Motion control method, apparatus, device, and medium

Abstract

Embodiments of the present application disclose a motion control method, device, equipment and medium, wherein the method comprises: acquiring a control force parameter on a motion control component of a target control object through a three-dimensional force sensor; determining a target motion parameter of at least one motion mechanism of the target control object according to a mapping relationship between the control force parameter and a preset motion parameter in a corresponding motion direction; and controlling the motion mechanism to move according to the target motion parameter. The technical solution of the embodiments of the present application solves the technical problem that the existing motion equipment cannot accurately perceive the control force to move, and can accurately perceive any direction and size of the control force to accurately control the motion of the target control object, thereby improving the accuracy and flexibility of the motion control of the target control object.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of motion control, and particularly relate to a motion control method, device, equipment and medium. BACKGROUND

[0002] In the application process of a surgical robot, the robot needs to be moved to a specified position by moving a trolley with assistance. A related person moves the trolley by controlling the moving direction of a handrail of the trolley. In the prior art, the trolley handrail senses the control direction of the trolley movement through a two-dimensional sensor, and the control process is not flexible enough. SUMMARY

[0003] Embodiments of the present application provide a motion control method, device, equipment and medium, which can improve the accuracy and flexibility of motion control of a target control object.

[0004] In a first aspect, embodiments of the present application provide a motion control method, which comprises:

[0005] acquiring, by a three-dimensional force sensor, a control force parameter on a motion control component of a target control object;

[0006] determining a target motion parameter of at least one motion mechanism of the target control object according to a mapping relationship between the control force parameter and a preset motion parameter in a corresponding motion direction;

[0007] controlling the motion mechanism to move according to the target motion parameter.

[0008] In a second aspect, embodiments of the present application further provide a motion control device, which comprises:

[0009] a control force parameter acquisition module configured to acquire, by a three-dimensional force sensor, a control force parameter on a motion control component of a target control object;

[0010] a target motion parameter determination module configured to determine a target motion parameter of at least one motion mechanism of the target control object according to a mapping relationship between the control force parameter and a preset motion parameter in a corresponding motion direction;

[0011] a motion control module configured to control the motion mechanism to move according to the target motion parameter.

[0012] In a third aspect, embodiments of the present application further provide a computer device, which comprises:

[0013] one or more processors;

[0014] a memory configured to store one or more programs;

[0015] When the one or more programs are executed by the one or more processors, the one or more processors implement the motion control method provided by any of the embodiments of the present application.

[0016] In a fourth aspect, the embodiments of the present application further provide a computer readable storage medium, which stores a computer program, and the program is executed by a processor to implement the motion control method provided by any of the embodiments of the present application.

[0017] In the embodiments of the present application, the control force parameter on the motion control component of the target control object is acquired by the three-dimensional force sensor; the target motion parameter of at least one motion mechanism of the target control object is determined according to the mapping relationship between the control force parameter and the preset motion parameter in the corresponding motion direction; and the motion mechanism is controlled to move according to the target motion parameter. The technical scheme of the embodiments of the present application solves the technical problem that the existing motion equipment cannot accurately perceive the control force to move, and can accurately perceive any direction and size of the control force to accurately control the motion of the target control object, thereby improving the accuracy and flexibility of the motion control of the target control object. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a flowchart of a motion control method provided by the embodiments of the present application;

[0019] Figure 2 is a schematic diagram of a three-dimensional force sensor and left and right armrests provided by the embodiments of the present application;

[0020] Figure 3 is a flowchart of a motion control method provided by the embodiments of the present application;

[0021] Figure 4 is a schematic diagram of a motion control system provided by the embodiments of the present application;

[0022] Figure 5 is a structural schematic diagram of a motion control device provided by the embodiments of the present application;

[0023] Figure 6 is a structural schematic diagram of a computer device provided by the embodiments of the present application. DETAILED DESCRIPTION

[0024] The present application will be further described below in conjunction with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for the convenience of description, only the parts related to the present application are shown in the drawings, but not all the structures.

