A gear gap compensation method, device and storage medium

Abstract

The present application relates to the field of medical equipment, and in particular, to a gear gap compensation method, device and storage medium. A gear gap compensation method comprises: controlling a first gear to rotate clockwise, obtaining a clockwise gear rotation angle that meets a first preset condition, controlling the first gear to rotate counterclockwise, and obtaining a counterclockwise gear rotation angle that meets a second preset condition; and obtaining a target lens angle through a lens rotation relationship according to the clockwise gear rotation angle and the counterclockwise gear rotation angle. The technical scheme of the present application can improve the accuracy of lens angle adjustment.

Description

Technical Field

[0001] This invention relates to the field of medical devices, and more specifically, to a method, apparatus, and storage medium for compensating gear backlash. Background Technology

[0002] In recent years, surgical robots have been widely used in the medical field, helping doctors to perform complex operations with precision and reducing the risks that may occur during the operation through precise control.

[0003] As part of the surgical robot, the endoscope arm is used to carry and operate the lenses and tools required in surgery, providing doctors with a better operating environment and more precise surgical operations. It controls the rotation of gears by driving motors, which in turn drives the lens interface to rotate, thereby controlling the lens rotation angle. However, during the rotation of the gears, due to the existence of gear gaps, there is a certain angular deviation between the adjusted lens angle and the ideal lens adjustment angle. Summary of the Invention

[0004] The problem solved by this invention is how to improve the accuracy of lens angle adjustment.

[0005] To address the aforementioned problems, this invention provides a gear backlash compensation method, apparatus, and storage medium.

[0006] In a first aspect, the present invention provides a gear backlash compensation method applied to a lens gear assembly of a lens arm, the lens gear assembly of the lens arm including a first gear, a second gear and a lens interface component, the first gear meshing with the lens interface component, the side of the lens interface component away from the first gear meshing with the second gear, and the lens interface component being used to connect to a lens;

[0007] The gear backlash compensation method includes:

[0008] Control the first gear to rotate clockwise to obtain a clockwise gear rotation angle that satisfies a first preset condition, and control the first gear to rotate counterclockwise to obtain a counterclockwise gear rotation angle that satisfies a second preset condition;

[0009] Based on the clockwise and counterclockwise gear rotation angles, the target angle of the lens is obtained through the lens rotation relationship.

[0010] Optionally, controlling the first gear to rotate clockwise to obtain a clockwise gear rotation angle that satisfies a first preset condition includes:

[0011] Control the first gear to rotate clockwise, and obtain the first rotation angle of the first gear and the second rotation angle of the second gear in real time;

[0012] When the first rotation angle and the second rotation angle satisfy the first preset adjustment condition, the first rotation angle corresponding to the current moment is determined as the clockwise gear rotation angle.

[0013] Optionally, the step of determining the first rotation angle at the current moment as the clockwise gear rotation angle when the first rotation angle and the second rotation angle satisfy the first preset adjustment condition includes:

[0014] The clockwise angle change rate is obtained based on the first rotation angle acquired in real time;

[0015] When the rate of change of the clockwise angle is less than a first preset threshold and the second rotation angle is greater than a second preset threshold, the first rotation angle corresponding to the current moment is determined as the clockwise gear rotation angle.

[0016] Optionally, controlling the first gear to rotate counterclockwise to obtain a counterclockwise gear rotation angle that satisfies the second preset condition includes:

[0017] Control the first gear to rotate counterclockwise, and obtain the third rotation angle of the first gear and the fourth rotation angle of the second gear in real time;

[0018] When the third rotation angle and the fourth rotation angle satisfy the second preset adjustment condition, the third rotation angle corresponding to the current moment is determined as the counterclockwise gear rotation angle.

[0019] Optionally, when the third rotation angle and the fourth rotation angle satisfy the second preset adjustment condition, determining the third rotation angle corresponding to the current moment as the counterclockwise gear rotation angle includes:

[0020] The counterclockwise angle change rate is obtained based on the real-time acquired third rotation angle;

[0021] When the rate of change of the counterclockwise angle is less than the third preset threshold and the second rotation angle is greater than the fourth preset threshold, the third rotation angle corresponding to the current moment is determined as the rotation angle of the counterclockwise gear.

