Control method and related device based on manipulator

Abstract

The present application provides a control method based on a manipulator and a related device, the method includes obtaining a target training action that a user needs to perform within a preset training period; determining the initial training intensity when the manipulator performs the target training action based on the user's historical training information; controlling the manipulator to drive the user to perform the target training action with the initial training intensity within the first training sub-period of the preset training period; when the first training sub-period ends, prompting the user to perform a test of performing the target training action and generating a test result; adjusting the initial training intensity based on the test result to obtain the adjusted training intensity, and controlling the manipulator to drive the user to perform the target training action with the adjusted training intensity within the next training sub-period of the preset training period. The present application determines the training intensity for continuing to perform the target training action according to the test results and the initial training intensity during the training process, and then controls the manipulator to improve the intelligence of the control.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a control method and related devices based on a manipulator. Background Art

[0002] In order to improve the recovery efficiency of users with weakened or impaired limb abilities, relevant engineers have designed various auxiliary mechanical devices to assist users in limb ability training. For example, when doing hand rehabilitation training, users can wear a manipulator to perform training. However, existing manipulators only perform fixed training movements, which will cause secondary injuries to users in different physical conditions and affect the rehabilitation effect. Summary of the invention

[0003] The present application provides a control method and related devices based on a robot, which determine the training intensity of subsequent target training actions according to the test results of the user's target training actions and the initial training intensity, and adjust the training intensity in real time to make the training intensity more reasonable during the training process and improve the intelligence of the control.

[0004] In a first aspect, an embodiment of the present application provides a control method based on a manipulator, which is applied to a controller of a manipulator system, wherein the manipulator system includes the controller and a manipulator connected to the controller, and the method includes:

[0005] Obtain the target training action that the user needs to perform within the preset training period;

[0006] Determine, based on the historical training information of the user, an initial training intensity when the manipulator performs the target training action, wherein the training intensity represents a range value of a joint adjustment degree when the manipulator performs the training action;

[0007] Controlling the manipulator to drive the user to perform the target training action of the initial training intensity in the first training sub-period of the preset training period;

[0008] When the first training sub-period ends, prompting the user to perform a test of executing the target training action and generating a test result;

[0009] Adjust the initial training intensity based on the test result to obtain an adjusted training intensity;

[0010] The robot is controlled to drive the user to perform the target training action of the adjusted training intensity in the next training sub-period of the preset training period.

[0011] In a second aspect, an embodiment of the present application provides a control device based on a manipulator, which is applied to a controller of a manipulator system, wherein the manipulator system includes a manipulator connected to the controller, and the device includes:

[0012] An acquisition unit, used to acquire a target training action that the user needs to perform within a preset training period;

[0013] A determination unit, configured to determine an initial training intensity when the manipulator performs the target training action based on the historical training information of the user, wherein the training intensity represents a range value of a joint adjustment degree when the manipulator performs the training action;

[0014] A first control unit, configured to control the manipulator to drive the user to perform the target training action of the initial training intensity in a first training sub-period of the preset training period;

[0015] a prompting unit, configured to prompt the user to perform a test of executing the target training action and generate a test result when the first training sub-period ends;

[0016] An adjusting unit, configured to adjust the initial training intensity based on the test result to obtain an adjusted training intensity;

[0017] The second control unit is used to control the manipulator to drive the user to perform the target training action with the adjusted training intensity in the next training sub-period of the preset training period.

[0018] In a third aspect, an embodiment of the present application provides an electronic device, including: one or more processors;

[0019] one or more memories for storing programs;

[0020] The one or more memories and the program are configured so that the one or more processors control the electronic device to execute instructions such as the steps in any method of the first aspect of the embodiments of the present application.

[0021] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute part or all of the steps described in any method of the first aspect of the embodiment of the present application.

[0022] In a fifth aspect, an embodiment of the present application provides a computer program, wherein the computer program is operable to cause a computer to execute some or all of the steps described in any method of the first aspect of the embodiment of the present application. The computer program may be a software installation package.

