 WO2023226376A1 (en) | 2022-05-22 | 2022-12-09 | Powered exoskeleton system with distributed structure, and control method |
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| CN202210559153.4A CN117140474A (en) | 2022-05-22 | 2022-05-22 | Distributed structure power exoskeleton system and control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US8096965B2 (en) * | 2008-10-13 | 2012-01-17 | Argo Medical Technologies Ltd. | Locomotion assisting device and method |
| CN103586867A (en) * | 2013-11-11 | 2014-02-19 | 北京航空航天大学 | Electric control system of multi-freedom-degree wearable lower limb external skeleton robot |
| WO2015088863A2 (en) * | 2013-12-09 | 2015-06-18 | President And Fellows Of Harvard College | Assistive flexible suits, flexible suit systems, and methods for making and control thereof to assist human mobility |
| CN104027218B (en) * | 2014-06-05 | 2016-02-24 | 电子科技大学 | A kind of healing robot control system and method |
| CN207096930U (en) * | 2017-04-08 | 2018-03-13 | 金子楗 | A kind of touch feedback ectoskeleton control system |
| CN110353940A (en) * | 2018-04-09 | 2019-10-22 | 南京拓步智能科技有限公司 | A kind of hand ectoskeleton based on mirror image synchronization simulation control |
| CN209220856U (en) * | 2018-07-09 | 2019-08-09 | 浙江大学城市学院 | A kind of assisted walk exoskeleton robot system with self-regulation |
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