[0025] Figure 1A flowchart of a motion control method provided by an embodiment of the present application, which can be applied to a motion control scenario. The method can be executed by a motion control device, which can be implemented in software and / or hardware and integrated into a computer device with application development functions.

[0026] As shown in the motion control method of the present embodiment includes the following steps: Figure 1

[0027] S110, acquiring a control force parameter on a motion control component of a target control object by a three-dimensional force sensor.

[0028] For example, the target control object can be a cart, a trolley, etc., and specifically can be a medical trolley for transporting a surgical robot. The target control object is provided with a motion control component, which can be a component in direct contact with a force application object exerting external control force, such as a component in direct contact with a human hand. For example, the motion control component can be a handrail or a handle.

[0029] As shown in the motion control method of the present embodiment includes the following steps: Figure 2 The three-dimensional force sensor is arranged on the left and right handrails and can sense the resultant force on the two handrails. In an alternative embodiment, the three-dimensional force sensor includes three axes, namely a longitudinal axis, a transverse axis and a turning axis, which correspond to three motion directions respectively. The longitudinal axis can be denoted as y-axis, which senses the control force perpendicular to the straight line direction of the motion control component and enables the target control object to move forward and backward. The transverse axis can be denoted as x-axis, which senses the control force parallel to the straight line direction of the motion control component and enables the target control object to rotate left or right. For example, when the control force is to push or pull the motion control component to the left, the motion direction of the target control object is left rotation. The turning axis can be denoted as Rz-axis, which senses the control force for rotating the motion control component clockwise or counterclockwise. For example, when the control force is to rotate the motion control component clockwise, the left motion control component is subjected to a greater force than the right motion control component, and the target control object turns right.

[0030] Specifically, the process of acquiring the control force parameter by the three-dimensional force sensor can be reading the stored static calibration data after the three-dimensional force sensor is started and verifying the validity of the data. The zero position value of the three-dimensional force sensor is dynamically calibrated within a preset dynamic calibration time. For example, the preset dynamic calibration time can be a few seconds continuously, and the present embodiment does not limit this. If there is an interference during the dynamic calibration process and the zero position value of the three-dimensional force sensor changes greatly, the dynamic calibration time is extended. After the three-dimensional force sensor is dynamically calibrated successfully, the data is compared with the static calibration data. If the error exceeds the preset error threshold, an error is reported. The sensing data of the three-axis force sensor is collected and filtered.

[0031] ​Since the sensing data acquired by the three-dimensional force sensor fluctuates, which can affect the subsequent analysis process, in an optional implementation, the control force parameter on the motion control component of the target control object acquired by the three-dimensional force sensor can be the sensing data of the three-dimensional force sensor, and the sensing data is filtered to obtain the control force parameter. For example, the filtering algorithm can be any one of arithmetic mean filtering, sliding mean filtering, median filtering, anti-impulse interference average filtering, and amplitude limiting filtering, and of course other algorithms, and the embodiment does not limit the type of filtering algorithm.

[0032] Optionally, the filtered sensing data is acquired in real time, and the difference between the filtered sensing data and the zero value is used as the three-dimensional force sensor control force parameter. The control force parameter is determined by the filtered sensing data, which makes the sensing data more stable, improves the accuracy of the control force parameter determination, and improves the accuracy of the subsequent target motion parameter determination, so that the motion of the target control object is more stable.

[0033] The filtered sensing data of the three axes is acquired in real time, and the difference between the filtered sensing data and the zero value is used as the three-dimensional force sensor control force parameter.

[0034] S120, according to the mapping relationship between the control force parameter and the preset motion parameter in the corresponding motion direction, determining the target motion parameter of at least one motion mechanism of the target control object.