[0023] It can be seen that in the embodiment of the present application, the target training action that the user needs to perform within the preset training period is first obtained; then, based on the user's historical training information, the initial training intensity when the manipulator performs the target training action is determined, wherein the training intensity represents the range value of the joint adjustment degree when the manipulator performs the training action, and the initial training intensity is determined based on the historical training information to improve the rationality of the determined initial training intensity; then, the manipulator is controlled to drive the user to perform the target training action of the initial training intensity within the first training sub-period of the preset training period; when the first training sub-period ends, the user is prompted to perform a test of performing the target training action and a test result is generated; based on the test result, the initial training intensity is adjusted, and the adjusted training intensity is obtained, and the manipulator is controlled to drive the user to perform the target training action of the adjusted training intensity within the next training sub-period of the preset training period. The present application determines the training intensity of the subsequent execution of the target training action according to the test results during training and the initial training intensity, that is, the subsequent training intensity can be adjusted in real time to improve the timeliness and intelligence of the control. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 is a schematic diagram of a manipulator system provided in an embodiment of the present application;

[0026] Figure 2 It is a structural schematic diagram of a manipulator provided in an embodiment of the present application;

[0027] Figure 3 is a schematic diagram of the structure of a controller provided in an embodiment of the present application;

[0028] Figure 4 It is a flow chart of a control method based on a manipulator provided in an embodiment of the present application;

[0029] Figure 5 This is a schematic diagram of a controller display interface provided by an embodiment of the present application;

[0030] Figure 6 This is a block diagram of the functional units of a manipulator-based control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0031] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0032] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0033] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0034] See also Figure 1 , Figure 1 Schematic diagram of a manipulator system provided in an embodiment of the present application. Figure 1 As shown, the manipulator system includes a controller and a manipulator, wherein the manipulator is connected to the controller so that the manipulator and the controller can perform data exchange. It is understandable that the number of manipulators connected to the controller can be set according to actual needs, for example, two or more can be connected, and there is no specific limitation here.

[0035] The controller in this application can be a terminal device such as a smart phone, tablet computer, laptop computer, desktop computer, wearable device, head-mounted device, vehicle-mounted terminal, etc., which is installed with a control application (i.e., application client). The type of terminal device is not limited here. It should be understood that when the application client runs on the controller, it can communicate with Figure 1 Data interaction is performed between the robots shown.

[0036] See also Figure 2 , Figure 2 Schematic diagram of the structure of a manipulator provided in an embodiment of the present application. Figure 2As shown, the manipulator includes a manipulator palm 20, a finger joint driving module 21, a Bluetooth module, a finger fixing belt 22, a palm fixing belt 23, a power module 24 and a switch button 25. The power module 24 is partially arranged in the manipulator palm 20 for storing electrical energy and supplying energy to the manipulator. The switch button 25 is arranged on the manipulator palm 20 for controlling the start and stop of the manipulator. The finger fixing belt 22 and the palm fixing belt 23 are arranged on the manipulator palm 20, and the finger fixing belt 22 is located between the palm fixing belt 23 and the finger joint driving module 21. The manipulator palm 20 is connected to the finger joint driving module 21, and the degree of the joint of the finger joint driving module 21 can be adjusted according to demand. The Bluetooth module is arranged in the manipulator palm 20, and the manipulator can exchange data with the controller through the Bluetooth module.

[0037] See also Figure 3 , Figure 3 is a schematic diagram of the structure of a controller provided in an embodiment of the present application. Figure 3 As shown, the controller includes a processor 301, a memory 303, a communication module 302, a program 304 and a Bluetooth module 305, and the processor 301 is connected to the memory 303, the communication module 302 and the Bluetooth module 305 through an internal communication bus. It is understood that the number of processors 301 can be set according to actual needs, for example, one, two or more, and the number of processors 301 is not specifically limited here. The number of programs 304 can be set according to actual needs, for example, one, two or more, and the number of programs 304 is not specifically limited here.

[0038] The program 304 is stored in the memory 303 and executed by the processor 301. The program 304 includes instructions for executing any step in the following method embodiments.