[0022] Optionally, the lens target angle includes a clockwise lens target angle and a counterclockwise lens target angle; the lens rotation relationship includes a clockwise lens rotation relationship and a counterclockwise lens rotation relationship; obtaining the lens target angle based on the clockwise gear rotation angle and the counterclockwise gear rotation angle through the lens rotation relationship includes:

[0023] The gear clearance is obtained through the clearance relationship based on the clockwise gear rotation angle and the counterclockwise gear rotation angle;

[0024] Based on the gear clearance and the preset lens rotation angle, the target angle of the clockwise lens is obtained through the clockwise lens rotation relationship;

[0025] The target angle of the counterclockwise lens is obtained by using the counterclockwise lens rotation relationship based on the gear clearance and the preset lens rotation angle.

[0026] Optionally, the gap relationship satisfies:

[0027] G = ABS(θ1 - θ2);

[0028] The clockwise lens rotation relationship satisfies:

[0029] β1 = β + G;

[0030] The counterclockwise lens rotation relationship satisfies:

[0031] β2 = β + G;

[0032] Wherein, G is the gear clearance, θ1 is the clockwise gear rotation angle, θ2 is the counterclockwise gear rotation angle, β1 is the clockwise lens target angle, β2 is the counterclockwise lens target angle, β is the preset lens rotation angle, and ABS(θ1-θ2) is the absolute value of the difference between the clockwise gear rotation angle and the counterclockwise gear rotation angle.

[0033] Secondly, a gear backlash compensation device includes:

[0034] The acquisition module is used to control the first gear to rotate clockwise, acquire the clockwise gear rotation angle that satisfies the first preset condition, and control the first gear to rotate counterclockwise, acquire the counterclockwise gear rotation angle that satisfies the second preset condition.

[0035] The processing module is used to obtain the target angle of the lens based on the rotation angle of the clockwise gear and the rotation angle of the counterclockwise gear, through the lens rotation relationship.

[0036] Thirdly, an electronic device including a memory and a processor;

[0037] The memory is used to store computer programs;

[0038] The processor is configured to implement the gear backlash compensation method as described in the first aspect when executing the computer program.

[0039] Fourthly, a computer-readable storage medium storing a computer program that, when executed by a processor, implements the gear backlash compensation method as described in the first aspect.

[0040] The beneficial effects of the robot vision recognition method, device, and storage medium of the present invention are as follows: By controlling the first gear to rotate clockwise, the lens interface component is driven to rotate counterclockwise. The lens interface component then drives the second gear to rotate clockwise. When the rotation angles of the first and second gears meet a first preset condition, the rotation angle of the first gear at this moment is determined as the clockwise gear rotation angle. Similarly, by controlling the first gear to rotate counterclockwise, when the rotation angles of the first and second gears meet a second preset condition, the corresponding rotation angle of the first gear is determined as the counterclockwise gear rotation angle. Due to the existence of gear backlash, the clockwise and counterclockwise gear rotation angles are obtained respectively without controlling the rotation of the second gear. The rotation angle, when the operator controls the lens rotation of the endoscope arm, compensates for the clockwise and counterclockwise rotation angles of the lens based on the corresponding gear rotation angle, thereby improving the accuracy of lens adjustment. By considering the lens rotation relationship, the clockwise gear rotation angle, and the counterclockwise gear rotation angle, the target lens angle can be obtained. This target lens angle is the actual rotation angle of the first gear after compensation by the clockwise or counterclockwise gear rotation angle. This target lens angle allows the lens rotation angle to more closely approximate the desired lens adjustment angle, thus improving the accuracy of lens adjustment. Precise lens control results in accurate image presentation, enabling the operator to perform more precise surgical procedures based on the obtained images. Attached Figure Description

[0041] Figure 1 This is a schematic flowchart of a gear backlash compensation method according to an embodiment of the present invention;

[0042] Figure 2 This is a schematic diagram of the gear structure according to an embodiment of the present invention;