[0035] The control force parameter can be the control force parameter of each axis, which can represent the actual force value of each axis, the preset motion parameter can be the preset maximum motion parameter of at least one motion mechanism in the corresponding motion direction, and the target motion parameter can be the parameter input to the motor of the driving motion mechanism. The motor can be a brushless servo motor connected to the motion mechanism through a speed reducer.

[0036] The mapping relationship can be adjusting the size of the target motion parameter according to the size of the control force parameter. For example, the larger the control force parameter, the larger the target motion parameter. For example, the control force parameter can be mapped to a proportional value, the larger the control force parameter, the larger the proportional value, the control force parameter is multiplied by the preset motion parameter in the corresponding motion direction to obtain the motion parameter in the corresponding motion direction, and then these parameters are synthesized to obtain the target motion parameter.

[0037] S130, controlling the motion mechanism to move according to the target motion parameter.

[0038] The motor command is issued through the target motion parameter driver communication protocol to control the motion mechanism to move. The motion direction of the motion mechanism is consistent with the direction of the force applied by the hand sensed by the three-dimensional force sensor. The above steps S110-S130 are periodically executed to realize real-time flexible control of the target control object moving direction and speed according to the change of the external control force, transfer the target control object, or accurately place the target control object at a specified position when carrying a surgical robot, for example.

[0039] The technical scheme of the embodiment obtains the control force parameter on the motion control component of the target control object through the three-dimensional force sensor, determines the target motion parameter of at least one motion mechanism of the target control object according to the mapping relationship between the control force parameter and the preset motion parameter in the corresponding motion direction, and controls the motion mechanism to move according to the target motion parameter. The technical scheme of the embodiment can accurately sense any direction and size of the control force to accurately control the motion of the target control object, and improves the accuracy and flexibility of the motion control of the target control object.

[0040] Figure 3 A flowchart of a motion control method is provided for the embodiment, and the motion control method in the above embodiment belongs to the same inventive concept. The method can be executed by a motion control device, which can be realized by software and / or hardware and integrated into a computer device with application development function.

[0041] As shown in Figure 3 , the motion control method comprises the following steps:

[0042] S210, obtaining the control force parameter on the motion control component of the target control object through the three-dimensional force sensor.

[0043] Optionally, the target control object comprises two motion mechanisms arranged on the two sides of the target control object.

[0044] As shown in Figure 4 , the two motion mechanisms can be arranged at the front of the target control object 1, which are respectively a left motion mechanism 11 and a right motion mechanism 12. The left motion control component 13 and the right motion control component 14 are arranged at the rear of the target object, and the three-dimensional force sensor 15 is arranged between the left motion control component 13 and the right motion control component 14.

[0045] S220, calculating the proportional value of each axis control force parameter and the upper limit threshold value of the preset control force parameter in the corresponding motion direction, and taking the product of the proportional value and the preset motion parameter as the motion parameter in the corresponding motion direction.

[0046] wherein the preset motion parameter is a preset maximum motion parameter of the at least one motion mechanism in the corresponding motion direction.

[0047] For example, the x-axis control force parameter F x is calculated as a proportional value of the preset upper limit threshold F xmax of the control force parameter in the corresponding x-axis motion direction. x / F xmax , and so on, the other two-axis control force parameters F y , F Rz are calculated as proportional values of the preset upper limit threshold F ymax , F Rzmax of the control force parameter in the corresponding motion direction. y / F ymax , F Rz / F Rzmax . The preset upper limit threshold of the control force parameter in the corresponding motion direction can be different, which can be set according to actual needs, and the present embodiment is not limited thereto. The preset upper limit threshold of the control force parameter can be the maximum control force parameter allowed for determining the target motion parameter. Optionally, if the human hand force exceeds the preset upper limit threshold of the control force parameter, the preset upper limit threshold of the control force parameter is taken as the control force parameter to calculate the target motion parameter.