[0039] The processor 301 may be, for example, a central processing unit (CPU), a general processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, units and circuits described in conjunction with the disclosure of the present application. The processor 301 may also be a combination that implements a computing function, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like. The communication unit may be a communication module 302, a transceiver, a transceiver circuit, and the like, and the storage unit may be a memory 303.

[0040] The memory 303 may be a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memories. Among them, the nonvolatile memory may be a read-only memory (ROM), a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct RAM bus RAM (DR RAM).

[0041] The controller may perform data interaction with the robot through the communication module 302 , or may perform data interaction with the robot through the Bluetooth module 305 , and the specific details are not limited here.

[0042] The following describes a control method based on a manipulator provided in an embodiment of the present application, which is applied to a controller of a manipulator system, wherein the manipulator system includes the controller and a manipulator connected to the controller. Figure 4 , Figure 4 is a flow chart of a control method based on a manipulator provided in an embodiment of the present application, such as Figure 4 As shown, the method includes:

[0043] Step S401, obtaining the target training action that the user needs to perform within a preset training period.

[0044] Among them, the controller obtains the target training action that the user needs to perform within the preset training period. Specifically, it can determine a person with similar medical information based on the user's medical information, and use the training action used by the person in the same recovery stage as the target action, or determine the target training action based on the advice of professionals. The target training action can be actions such as grasping, holding, and pinching, which are not specifically limited here. The preset training period can also be set according to the advice of professionals, or based on the user's historical training time, which is not specifically limited here.

[0045] Step S402: determining an initial training intensity of the robot arm when performing the target training action based on the historical training information of the user.

[0046] The training intensity represents the range of the joint adjustment degree when the manipulator performs the training action. For example, the joint adjustment range is 20°~50°. The greater the training intensity, the greater the joint adjustment range. The training intensity is determined according to the joint adjustment range, and the training intensity is visualized to make the control more accurate.

[0047] Please combine Figure 5 , Figure 5 is a schematic diagram of a controller display interface provided by an embodiment of the present application, such as Figure 5 As shown, the controller display interface includes a display bar and function buttons. The display bar is used to display the parameter information of the current training action. The function buttons include a confirmation button and a rejection button. The image of the confirmation button is a check mark, indicating confirmation to send, and the image of the rejection button is a cross, indicating rejection, so that the user can confirm whether to send the various parameters displayed in the display bar to the robot, thereby controlling the robot action. The display bar can be used to display parameter information, such as Figure 5 As shown, the displayed information includes: sending parameters to the manipulator to prompt the user to send parameters; and can also display the image of the target training action and the duration of the preset training period, such as Figure 5 As shown, the duration of the preset training period is: the preset training period is 10 minutes, and the content displayed in the display bar can be set according to needs, and there is no specific restriction here.

[0048] The initial training intensity of the robot when performing the target training action is determined based on the user's historical training information, thereby improving the rationality of the determined initial training intensity.

[0049] Step S403: Control the robot arm to drive the user to perform the target training action of the initial training intensity in the first training sub-period of the preset training period.

[0050] Among them, the preset training period includes multiple training sub-periods. After determining the initial training intensity, the control robot drives the user to perform the target training action of the initial training intensity in the first training sub-period, and divides the preset training period into multiple training sub-periods, so as to adjust the training intensity according to the user's real-time situation and improve the timeliness of control.

[0051] Step S404: when the first training sub-period ends, prompt the user to perform a test of executing the target training action and generate a test result.

[0052] When the first training sub-period ends, the user is prompted to take a test and a test result is generated to provide data support for subsequent adjustment of the training intensity.

[0053] Step S405: adjusting the initial training intensity based on the test result to obtain an adjusted training intensity.

[0054] After obtaining the test results, the initial training intensity is adjusted based on the test results to obtain the adjusted training intensity, providing data support for subsequent control of the manipulator.

[0055] Step S406: Control the robot arm to drive the user to perform the target training action of the adjusted training intensity in the next training sub-period of the preset training period.

[0056] The robot is controlled to drive the user to perform target training actions of the adjusted training intensity in the next training sub-period of the preset training period.