[0043] Figure 3 This is a schematic diagram of the structure of the first gear and lens interface component according to an embodiment of the present invention;

[0044] Figure 4 This is a schematic diagram of the clockwise meshing of the second gear and the lens interface component according to an embodiment of the present invention;

[0045] Figure 5 This is a schematic diagram of the counterclockwise meshing of the second gear and the lens interface component according to an embodiment of the present invention;

[0046] Figure 6 This is a schematic diagram of a gear backlash compensation device according to an embodiment of the present invention. Detailed Implementation

[0047] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the accompanying drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0048] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0049] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc., mentioned in this invention are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0050] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0051] In the gear backlash compensation method of this invention embodiment, such as Figure 2 As shown, the lens holding arm includes a first gear 1, a second gear 2, and a lens interface component 3. Two drive motors control the rotation of the first gear 1 and the second gear 2, respectively, thereby controlling the rotation of the lens interface component 3 and ultimately controlling the lens angle. However, due to the gap between the gears of the first gear 1, the second gear 2, and the lens interface component 3, when the first gear 1 rotates by a small angle, the second gear 2 and the lens interface component 3 will not rotate by the same angle, causing the lens on the lens interface component 3 to be unable to rotate. Therefore, the result of adjusting the lens angle through the gears differs from the ideal adjustment result.

[0052] like Figure 1As shown, in order to solve the above-mentioned technical problems, the present invention provides a gear backlash compensation method, which is applied to a lens gear assembly of a lens arm. The lens gear assembly of the lens arm includes a first gear 1, a second gear 2 and a lens interface 3. The first gear 1 meshes with the lens interface 3, and the side of the lens interface 3 away from the first gear 1 meshes with the second gear 2. The lens interface 3 is used to connect to the lens.

[0053] Specifically, such as Figure 2 As shown, the first gear 1 and the second gear 2 are located on both sides of the lens interface 3, and the first gear 1 and the second gear 2 mesh with the lens interface 3. When the first gear 1 rotates under the action of the motor, it drives the lens interface 3 to rotate through the gear at the meshing point. The lens interface 3 drives the second gear to rotate through the gear at the meshing point with the second gear 2. However, due to the gap between the gears, when the first gear 1 is active, the second gear 2 and the lens interface 3 will not rotate immediately. When the first gear 1 rotates to the gap distance and meshes with the lens interface 3, that is, when the first gear 1 contacts the lens interface 3, the lens interface 3 will rotate with the first gear. Similarly, when the lens interface 3 and the second gear 2 mesh, the second gear 2 will rotate with the lens interface 3.

[0054] The gear backlash compensation method includes:

[0055] Step S1: Control the first gear 1 to rotate clockwise to obtain a clockwise gear rotation angle that satisfies the first preset condition; control the first gear 1 to rotate counterclockwise to obtain a counterclockwise gear rotation angle that satisfies the second preset condition.

[0056] Specifically, after the lens interface component 3 is installed on the laparoscopic surgical robot's arm, due to the gap between the gears, there is an angular deviation between the ideal target adjustment position and the actual position of the lens interface component 3. This deviation will affect the image angle of the operator on the main screen of the doctor's console.

[0057] Furthermore, to compensate for the deviation caused by gear backlash, firstly, the motor of the first gear 1 is powered on and rotates continuously clockwise, while the motor of the second gear 2 is not powered on. Then, it is determined whether the rotation angles of the first gear 1 and the second gear 2 meet a first preset condition. When the rotation angles of both gears meet the first preset condition, the rotation angle of the first gear 1 at the current moment is determined as the clockwise gear rotation angle. That is, when the motor of the second gear 2 is not powered on, due to the existence of gear backlash, the first gear 1 can rotate at a certain angle. Although the motor of the second gear 2 is not powered on, the second gear 2 is not locked and remains stationary; it will rotate slightly under the action of force. That is, the second gear 2 will rotate with the lens interface component 3. To induce vibration, the motor controlling the first gear 1 is powered on and rotates counterclockwise continuously. When the motor controlling the second gear 2 is not powered on, and the rotation angles of the first gear 1 and the second gear 2 meet the second preset condition, the rotation angle of the first gear 1 at the current moment is determined as the counterclockwise gear rotation angle. Since both the first gear 1 and the second gear 2 are driven by motors, the output signal of the motor encoder is a pulse signal, and its frequency is proportional to the rotation angle. Therefore, the rotation angle value of the motor can be obtained by the number of encoder output signal pulses and the encoder resolution, that is, the rotation angle of the gear corresponding to the motor. The calculation formula is: rotation angle = number of encoder output signal pulses / encoder resolution * 360°.