[0048] According to the proportional values calculated above, the motion parameter V x in the corresponding x-axis motion direction is calculated as (F x / F xmax ) V xmax , wherein V xmax is a preset maximum motion parameter in the corresponding x-axis motion direction; the motion parameter V y in the corresponding y-axis motion direction is calculated as (F y / F ymax ) V ymax , wherein V ymax is a preset maximum motion parameter in the corresponding y-axis motion direction; and the motion parameter V Rz in the corresponding Rz-axis motion direction is calculated as (F Rz / F Rzmax ) V Rzmax , wherein V Rzmax is a preset maximum motion parameter in the corresponding Rz-axis motion direction.

[0049] The preset maximum motion parameters in the corresponding motion directions of the axes can be different, which can be set according to actual needs, and the present embodiment is not limited thereto.

[0050] In actual application, the three-dimensional force sensor has certain sensitivity, and data can be sensed in static state, i.e. when no force is applied. If the target motion parameter is determined to control the target control object to move, the target control object can be shaken. Therefore, in an optional embodiment, the ratio of the control force parameter of each axis to the upper limit threshold of the preset control force parameter in the corresponding motion direction is calculated, and the product of the ratio and the preset motion parameter is taken as the motion parameter in the corresponding motion direction. The difference between the control force parameter of each axis and the lower limit threshold of the preset control force parameter can be calculated, and the ratio of the difference to the upper limit threshold of the preset control force parameter is calculated, and the product of the ratio and the preset motion parameter is taken as the motion parameter in the corresponding motion direction.

[0051] For example, the motion parameter V x in the motion direction corresponding to the x-axis is calculated as follows: x xmin xmax xmax xmin , and the motion parameters in the motion directions corresponding to the other two axes are calculated in the same way. The lower limit threshold of the preset control force parameter can be set according to the characteristics of the sensor, which is not limited in the present embodiment. Optionally, when the control force parameter in the motion direction corresponding to the x-axis obtained by the three-dimensional force sensor is greater than the sum of the upper limit threshold of the preset control force parameter and the lower limit threshold of the preset control force parameter, the control force parameter in the motion direction corresponding to the x-axis is taken as the sum of the upper limit threshold of the preset control force parameter and the lower limit threshold of the preset control force parameter.

[0052] In S230, the motion parameters in each corresponding motion direction are used to obtain the target motion parameters of the two motion mechanisms of the target control object through a preset differential speed control relationship.

[0053] Specifically, V x , V y and V Rz are synthesized according to different calculation formulas to obtain the target motion parameters of the two motion mechanisms of the target control object. Different synthesis methods can be used for different motion states, such as straight running and turning. In an optional embodiment, the motion parameters in each corresponding motion direction are used to obtain the target motion parameters of the two motion mechanisms of the target control object through a preset differential speed control relationship, which can be that when the motion parameters in the motion directions corresponding to the lateral axis and the turning axis are both zero, the target control object runs straight, and the motion parameter in the motion direction corresponding to the longitudinal axis is taken as the target motion parameter of the two motion mechanisms of the target control object.

[0054] For example, when the motion parameters V x and V Rz in the motion directions corresponding to the lateral axis and the turning axis are both zero, V 左 = V​​​​右 = V y , wherein V 左 represents the target motion parameter of the left motion mechanism, V 右 represents the target motion parameter of the right motion mechanism, and the two motion mechanisms drive the target control object to move forward or backward.

[0055] Since the two motion mechanisms can turn in addition to moving straight, in an alternative embodiment, the target motion parameters of the two motion mechanisms of the target control object can be obtained by adding the motion parameters in the corresponding motion directions through a preset differential control relationship, when at least one of the motion parameters in the corresponding motion directions of the lateral axis and the turning axis is not zero, the motion parameters in the corresponding motion directions are added to obtain the target motion parameter of the motion mechanism on the outside of the target control object when turning; the sum of the motion parameters in the corresponding motion directions of the lateral axis and the turning axis is calculated, and the motion parameter in the corresponding motion direction of the longitudinal axis is subtracted from the sum to obtain the target motion parameter of the motion mechanism on the inside of the target control object when turning.