[0057] It can be seen that in this example, the initial training intensity is determined based on the user's historical training information, which improves the rationality of the determined initial training intensity. During the preset training period, the initial training intensity is adjusted based on the test results of the user's execution of the target training action, and the adjusted training intensity is obtained, so that the training intensity of the training action performed by the manipulator can be adjusted according to the user's training needs during the training process, thereby improving the intelligence of the control, making the manipulator's training intensity meet the user's training needs, and thus improving the training efficiency.

[0058] In a possible example, after controlling the manipulator to drive the user to perform the target training action of the adjusted training intensity in the next training sub-period of the preset training period, the method further includes: when the next training sub-period ends, detecting whether the end time point of the next training sub-period is the end time point of the preset training period, and if so, ending the training. If not, after each training sub-period ends, prompting the user to perform a test of performing the target training action, and obtaining the test result, determining the training intensity of the next training sub-period according to the test result and the training intensity corresponding to the training sub-period that just ended, until the preset training period ends, thereby improving the intelligence of the adjustment.

[0059] In a possible example, determining the initial training intensity of the robotic arm when performing the target training action based on the user's historical training information includes: obtaining the user's historical training information, the historical training information including information about historical training actions performed by the user within a historical time; if it is determined that the number of historical training actions in the historical training information is zero, obtaining the user's medical condition information; obtaining at least one first reference intensity of at least one reference user having the same medical information as the medical information, the first reference intensity representing the average of the training intensities used by the reference user during the training period when the reference user first performs the target training action; and setting the first reference intensity with the largest number of identical intensities among the at least one first reference intensity as the initial training intensity.

[0060] In a specific example, the historical training information includes information about historical training actions performed by the user in a historical time. If it is determined that the number of historical training actions in the historical training information is zero, it means that the user is training for the first time, and then the user's medical condition information is obtained. According to the information, at least one reference user with the same medical condition information is searched. Since the reference users have the same medical condition, they will perform the same training actions during the recovery process, so the average of the training intensities used by the reference user in the training period when the target training action was first performed is calculated, and the average is used as the first reference intensity. For example, the training period corresponding to the reference user includes three sub-periods, and each sub-period corresponds to a training intensity. The three training intensities used by the reference user in the training period are obtained, and the average of the three training intensities is calculated, which is the first reference intensity. At least one reference user corresponds to at least one first reference intensity, and the first reference intensity with the largest number of identical intensities in at least one first reference intensity is set as the initial training intensity.

[0061] It can be seen that in this example, whether the user is training for the first time is determined based on the user's historical training information. If so, a reference user with the same medical information is determined based on the user's medical information, and the initial training intensity is determined based on the training intensity used by the reference user during the training period when he first performed the target training action, thereby improving the rationality of the determined initial training intensity.

[0062] In a possible example, determining the initial training intensity of the robot when performing the target training action based on the historical training information of the user includes: obtaining the historical training information of the user, the historical training information including information of historical training actions performed by the user within a historical time; if the number of historical training actions in the historical training information is not zero, and the same action as the target training action is not found in the historical training information, searching the historical training information for at least one reference training action similar to the target training action; obtaining at least one second reference intensity of the at least one reference training action, the second reference intensity representing the average of the training intensities used by the user during the training period of the most recent execution of the reference training action; and setting the minimum second reference intensity among the at least one second reference intensities as the initial training intensity.

[0063] In a specific example, if it is determined that the number of historical training actions in the historical training information is not zero, it means that the user is not training for the first time, but the same action as the target training action is not found in the historical training information, so the user is performing the target training action for the first time. Find at least one reference training action similar to the target training action from the historical training information. Determine the training period closest to the current time point for a single reference training action, obtain all training intensities used in the most recent training period, and calculate the average of all training intensities, which is the second reference intensity. According to the above method, after obtaining at least one second reference intensity of at least one reference training action, the minimum second reference intensity among the at least one second reference intensity is set as the initial training intensity.

[0064] It can be seen that in this example, after determining that the user performs the target training action for the first time based on historical training information, the initial training intensity is determined according to the intensity information corresponding to the user's training actions similar to the target training action, thereby improving the intelligence of the determination process and making the determined initial training intensity more reasonable, thereby improving the user's rehabilitation efficiency.