[0058] Step S2: Based on the clockwise rotation angle and the counterclockwise rotation angle of the gear, the target angle of the lens is obtained through the lens rotation relationship.

[0059] Specifically, based on the clockwise rotation angle of the first gear 1 obtained during clockwise rotation, i.e., due to gear backlash, the clockwise rotation of the first gear 1 is controlled. When the first gear 1 meshes with the lens interface component 3, the first gear 1 drives the lens interface component 3 to rotate counterclockwise, such as... Figure 4 When the lens interface 3 and the second gear 2 are engaged at position P5, the rotation angle of the first gear 1 is taken as the clockwise gear rotation angle. Similarly, the counterclockwise gear rotation angle can be obtained. Based on the lens rotation relationship, the target lens angle can be obtained according to the clockwise and counterclockwise gear rotation angles. That is, considering the gear clearance, the actual angle that the first gear 1 needs to rotate is required. The target lens angle can be used to achieve precise control of the lens on the lens holding arm.

[0060] In this embodiment, by controlling the first gear 1 to rotate clockwise, the lens interface component 3 is driven to rotate counterclockwise. The lens interface component 3 then drives the second gear 2 to rotate clockwise. When the rotation angles of the first gear 1 and the second gear 2 meet a first preset condition, the rotation angle of the first gear 1 at this moment is determined as the clockwise gear rotation angle. Similarly, by controlling the first gear 1 to rotate counterclockwise, when the rotation angles of the first gear 1 and the second gear 2 meet a second preset condition, the corresponding rotation angle of the first gear 1 is determined as the counterclockwise gear rotation angle. Due to the existence of gear backlash, the clockwise gear rotation angle and the counterclockwise gear rotation angle are obtained respectively when rotating counterclockwise and clockwise, without controlling the rotation of the second gear 2. When the operator controls the lens rotation of the endoscope arm, the clockwise and counterclockwise rotation angles of the lens can be compensated according to the corresponding gear rotation angle, thereby improving the accuracy of lens adjustment. By using the lens rotation relationship, the clockwise gear rotation angle, and the counterclockwise gear rotation angle, the target lens angle can be obtained. This target lens angle is the actual rotation angle of the first gear 1 after compensation by the clockwise or counterclockwise gear rotation angle. By using this target lens angle, the lens rotation angle can be made closer to the desired lens adjustment angle, thereby improving the accuracy of lens adjustment. Through precise lens control, a precise image presentation effect can be obtained, enabling the operator to perform more precise surgical operations based on the obtained image.

[0061] In an optional embodiment, controlling the first gear 1 to rotate clockwise to obtain a clockwise gear rotation angle that satisfies a first preset condition includes:

[0062] Control the first gear 1 to rotate clockwise, and obtain the first rotation angle of the first gear 1 and the second rotation angle of the second gear 2 in real time;

[0063] When the first rotation angle and the second rotation angle satisfy the first preset adjustment condition, the first rotation angle corresponding to the current moment is determined as the clockwise gear rotation angle.

[0064] In an optional embodiment, the step of determining the first rotation angle at the current moment as the clockwise gear rotation angle when the first rotation angle and the second rotation angle satisfy the first preset adjustment condition includes:

[0065] The clockwise angle change rate is obtained based on the first rotation angle acquired in real time;

[0066] When the rate of change of the clockwise angle is less than a first preset threshold and the second rotation angle is greater than a second preset threshold, the first rotation angle corresponding to the current moment is determined as the clockwise gear rotation angle.