[0056] For example, the target control object turns right, the motion mechanism on the outside of the target control object is the left motion mechanism, and the motion mechanism on the inside of the target control object is the right motion mechanism, then the target motion parameter V 左 = V y + V x + V Rz of the left motion mechanism, and the target motion parameter V 右 = V y -(V x + V Rz ) of the right motion mechanism, and the same applies when turning left.

[0057] S240, controlling the motion mechanism to move according to the target motion parameter.

[0058] In actual application, the target control object and the operating object of the motion control component operating the target control object, such as a person, form a closed-loop control system, which can have the following relationship: the walking speed Vr of the target control object obtained by controlling the motion mechanism to move according to the target motion parameter is V 左 + V 右 , the force Fm synthesized by the three axes of the three-dimensional force sensor is Kvf*(Vm-V r ), Vm is the walking speed of the person, a variable value or a quantitative value can be preset for Vm, and the speed Vr of the target control object is V 左 + V 右=Kfv*Fm, Kvf is a speed to force conversion coefficient, which can be influenced by sensor characteristics in actual application, inherent characteristics of hardware and installation form of the handrail, the value of Kvf is not limited in the embodiment, Kfv is a force to speed conversion coefficient, the value of the coefficient can be determined according to steps S220-S240, the directions of Fm, Vm and Vr are the same.

[0059] The technical scheme of the embodiment acquires the control force parameter on the motion control component of the target control object through the three-dimensional force sensor, determines the target motion parameter of at least one motion mechanism of the target control object according to the mapping relationship between the control force parameter and the preset motion parameter in the corresponding motion direction, and controls the motion mechanism to move according to the target motion parameter. The technical scheme of the embodiment of the application solves the technical problem that the existing motion equipment cannot accurately perceive the control force to move, can accurately perceive any direction and size of the control force to perform accurate motion control on the target control object, and improves the accuracy and flexibility of the motion control on the target control object.

[0060] Figure 5 A structural schematic diagram of a motion control device is provided for the embodiment of the application, and the embodiment can be applied to the scene of the motion control device. The device can be realized in the software and / or hardware mode and integrated in the computer equipment with the application development function.

[0061] As shown in Figure 5 The motion control device includes a control force parameter acquisition module 310, a target motion parameter determination module 320 and a motion control module 330.

[0062] The control force parameter acquisition module 310 is configured to acquire the control force parameter on the motion control component of the target control object through the three-dimensional force sensor.

[0063] The target motion parameter determination module 320 is configured to determine the target motion parameter of at least one motion mechanism of the target control object according to the mapping relationship between the control force parameter and the preset motion parameter in the corresponding motion direction.

[0064] The motion control module 330 is configured to control the motion mechanism to move according to the target motion parameter.

[0065] The technical scheme of the embodiment obtains the control force parameter on the motion control component of the target control object through the three-dimensional force sensor; determines the target motion parameter of the at least one motion mechanism of the target control object according to the mapping relationship between the control force parameter and the preset motion parameter in the corresponding motion direction; and controls the motion of the motion mechanism according to the target motion parameter. The technical scheme of the embodiment solves the technical problem that the existing motion equipment cannot accurately perceive the control force for motion, and can accurately perceive any direction and size of the control force to perform precise motion control on the target control object, thereby improving the accuracy and flexibility of the motion control on the target control object.

[0066] Optionally, the three-dimensional sensor includes three axes, which are a longitudinal axis, a transverse axis and a steering axis, and the three axes correspond to three motion directions respectively.

[0067] Optionally, the target control object includes two motion mechanisms arranged on two sides of the target control object, and the target motion parameter determination module 320 includes:

[0068] The proportional value calculation unit is configured to calculate a proportional value of each axis control force parameter and a preset control force parameter upper limit threshold in the corresponding motion direction.