[0065] In a possible example, determining the initial training intensity of the robot when performing the target training action based on the user's historical training information includes: obtaining the user's historical training information, the historical training information including information about historical training actions performed by the user within a historical time; if the number of historical training actions in the historical training information is not zero, and no action identical to the target training action is found in the historical training information, obtaining a third reference intensity set, the third reference intensity set including each third reference intensity corresponding to each historical training action in the historical training information, the third reference intensity representing the average of the training intensities used in the training period of the most recent execution of each historical training action; setting the minimum third reference intensity in the third reference intensity set as the initial training intensity.

[0066] In a specific example, if it is determined that the number of historical training actions in the historical training information is not zero, and the action identical to the target training action is not found in the historical training information, each third reference intensity corresponding to each historical training action in the historical training information is obtained, and a third reference intensity set is formed according to each third reference intensity, so that the third reference intensity set includes each third reference intensity corresponding to each historical training action in the historical training information, that is, the third reference intensity set includes the third reference intensities corresponding to all historical training actions. The minimum third reference intensity in the third reference intensity set is set as the initial training intensity.

[0067] It can be seen that in this example, the initial training intensity is determined based on the training intensity corresponding to the user's historical training actions, which improves intelligence and improves the rationality of the determined initial training intensity.

[0068] In a possible example, determining the initial training intensity of the robot when performing the target training action based on the user's historical training information includes: obtaining the user's historical training information, the historical training information including information about historical training actions performed by the user within a historical time; if an action identical to the target training action is found in the historical training information, obtaining a fourth reference intensity, the fourth reference intensity representing the average of the training intensities used by the user during the training period when the user most recently performed the target training action; and setting the fourth reference intensity as the initial training intensity.

[0069] In a specific example, if an action identical to the target training action is found in the historical training information, it is determined that the user has performed the target training action, and then the average of the training intensities used by the user in the training period when the user most recently performed the target training action is obtained, and the average is determined as the fourth reference intensity. The fourth reference intensity is then set as the initial training intensity.

[0070] It can be seen that in this example, if the user has performed a target training action, the initial training intensity is determined based on the training intensity corresponding to the performed target training action, thereby improving the determination efficiency and further improving the control efficiency.

[0071] In a possible example, when the first training sub-period ends, the user is prompted to perform a test of executing the target training action and a test result is generated, including: when the first training sub-period ends, a stop force instruction is sent to the manipulator to instruct the manipulator to stop exerting force; when the manipulator stops exerting force, the user is prompted to perform the target training action; the reference adjustment degree of the joints of the manipulator when the user performs the target training action is collected by the manipulator; the subtraction value of the reference adjustment degree minus the maximum adjustment degree within the initial training intensity is calculated; a test score is determined based on the subtraction value, and the subtraction value is proportional to the test score; and the test result is generated based on the test score.

[0072] In a specific example, the test is a test that instructs the user to perform a target training action. At the end of the first training sub-period, a stop force instruction is sent to the manipulator to avoid the influence of the manipulator and improve the credibility of the test results. When the manipulator stops exerting force, the user is prompted to perform the target training action, and the manipulator collects the reference adjustment degree of the joint when the user performs the target training action. The reference adjustment degree is the maximum adjustment degree of the joint collected by the manipulator when the user performs the target training action. Calculate the subtraction value of the reference adjustment degree minus the maximum adjustment degree within the initial training intensity, and then determine the test score based on the subtraction value. Specifically, the subtraction value is proportional to the test score, that is, the larger the subtraction value, the higher the test score.

[0073] It can be seen that in this example, the reference adjustment degree of the user's independent execution of the target training action is obtained, and the user's test score is determined by the difference between the reference adjustment degree and the maximum adjustment degree within the initial training intensity, so that the score credibility is high, and the test result is determined based on the test score, thereby improving the credibility of the determined result.