[0067] Specifically, the motor of the first gear 1 is powered on and rotates continuously clockwise, while the motor of the second gear 2 is not powered on. The first rotation angle of the first gear 1 and the second rotation angle of the second gear 2 are recorded. When the first gear 1 engages with the lens interface 3, as shown... Figure 3 As shown, point P1 of the first gear 1 will coincide with point P3 of the lens mount 3. If the motor current of the first gear 1 is sufficiently large, the lens mount 3 will rotate counterclockwise by a small angle, thereby causing the second gear 2 to rotate clockwise by a small angle, resulting in the gear of the lens mount 3 meshing with the second gear 2. Figure 4 As shown, point P5 is the meshing point of the lens interface component 3 and the second gear 2. At this time, the first gear 1 meshes with the lens interface component 3. The clockwise angle change rate of the first gear 1 is calculated based on the obtained rotation angle of the first gear 1, that is, the change value of the angle per unit time, for example, the angle of rotation of the first gear within 100ms.

[0068] Furthermore, when the clockwise angle change rate is less than the first preset threshold, it is determined that the rotation angle of the first gear 1 has no significant change. At the same time, if the force of the motor rotation of the first gear 1 is large enough, it can cause the second gear 2 to vibrate. Vibration refers to the fact that the motor of the second gear 2 was originally stationary, but due to the rotation of the motor of the first gear 1, the mirror holding interface 3 is driven to rotate under gear meshing. The mirror holding interface 3 is also meshed with the second gear 2, so it will change the final angle value of the second gear 2, forming a vibration phenomenon. When the second rotation angle of the second gear 2 caused by vibration exceeds the second preset threshold, the rotation angle of the first gear 1 at this time is determined as the clockwise gear rotation angle, that is, the angle of rotation of the first gear when it rotates from stationary to meet the first preset condition.

[0069] In this optional embodiment, when the first rotation angle and the second rotation angle simultaneously meet the preset discrimination conditions, the first rotation angle of the first gear 1 at that moment is obtained and the angle is determined as the clockwise gear rotation angle. That is, due to the existence of gear clearance, the first gear 1 can rotate at the angle when the motor of the second gear 2 is not powered on. The clockwise gear rotation angle can compensate for the rotation angle when the first gear 1 controls the lens rotation clockwise, so that the actual rotation angle of the lens is closer to the ideal rotation angle, thereby improving the accuracy of the lens angle adjustment of the lens holding arm.

[0070] In an optional embodiment, controlling the first gear 1 to rotate counterclockwise to obtain a counterclockwise gear rotation angle that satisfies a second preset condition includes:

[0071] Control the first gear 1 to rotate counterclockwise, and obtain the third rotation angle of the first gear 1 and the fourth rotation angle of the second gear 2 in real time;

[0072] When the third rotation angle and the fourth rotation angle satisfy the second preset adjustment condition, the first rotation angle corresponding to the current moment is determined as the counterclockwise gear rotation angle.

[0073] In an optional embodiment, the step of determining the first rotation angle corresponding to the current moment as the counterclockwise gear rotation angle when the third rotation angle and the fourth rotation angle satisfy the second preset adjustment condition includes:

[0074] The counterclockwise angle change rate is obtained based on the real-time acquired third rotation angle;

[0075] When the rate of change of the counterclockwise angle is less than the third preset threshold and the second rotation angle is greater than the fourth preset threshold, the third rotation angle corresponding to the current moment is determined as the rotation angle of the counterclockwise gear.