[0069] The motion parameter calculation unit is configured to take a product of the proportional value and a preset motion parameter as a motion parameter in the corresponding motion direction, wherein the preset motion parameter is a preset maximum motion parameter of the at least one motion mechanism in the corresponding motion direction.

[0070] The target motion parameter calculation unit is configured to obtain the target motion parameters of the two motion mechanisms of the target control object through a preset differential control relationship from the motion parameters in the corresponding motion directions.

[0071] Optionally, the target motion parameter calculation unit includes:

[0072] The first target motion parameter calculation sub-unit is configured to take the motion parameter in the longitudinal axis direction as the target motion parameters of the two motion mechanisms of the target control object when the motion parameters in the transverse axis direction and the steering axis direction are both zero.

[0073] The second target motion parameter calculation sub-unit is configured to: when at least one of the motion parameters in the corresponding motion directions of the lateral axis and the steering axis is not zero, add the motion parameters in the corresponding motion directions to obtain the target motion parameter of the motion mechanism outside the target control object during steering; and subtract the sum of the motion parameters in the corresponding motion directions of the lateral axis and the steering axis from the motion parameter in the corresponding motion direction of the longitudinal axis to obtain the target motion parameter of the motion mechanism inside the target control object during steering.

[0074] Optionally, when the actual control force parameter of each axis is less than the preset lower limit threshold of the control force parameter, the motion parameter in the corresponding motion direction is zero, and the motion parameter calculation unit is specifically configured to:

[0075] calculate the difference between the control force parameter of each axis and the preset lower limit threshold of the control force parameter, and calculate the proportional value of the difference and the preset upper limit threshold of the control force parameter, and take the product of the proportional value and the preset motion parameter as the motion parameter in the corresponding motion direction.

[0076] Optionally, the control force parameter acquisition module 310 is specifically configured to:

[0077] acquire sensing data of the three-dimensional force sensor, and perform filtering processing on the sensing data to obtain the control force parameter.

[0078] The motion control device provided in the embodiments of the present application can execute the motion control method provided in any of the embodiments of the present application, and has the corresponding function modules and beneficial effects of the execution method.

[0079] Figure 6 A structural schematic diagram of a computer device provided in the embodiments of the present application is shown. Figure 6 A block diagram of an exemplary computer device 12 suitable for implementing embodiments of the present application is shown. Figure 6 The computer device 12 shown is merely an example, and should not impose any limitation on the functions and use range of the embodiments of the present application. The computer device 12 can be any terminal device with computing capability, and can be configured in a motion control device.

[0080] As shown in Figure 6 The computer device 12 is shown in the form of a general-purpose computing device. The components of the computer device 12 can include but are not limited to one or more processors or processing units 16, a system memory 28, and a bus 18 connecting different system components, including the system memory 28 and the processing unit 16.

[0081] Bus 18 represents one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. For example, these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0082] Computer device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by computer device 12, including volatile and non-volatile media, removable and non-removable media.

[0083] System memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. Computer device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 may be used to read and write non-removable, non-volatile magnetic media (…). Figure 6 Not shown; usually referred to as a "hard drive"). Although Figure 6 Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk") and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of the present invention.

[0084] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. Program modules 42 typically perform the functions and / or methods described in the embodiments of the present invention.