[0074] In a possible example, adjusting the initial training intensity based on the test result to obtain the adjusted training intensity includes: if the test score in the test result is greater than a first preset score, calculating a first difference between the test score and the first preset score; finding a first adjustment intensity value corresponding to the first difference; increasing the initial training intensity by the first adjustment intensity value to obtain an increased training intensity; setting the increased training intensity as the adjusted training intensity; if the test score in the test result is less than a second preset score, calculating a second difference between the test score and the second preset score, the second preset score being less than the first preset score; finding a second adjustment intensity value corresponding to the second difference; reducing the initial training intensity by the second adjustment intensity value to obtain a reduced training intensity; and setting the reduced training intensity as the adjusted training intensity.

[0075] In a specific example, if the test score in the test result is greater than the first preset score, that is, the user action completion degree is high, then the first difference between the test score and the first preset score is calculated, the first adjustment intensity value corresponding to the first difference is obtained, and the initial training intensity is increased according to the first adjustment intensity value. For example, if the initial training intensity is 20 degrees to 50 degrees and the first adjustment intensity value is 5 degrees, the maximum degree in the initial training intensity is increased by 5 degrees to obtain the increased training intensity with a degree range of 20 degrees to 55 degrees. If the test score in the test result is less than the second preset score, that is, the user action completion degree is low, then the second difference between the test score and the second preset score is calculated, the second adjustment intensity value corresponding to the second difference is obtained, and the initial training intensity is reduced according to the second adjustment intensity value. For example, if the initial training intensity is 20 degrees to 50 degrees and the second adjustment intensity value is 5 degrees, the maximum degree in the initial training intensity is reduced by 5 degrees to obtain the reduced training intensity with a degree range of 20 degrees to 45 degrees.

[0076] It can be seen that in this example, whether to increase or decrease the training intensity is determined based on the comparison result between the test score and the preset score in different test results, and the size of the increase or decrease is determined based on the specific difference between the test score and the preset score, thereby improving the intelligence of the training intensity adjustment and thus improving the intelligence of the entire control process.

[0077] It can be understood that the initial training intensity adjustment method can be determined according to the target training action. For example, if the target training action is to open the fingers, the maximum adjustment degree within the initial training intensity is determined. For example, if the initial training intensity is 20 to 50 degrees and the first adjustment intensity value is 2 degrees, then the adjusted training intensity is 20 to 52 degrees. If the target training action is to clench the fist, the minimum adjustment degree within the initial training intensity is determined. For example, if the initial training intensity is 20 to 35 degrees and the first adjustment intensity value is 2 degrees, then the adjusted training intensity is 18 to 35 degrees. The initial training intensity adjustment method is determined according to the target training action to adapt to different actions, make the adjustment more reasonable, and improve the intelligence of the adjustment.

[0078] The embodiment of the present application provides a control device based on a manipulator, which may be an electronic device. Specifically, the control device based on a manipulator provided in the embodiment of the present application may include modules corresponding to the corresponding steps.

[0079] The embodiment of the present application can divide the functional modules of the manipulator-based control device according to the above method example. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of software functional modules. The division of modules in the embodiment of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation.

[0080] In the case of dividing each functional module into corresponding functional modules, please refer to Figure 6 , Figure 6 : is a functional unit composition block diagram of a manipulator-based control device provided in an embodiment of the present application, a manipulator-based control device, applied to a controller of the manipulator system, the manipulator system includes a manipulator connected to the controller, and the device includes:

[0081] An acquisition unit 610 is used to acquire a target training action that the user needs to perform within a preset training period;

[0082] A determination unit 620 is used to determine an initial training intensity when the manipulator performs the target training action based on the historical training information of the user, wherein the training intensity represents a range value of a joint adjustment degree when the manipulator performs the training action;

[0083] A first control unit 630 is used to control the manipulator to drive the user to perform the target training action of the initial training intensity in the first training sub-period of the preset training period;

[0084] a prompting unit 640, configured to prompt the user to perform a test of executing the target training action when the first training sub-period ends, and generate a test result;

[0085] An adjusting unit 650 is used to adjust the initial training intensity based on the test result to obtain an adjusted training intensity;

[0086] The second control unit 660 is used to control the robot to drive the user to perform the target training action with the adjusted training intensity in the next training sub-period of the preset training period.