[0076] Specifically, the motor of the first gear 1 is continuously rotated counterclockwise, and the rotation angle of the first gear 1 is acquired in real time, such as... Figure 3 As shown, point P2 of the first gear 1 and point P4 of the lens mount 3 will coincide. With a sufficiently large motor current, the lens mount 3 will rotate clockwise by a small angle, thereby causing the second gear 2 to rotate counterclockwise by a small angle, resulting in the gear of the lens mount 3 meshing with the second gear 2. Figure 5 As shown, point P6 is the meshing point of the lens interface component 3 and the second gear 2. At this time, the first gear 1 meshes with the lens interface component 3. The counterclockwise angle change rate is calculated by the real-time acquired third rotation angle. When the counterclockwise angle change rate is less than the third preset threshold, it is determined that the angle of the first gear 1 has no significant change. If the force of the motor rotation of the first gear 1 is large enough, it can cause the second rotation angle of the second gear 2 to have a certain numerical jitter. When the second rotation angle is greater than the fourth preset threshold, the first rotation angle of the first gear 1 is recorded at this time, and this angle is determined as the counterclockwise gear rotation angle. The obtained clockwise gear rotation angle can be used to compensate for the rotation angle when the first gear 1 controls the lens rotation counterclockwise, thereby improving the accuracy of the lens angle adjustment of the lens arm.

[0077] Furthermore, in practical applications, it can be found that a prerequisite for the motor to rotate is that the current needs to be sufficiently large. This required current, assuming the motor is not damaged, is the motor's rated current. However, this patented method carries the possibility of motor stalling. When the motor stalls, the current will surge, causing some wear and tear on the motor. Therefore, considering the risk of motor damage, this method selects 1 / 3 of the motor's rated current as the rotation current. Next, the rotation of the aforementioned gears is analyzed. With the rotation current determined, the jitter value of the second gear 2 angle, which can be observed through the host computer, is between 0.01 and 0.02 degrees. Considering that the above calculation process requires the first gear 1 to rotate clockwise for a preset time without rotating a certain angle, it needs to rotate in the opposite direction. Therefore, this angle should be as small as possible while meeting the conditions.

[0078] In an optional embodiment, the lens target angle includes a clockwise lens target angle and a counterclockwise lens target angle; the lens rotation relationship includes a clockwise lens rotation relationship and a counterclockwise lens rotation relationship; obtaining the lens target angle based on the clockwise gear rotation angle and the counterclockwise gear rotation angle through the lens rotation relationship includes:

[0079] The gear clearance is obtained through the clearance relationship based on the clockwise gear rotation angle and the counterclockwise gear rotation angle;

[0080] Based on the gear clearance and the preset lens rotation angle, the target angle of the clockwise lens is obtained through the clockwise lens rotation relationship;

[0081] The target angle of the counterclockwise lens is obtained by using the counterclockwise lens rotation relationship based on the gear clearance and the preset lens rotation angle.

[0082] In an optional embodiment, the gap relationship satisfies:

[0083] G = ABS(θ1 - θ2);

[0084] The clockwise lens rotation relationship satisfies:

[0085] β1 = β + G;

[0086] The counterclockwise lens rotation relationship satisfies:

[0087] β2 = β + G;

[0088] Wherein, G is the gear clearance, θ1 is the clockwise gear rotation angle, θ2 is the counterclockwise gear rotation angle, β1 is the clockwise lens target angle, β2 is the counterclockwise lens target angle, β is the preset lens rotation angle, and ABS(θ1-θ2) is the absolute value of the difference between the clockwise gear rotation angle and the counterclockwise gear rotation angle.

[0089] For example, the clockwise rotation angle of the first gear 1 is set to a positive value, and the counterclockwise rotation angle is set to a negative value. When both the clockwise and counterclockwise rotation angles are 0.01°, the clockwise rotation angle is 0.01°, and the counterclockwise rotation angle is -0.01°. By taking the absolute value of the difference between the two angles through the gap relationship, the gear gap is found to be 0.02°. When the lens rotates clockwise, the preset rotation angle of the lens is 0.03°, which is the ideal angle that the operator wants to control the lens rotation. If the actual rotation angle of the first gear 1 is controlled to be 0.03° + 0.02° = 0.05°, then the clockwise target angle of the lens is 0.05°. In order to eliminate the gear backlash, the first gear needs to be controlled to rotate 0.05° so that the final lens rotation angle is 0.03°, thereby achieving the ideal rotation angle of the lens. Similarly, when the lens needs to rotate counterclockwise, the counterclockwise target angle of the lens is obtained by considering the gear backlash and the desired preset lens rotation angle through the counterclockwise lens rotation relationship.