[0085] Computer device 12 can also communicate with one or more external devices 14 such as a keyboard, a pointing device, a display 24, etc.; one or more devices that enable a user to interact with computer device 12; and / or any devices (e.g., network card, modem, etc.) that enable computer device 12 to communicate with one or more other computing devices. Such communication can occur via Input / Output (I / O) interface(s) 22. Still yet, computer device 12 can communicate with one or more networks, such as a local area network (LAN), a general wide area network (WAN), and / or a public network, such as the Internet, via network adapter 20. As depicted, network adapter 20 communicates with the other components of computer device 12 via bus 18. It should be appreciated that although not shown, other hardware and / or software modules could be used in conjunction with computer device 12. Examples, include, but are not limited to, microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data archival storage systems, etc. Figure 6

[0086] Processing unit 16 performs various function applications and data processing by running programs stored in system memory 28, such as implementing a motion control method provided by embodiments of the present application, which includes:

[0087] obtaining, by a three-dimensional force sensor, a control force parameter on a motion control component of a target control object;

[0088] determining a target motion parameter of at least one motion mechanism of the target control object according to a mapping relationship between the control force parameter and a preset motion parameter in a corresponding motion direction;

[0089] controlling the motion mechanism to move according to the target motion parameter.

[0090] The embodiments provide a computer readable storage medium having stored thereon a computer program, which, when executed by a processor, implements a motion control method provided by any of the embodiments of the present application, which includes:

[0091] obtaining, by a three-dimensional force sensor, a control force parameter on a motion control component of a target control object;

[0092] determining a target motion parameter of at least one motion mechanism of the target control object according to a mapping relationship between the control force parameter and a preset motion parameter in a corresponding motion direction;

[0093] controlling the motion mechanism to move according to the target motion parameter.

[0094] ​The computer storage medium of the embodiments of the present application can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination thereof. More specific examples (non-exhaustive list) of the computer-readable storage medium include an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, the computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus, or device.

[0095] The computer-readable signal medium can include a data signal propagated in baseband or propagated as a carrier wave, in which computer-readable program code is embodied. Such propagated data signals can take a wide variety of forms, including but not limited to electro-magnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium that is not a storage medium, that is, that is not a tangible medium, and that can communicate, propagate or transport programming for use by or in connection with an instruction execution system, apparatus, or device.

[0096] The program code embodied on the computer-readable media can be transmitted using any appropriate medium, including but not limited to wireless, wired, optical fiber cable, RF, etc., or any suitable combination of the above.

[0097] Computer program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0098] Those of ordinary skill in the art should understand that the modules or steps of the present application described above can be implemented by a general computing device, which can be centralized on a single computing device or distributed on a network composed of multiple computing devices. Alternatively, the modules or steps can be implemented by computer-executable program codes, which can be stored in a storage device and executed by a computing device, or implemented by individual integrated circuit modules, or implemented by multiple modules or steps in a single integrated circuit module. Thus, the present application is not limited to any particular combination of hardware and software.

[0099] Note that the above only describes the preferred embodiments of the present application and the principles of the applied technology. Those of ordinary skill in the art will understand that the present application is not limited to the specific embodiments described herein, and that various obvious changes, reconfigurations and substitutions can be made without departing from the scope of the present application. Therefore, although the present application has been described in detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the appended claims.

Claims

1. A motion control method, characterized in that, include: The control force parameters on the motion control components of the target controlled object are obtained using a three-dimensional force sensor; Based on the mapping relationship between the control force parameters and the preset motion parameters in the corresponding motion direction, the target motion parameters of at least one motion mechanism of the target control object are determined; The motion mechanism is controlled to move according to the target motion parameters; The target control object includes two motion mechanisms disposed on both sides of the target control object. Determining the target motion parameters of at least one motion mechanism of the target control object based on the mapping relationship between the control force parameters and preset motion parameters in the corresponding motion directions includes: Calculate the ratio of the control force parameter of each axis to the upper limit threshold of the preset control force parameter in the corresponding motion direction, and use the product of the ratio and the preset motion parameter as the motion parameter in the corresponding motion direction; The target motion parameters of the two motion mechanisms of the target controlled object are obtained by using the motion parameters in each corresponding motion direction through a preset differential control relationship. Wherein, the preset motion parameter is the preset maximum motion parameter of the at least one motion mechanism in the corresponding motion direction; When the actual control force parameter of each axis is less than the preset lower limit threshold of the control force parameter, the motion parameter in the corresponding motion direction is zero. The step of calculating the ratio of the control force parameter of each axis to the preset upper limit threshold of the control force parameter in the corresponding motion direction, and using the product of the ratio and the preset motion parameter as the motion parameter in the corresponding motion direction, includes: Calculate the difference between the control force parameter of each axis and the preset lower limit threshold of the control force parameter, and calculate the ratio of the difference to the preset upper limit threshold of the control force parameter. Multiply the ratio by the preset motion parameter as the motion parameter in the corresponding motion direction.