[0087] In a possible example, the determination unit 620 is also used to obtain historical training information of the user, the historical training information including information of historical training actions performed by the user within a historical time; and if it is determined that the number of historical training actions in the historical training information is zero, obtaining the user's medical condition information; and obtaining at least one first reference intensity of at least one reference user having the same medical information as the medical information, the first reference intensity representing the average of the training intensities used by the reference user during the training period when the reference user first performed the target training action; and setting the first reference intensity with the largest number of identical intensities among the at least one first reference intensity as the initial training intensity.

[0088] In a possible example, the determination unit 620 is also used to obtain historical training information of the user, the historical training information including information of historical training actions performed by the user within a historical time; and if the number of historical training actions in the historical training information is not zero, and the same action as the target training action is not found in the historical training information, then searching for at least one reference training action similar to the target training action from the historical training information; and obtaining at least one second reference intensity of the at least one reference training action, the second reference intensity representing the average of the training intensities used by the user during the training period when the user most recently performed the reference training action; and setting the minimum second reference intensity among the at least one second reference intensities as the initial training intensity.

[0089] In a possible example, the determination unit 620 is also used to obtain historical training information of the user, the historical training information including information of historical training actions performed by the user within a historical time; and if the number of historical training actions in the historical training information is not zero, and no action identical to the target training action is found in the historical training information, then obtaining a third reference intensity set, the third reference intensity set including each third reference intensity corresponding to each historical training action in the historical training information, the third reference intensity representing the average of the training intensities used in the training period of the most recent execution of each historical training action; and setting the minimum third reference intensity in the third reference intensity set as the initial training intensity.

[0090] In a possible example, the determination unit 620 is also used to obtain historical training information of the user, the historical training information including information of historical training actions performed by the user within a historical time period; and if an action identical to the target training action is found in the historical training information, a fourth reference intensity is obtained, the fourth reference intensity representing the average of the training intensities used by the user during the training period when the user most recently performed the target training action; and the fourth reference intensity is set as the initial training intensity.

[0091] In a possible example, the prompt unit 640 is also used to send a stop force instruction to the manipulator when the first training sub-period ends, so as to instruct the manipulator to stop exerting force; and when the manipulator stops exerting force, prompt the user to perform the target training action; and collect the reference adjustment degree of the joints of the manipulator when the user performs the target training action through the manipulator; and calculate the subtraction value of the reference adjustment degree minus the maximum adjustment degree within the initial training intensity; and determine a test score based on the subtraction value, and the subtraction value is proportional to the test score; and generate the test result based on the test score.

[0092] In a possible example, the adjustment unit 650 is also used to calculate a first difference between the test score and the first preset score if the test score in the test result is greater than a first preset score; search for a first adjustment intensity value corresponding to the first difference; and increase the initial training intensity by the first adjustment intensity value to obtain an increased training intensity; and set the increased training intensity to the adjusted training intensity; and if the test score in the test result is less than a second preset score, calculate a second difference between the test score and the second preset score, the second preset score being less than the first preset score; and search for a second adjustment intensity value corresponding to the second difference; and reduce the initial training intensity by the second adjustment intensity value to obtain a reduced training intensity; and set the reduced training intensity to the adjusted training intensity.

[0093] The above embodiments may be implemented in whole or in part by software, hardware, firmware or any other combination thereof. When implemented using software, the above embodiments may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from one website, computer, server or data center to another website, computer, server or data center by wired or wireless means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that contains one or more available media sets. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium. The semiconductor medium may be a solid-state hard disk.

[0094] An embodiment of the present application also provides a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute part or all of the steps of any method described in the above method embodiments, and the above computer includes an electronic device.

[0095] An embodiment of the present application further provides a computer program product, which includes a computer program. The computer program can be operated to enable a computer to execute part or all of the steps of any method recorded in the above method embodiments.

[0096] The computer program product may be a software installation package, and the computer includes an electronic device.

[0097] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0098] In the several embodiments provided in the present application, it should be understood that the disclosed methods, devices and systems can be implemented in other ways. For example, the device embodiments described above are merely schematic; for example, the division of the units is only a logical function division, and there may be other division methods in actual implementation; for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0099] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0100] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may be physically included separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0101] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform some steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store program codes.