[0090] In this optional embodiment, the gear clearance is obtained by analyzing and calculating the gear clearance on the lens holding arm. Finally, by controlling the lens to rotate clockwise and counterclockwise, the accurate lens adjustment angle can be obtained, namely the clockwise lens target angle and the counterclockwise lens target angle. This ensures that the actual lens rotation angle obtained based on the corresponding lens target angle is consistent with the desired lens rotation angle, thereby improving the accuracy of lens angle adjustment.

[0091] like Figure 6 As shown, an embodiment of the present invention provides a gear backlash compensation device, comprising:

[0092] The acquisition module is used to control the first gear 1 to rotate clockwise, acquire the clockwise gear rotation angle that satisfies the first preset condition, and control the first gear 1 to rotate counterclockwise, acquire the counterclockwise gear rotation angle that satisfies the second preset condition.

[0093] The processing module is used to obtain the target angle of the lens based on the rotation angle of the clockwise gear and the rotation angle of the counterclockwise gear, through the lens rotation relationship.

[0094] The gear backlash compensation device in this embodiment of the invention has similar technical effects to the gear backlash compensation method described above, and will not be described in detail here.

[0095] An electronic device provided in this invention includes a memory and a processor;

[0096] The memory is used to store computer programs;

[0097] The processor is configured to implement the gear backlash compensation method as described above when executing the computer program.

[0098] An electronic device in this embodiment of the invention has similar technical effects to the gear backlash compensation method described above, and will not be described in detail here.

[0099] This invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the gear backlash compensation method described above.

[0100] A computer-readable storage medium in this embodiment of the invention has similar technical effects to the gear backlash compensation method described above, and will not be described in detail here.

[0101] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc. In this application, the units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of the present invention according to actual needs. Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units can be implemented in hardware or as software functional units.

[0102] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A method for compensating gear backlash, characterized in that, The lens gear assembly for the lens arm includes a first gear (1), a second gear (2) and a lens interface (3). The first gear (1) meshes with the lens interface (3), and the side of the lens interface (3) away from the first gear (1) meshes with the second gear (2). The lens interface (3) is used to connect to the lens. The gear backlash compensation method includes: Control the first gear (1) to rotate clockwise to obtain a clockwise gear rotation angle that satisfies the first preset condition; control the first gear (1) to rotate counterclockwise to obtain a counterclockwise gear rotation angle that satisfies the second preset condition. Based on the clockwise and counterclockwise gear rotation angles, the target angle of the lens is obtained through the lens rotation relationship; The control of the first gear (1) to rotate clockwise to obtain a clockwise gear rotation angle that satisfies the first preset condition includes: Control the first gear (1) to rotate clockwise, and obtain the first rotation angle of the first gear (1) and the second rotation angle of the second gear (2) in real time; When the first rotation angle and the second rotation angle satisfy the first preset condition, the first rotation angle corresponding to the current moment is determined as the clockwise gear rotation angle; When the first rotation angle and the second rotation angle satisfy the first preset condition, determining the first rotation angle corresponding to the current moment as the clockwise gear rotation angle includes: The clockwise angle change rate is obtained based on the first rotation angle acquired in real time; When the rate of change of the clockwise angle is less than a first preset threshold and the second rotation angle is greater than a second preset threshold, the first rotation angle corresponding to the current moment is determined as the clockwise gear rotation angle. The step of controlling the first gear (1) to rotate counterclockwise to obtain a counterclockwise gear rotation angle that satisfies the second preset condition includes: Control the first gear (1) to rotate counterclockwise, and obtain the third rotation angle of the first gear (1) and the fourth rotation angle of the second gear (2) in real time; When the third rotation angle and the fourth rotation angle satisfy the second preset condition, the third rotation angle corresponding to the current moment is determined as the counterclockwise gear rotation angle; When the third rotation angle and the fourth rotation angle satisfy the second preset condition, the third rotation angle corresponding to the current moment is determined as the counterclockwise gear rotation angle, including: The counterclockwise angle change rate is obtained based on the real-time acquired third rotation angle; When the rate of change of the counterclockwise angle is less than the third preset threshold and the fourth rotation angle is greater than the fourth preset threshold, the third rotation angle corresponding to the current moment is determined as the rotation angle of the counterclockwise gear.