2. The method according to claim 1, characterized in that, The three-dimensional force sensor includes three axes: a longitudinal axis, a transverse axis, and a steering axis, which correspond to three different motion directions.

3. The method according to claim 1, characterized in that, The process of obtaining the target motion parameters of the two motion mechanisms of the target controlled object by means of a preset differential control relationship in each corresponding motion direction includes: When the motion parameters in the corresponding motion directions of the lateral axis and the steering axis are both zero, the target controlled object moves straight, and the motion parameters in the corresponding motion direction of the longitudinal axis are used as the target motion parameters of the two motion mechanisms of the target controlled object.

4. The method according to claim 1, characterized in that, The process of obtaining the target motion parameters of the two motion mechanisms of the target controlled object by means of a preset differential control relationship in each corresponding motion direction includes: When at least one of the motion parameters in the corresponding motion directions of the lateral axis and the steering axis is not zero, the motion parameters in each corresponding motion direction are added together to obtain the target motion parameters of the motion mechanism that is outside the target control object when steering. Calculate the sum of motion parameters in the corresponding motion directions of the lateral axis and the steering axis, and subtract the sum from the motion parameters in the corresponding motion direction of the longitudinal axis to obtain the target motion parameters of the motion mechanism located inside the target controlled object during steering.

5. The method according to claim 1, characterized in that, The acquisition of control force parameters on the motion control components of the target control object via a three-dimensional force sensor includes: The sensing data from the three-dimensional force sensor is acquired, and the sensing data is filtered to obtain the control force parameters.

6. A motion control device, characterized in that, include: The control force parameter acquisition module is used to acquire the control force parameters on the motion control components of the target controlled object through a three-dimensional force sensor. The target motion parameter determination module is used to determine the target motion parameters of at least one motion mechanism of the target controlled object based on the mapping relationship between the control force parameters and the preset motion parameters in the corresponding motion direction. The motion control module is used to control the motion mechanism to move according to the target motion parameters; The target control object includes two motion mechanisms disposed on both sides of the target control object, and the target motion parameter determination module includes: The proportional value calculation unit is used to calculate the proportional value between the control force parameter of each axis and the preset upper limit threshold of the control force parameter in the corresponding motion direction; A motion parameter calculation unit is used to multiply the ratio value by a preset motion parameter as the motion parameter in the corresponding motion direction; wherein, the preset motion parameter is the preset maximum motion parameter of the at least one motion mechanism in the corresponding motion direction; The target motion parameter calculation unit is used to obtain the target motion parameters of the two motion mechanisms of the target controlled object by using the motion parameters in each corresponding motion direction through a preset differential control relationship. When the actual control force parameter of each axis is less than the preset lower limit threshold of the control force parameter, the motion parameter in the corresponding motion direction is zero. The motion parameter calculation unit is specifically used for: Calculate the difference between the control force parameter of each axis and the preset lower limit threshold of the control force parameter, and calculate the ratio of the difference to the preset upper limit threshold of the control force parameter. Multiply the ratio by the preset motion parameter as the motion parameter in the corresponding motion direction.

7. A computer device, characterized in that, The computer device includes: One or more processors; Memory, used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the motion control method as described in any one of claims 1-5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the motion control method as described in any one of claims 1-5.

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