[0102] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions without departing from the spirit and scope of the present invention, and can make various changes and modifications, including the combination of the above-mentioned different functions and implementation steps, including software and hardware implementation methods, all of which are within the scope of protection of the present invention.

Claims

1. A control device based on a manipulator, characterized in that: A controller applied to a manipulator system, the manipulator system comprising a manipulator connected to the controller, the device comprising: An acquisition unit, used to acquire a target training action that the user needs to perform within a preset training period; A determination unit, configured to obtain historical training information of the user; Determine the initial training intensity of the manipulator when performing the target training action based on the historical training information of the user, wherein the training intensity represents the range of the degree of joint adjustment when the manipulator performs the training action, and the historical training information includes information of historical training actions performed by the user in historical time; If it is determined that the number of historical training actions in the historical training information is zero, obtaining the condition information of the user; Acquire at least one first reference intensity of at least one reference user having the same medical condition information as the medical condition information, wherein the first reference intensity represents an average of training intensities used by the reference user during a training period when the reference user first performs the target training action; setting the first reference intensity with the largest number of identical intensities among the at least one first reference intensity as the initial training intensity; A first control unit, configured to control the manipulator to drive the user to perform the target training action of the initial training intensity in a first training sub-period of the preset training period; a prompting unit, configured to prompt the user to perform a test of executing the target training action and generate a test result when the first training sub-period ends; An adjusting unit, configured to adjust the initial training intensity based on the test result to obtain an adjusted training intensity; The second control unit is used to control the manipulator to drive the user to perform the target training action with the adjusted training intensity in the next training sub-period of the preset training period.

2. The device according to claim 1, characterized in that The determining unit is further configured to: If the number of historical training actions in the historical training information is not zero, and no action identical to the target training action is found in the historical training information, searching the historical training information for at least one reference training action similar to the target training action; Acquire at least one second reference intensity of the at least one reference training action, where the second reference intensity represents an average of the training intensities used by the user during a training period when the user most recently performed the reference training action; The minimum second reference intensity among the at least one second reference intensity is set as the initial training intensity.

3. The device according to claim 1, characterized in that The determining unit is further configured to: If the number of historical training actions in the historical training information is not zero, and no action identical to the target training action is found in the historical training information, a third reference intensity set is obtained, where the third reference intensity set includes each third reference intensity corresponding to each historical training action in the historical training information, and the third reference intensity represents an average of training intensities used in a training period of the most recent execution of each historical training action; The minimum third reference intensity in the third reference intensity set is set as the initial training intensity.

4. The device according to claim 1, characterized in that The determining unit is further configured to: If an action identical to the target training action is found in the historical training information, a fourth reference intensity is obtained, where the fourth reference intensity represents an average of the training intensities used by the user during the training period when the user most recently performed the target training action; The fourth reference intensity is set as the initial training intensity.

5. The device according to any one of claims 1 to 4, characterized in that: The prompt unit is further used for: When the first training sub-period ends, sending a stop force instruction to the manipulator to instruct the manipulator to stop exerting force; When the manipulator stops exerting force, prompting the user to perform the target training action; Collecting, by the manipulator, reference adjustment degrees of the joints of the manipulator when the user performs the target training action; Calculating a subtraction value of the reference adjustment degree minus the maximum adjustment degree within the initial training intensity; Determine a test score according to the subtraction value, wherein the subtraction value is proportional to the test score; The test result is generated according to the test score.

6. The device according to claim 5, characterized in that The regulating unit is further used for: If the test score in the test result is greater than a first preset score, calculating a first difference between the test score and the first preset score; Finding a first adjustment strength value corresponding to the first difference; Increasing the initial training intensity by the first adjustment intensity value to obtain an increased training intensity; setting the increased training intensity as the adjusted training intensity; If the test score in the test result is less than a second preset score, calculating a second difference between the test score and the second preset score, the second preset score being less than the first preset score; Finding a second adjustment strength value corresponding to the second difference; The initial training intensity is reduced by the second adjustment intensity value to obtain a reduced training intensity; The reduced training intensity is set as the adjusted training intensity.

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