2. The gear backlash compensation method according to claim 1, characterized in that, The lens target angle includes a clockwise lens target angle and a counterclockwise lens target angle; the lens rotation relationship includes a clockwise lens rotation relationship and a counterclockwise lens rotation relationship; The step of obtaining the target angle of the lens based on the rotation angles of the clockwise and counterclockwise gears, through the lens rotation relationship, includes: The gear clearance is obtained through the clearance relationship based on the clockwise gear rotation angle and the counterclockwise gear rotation angle; Based on the gear clearance and the preset lens rotation angle, the target angle of the clockwise lens is obtained through the clockwise lens rotation relationship; The target angle of the counterclockwise lens is obtained by using the counterclockwise lens rotation relationship based on the gear clearance and the preset lens rotation angle.

3. The gear backlash compensation method according to claim 2, characterized in that, The gap relationship satisfies: G = ABS(θ1-θ2); The clockwise lens rotation relationship satisfies: β1=β+G； The counterclockwise lens rotation relationship satisfies: β2=β+G； Wherein, G is the gear clearance, θ1 is the clockwise gear rotation angle, θ2 is the counterclockwise gear rotation angle, β1 is the clockwise lens target angle, β2 is the counterclockwise lens target angle, β is the preset lens rotation angle, and ABS(θ1-θ2) is the absolute value of the difference between the clockwise gear rotation angle and the counterclockwise gear rotation angle.

4. A gear backlash compensation device, characterized in that, include: The acquisition module is used to control the first gear (1) to rotate clockwise, acquire the clockwise gear rotation angle that meets the first preset condition, and control the first gear (1) to rotate counterclockwise, acquire the counterclockwise gear rotation angle that meets the second preset condition. The control of the first gear (1) to rotate clockwise to obtain a clockwise gear rotation angle that satisfies the first preset condition includes: Control the first gear (1) to rotate clockwise, and obtain the first rotation angle of the first gear (1) and the second rotation angle of the second gear (2) in real time; When the first rotation angle and the second rotation angle satisfy the first preset condition, the first rotation angle corresponding to the current moment is determined as the clockwise gear rotation angle; When the first rotation angle and the second rotation angle satisfy the first preset condition, determining the first rotation angle corresponding to the current moment as the clockwise gear rotation angle includes: The clockwise angle change rate is obtained based on the first rotation angle acquired in real time; When the rate of change of the clockwise angle is less than a first preset threshold and the second rotation angle is greater than a second preset threshold, the first rotation angle corresponding to the current moment is determined as the clockwise gear rotation angle. The step of controlling the first gear (1) to rotate counterclockwise to obtain a counterclockwise gear rotation angle that satisfies the second preset condition includes: Control the first gear (1) to rotate counterclockwise, and obtain the third rotation angle of the first gear (1) and the fourth rotation angle of the second gear (2) in real time; When the third rotation angle and the fourth rotation angle satisfy the second preset condition, the third rotation angle corresponding to the current moment is determined as the counterclockwise gear rotation angle; When the third rotation angle and the fourth rotation angle satisfy the second preset condition, the third rotation angle corresponding to the current moment is determined as the counterclockwise gear rotation angle, including: The counterclockwise angle change rate is obtained based on the real-time acquired third rotation angle; When the rate of change of the counterclockwise angle is less than a third preset threshold and the fourth rotation angle is greater than a fourth preset threshold, the third rotation angle corresponding to the current moment is determined as the counterclockwise gear rotation angle. The processing module is used to obtain the target angle of the lens based on the rotation angle of the clockwise gear and the rotation angle of the counterclockwise gear, through the lens rotation relationship.

5. An electronic device, characterized in that, Including memory and processor; The memory is used to store computer programs; The processor is configured to implement the gear backlash compensation method as described in any one of claims 1 to 3 when executing the computer program.

6. A computer-readable storage medium, characterized in that, The storage medium stores a computer program that, when executed by a processor, implements the gear backlash compensation method as described in any one of claims 1 to 3.

Images