A robot control method, device and storage medium

Abstract

The present invention discloses a robot control method, device and storage medium, the robot control method comprising: resetting the robot through multiple rounds of reset processes; in the reset process, controlling the finger mechanisms to extend to the maximum extension angle in sequence according to a preset reset sequence and by a preset reset current; for each finger mechanism, controlling the finger mechanism to stop extending by increasing the current load during the extension process; ending a round of the reset process when the last finger mechanism stops extending; and ending the reset of the robot when the last round of the reset process ends. The present invention solves the problem that in the existing method, in the reset process, multiple degrees of freedom of fingers may interfere with each other under very few gestures, resulting in failure to reset fingers of certain degrees of freedom, and effectively reduces the risk of users damaging their fingers during use.

Description

Technical Field

[0001] The present invention relates to the field of robot arm control technology, and in particular to a robot arm control method, device and storage medium. Background Art

[0002] The movement of the robot hand includes 6 degrees of freedom, including the flexion of 5 fingers and the abduction of the thumb. Incremental encoders are used to record the position or angle of the fingers. When the robot hand suddenly loses power due to accidentally touching the power off button or other reasons, the encoder loses its memory function and the position or angle information of each finger is lost, and the fingers remain in the last posture. In the existing method, during the reset process, in very rare gestures, there may be interference between multiple finger degrees of freedom, resulting in the failure of resetting fingers of certain degrees of freedom.

[0003] Therefore, a robot hand control method is urgently needed to solve the problem that in the existing method, during the resetting process, under very individual gestures, multiple finger degrees of freedom may interfere with each other, resulting in the failure of resetting fingers with certain degrees of freedom. Summary of the invention

[0004] The present invention provides a robot arm control method, aiming to solve the problem that in the existing method, during the resetting process, under extremely rare gestures, multiple finger degrees of freedom may interfere with each other, resulting in failure to reset fingers with certain degrees of freedom, thereby effectively reducing the risk of users damaging their fingers during use.

[0005] To achieve the above-mentioned object, the present invention proposes a control method for a robot hand, wherein the robot hand comprises a receiving cavity, a palm portion and a finger portion, wherein the finger portion comprises a plurality of finger mechanisms, each of which has a corresponding finger joint, and the finger mechanism is driven by a motor to rotate the finger joint so that the finger mechanism is extended or bent. The method comprises:

[0006] Resetting the robot arm through multiple rounds of resetting processes;

[0007] During the resetting process, according to a preset resetting sequence, the finger mechanisms are sequentially controlled to extend toward the maximum extension angle by a preset resetting current;

[0008] For each of the finger mechanisms, during the extension process, the finger mechanism is controlled to stop extending by increasing the current load;

[0009] When the last finger mechanism stops extending, a round of the resetting process ends;

[0010] When the last round of the resetting process is completed, the resetting of the robot arm is completed.

[0011] Optionally, before resetting the robot arm through a resetting process of multiple gear trains, the method further includes:

[0012] Acquiring historical reset data and / or historical usage data of the robot;

[0013] The reset sequence is determined based on the historical reset data and / or the historical usage data.

[0014] Optionally, determining the reset sequence based on the historical reset data and / or historical usage data includes:

[0015] Determining the interference rate of each of the finger mechanisms based on the historical reset data and / or the historical usage data;

[0016] Based on the interference rate, determining the reset priority of each of the finger mechanisms, the lower the interference rate, the higher the reset priority;

[0017] The order of the reset priorities from high to low is determined as the reset order.

[0018] Optionally, determining the interference rate of each of the finger mechanisms based on the historical reset data and / or historical usage data includes:

[0019] Based on the historical reset data, determining a first interference rate in the reset process of different rounds of each of the finger mechanisms;

[0020] Based on the historical usage data, determining a second interference rate of each of the finger mechanisms during use;

[0021] Based on the first cup interference rate and / or the second interference rate, the interference rate of each of the finger mechanisms is determined.

[0022] Optionally, determining, based on the historical reset data, a first interference rate of each finger mechanism in the reset process of different rounds includes:

[0023] Based on the historical reset data, determining an actual reset angle sequence of each finger mechanism in the reset process of different gear trains, wherein the actual reset angle sequence includes actual reset angles sorted in order of rounds, and each finger mechanism corresponds to one actual reset angle sequence;

[0024] Based on the actual reset angle sequence, determining the number and order of non-zero actual reset angles;

[0025] Based on the number and sequence of the non-zero actual reset angles, a first interference rate of the finger mechanism in the reset process of different rounds is determined.

[0026] Optionally, determining the second interference rate of each finger mechanism during use based on the historical use data includes:

[0027] Based on the historical usage data, determining the extension data of each of the finger mechanisms during use;

[0028] Based on the extension data, a second interference rate of each of the finger mechanisms during use is determined.

[0029] Optionally, determining the interference rate of each of the finger mechanisms based on the first interference rate and the second interference rate includes:

[0030] Normalizing the first interference rate to obtain weight values ​​of each of the finger mechanisms, each of the finger mechanisms corresponding to one weight value;

[0031] Based on the weight value, the second interference rate is weighted to obtain the interference rate of each of the finger mechanisms.

[0032] Optionally, the multiple rounds of resetting process further include:

[0033] In the resetting process which is not the first round, obtaining the actual resetting angle of the finger mechanism in the previous round;

[0034] If the actual reset angle of the previous round is zero, then in the reset process of this round, the reset step of the finger mechanism is skipped.

[0035] The present invention also proposes a robot arm control device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program implements the steps of the above-mentioned robot arm control method when executed by the processor.

[0036] The present invention also proposes a robot, comprising a robotic arm and a robotic arm control device, wherein the robotic arm comprises a plurality of finger mechanisms, each finger mechanism having a corresponding finger joint, and the robotic arm control device controls a motor to drive the finger joints to rotate so that the finger mechanisms extend or bend. The robotic arm control device is the robotic arm control device described in an embodiment of the present invention.

[0037] The technical solution of the robot hand control method of the present invention resets the robot hand through multiple rounds of reset processes. During the reset process, the finger mechanisms are controlled to extend to the maximum extension angle in sequence according to a preset reset sequence through a preset reset current. For each finger mechanism, during the extension process, the finger mechanism is controlled to stop extending by increasing the current load; when the last finger mechanism stops extending, one round of the reset process is terminated. When the last round of the reset process is terminated, the resetting of the robot hand is terminated, which solves the problem that in the existing method, in extremely rare gestures, multiple degrees of freedom of the fingers may interfere with each other during the reset process, resulting in failure to reset fingers of certain degrees of freedom, and effectively reduces the risk of users damaging their fingers during use. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A schematic diagram of a flow chart of a robot arm control method provided by an embodiment of the present invention;

[0039] Figure 2 A schematic diagram of the structure of a robot arm control device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0042] It should also be noted that when an element is referred to as being "fixed on" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element at the same time.

[0043] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0044] See also Figure 1 , Figure 1 It is a flowchart of a robot arm control method provided by an embodiment of the present invention.

[0045] In this embodiment, the robot arm includes a receiving cavity, a palm portion and a finger portion, the finger portion includes a plurality of finger mechanisms, each finger mechanism has a corresponding finger joint, the finger mechanism is driven by a motor to rotate the finger joint so that the finger mechanism is extended or bent, and the robot arm control method includes the following steps:

[0046] Step S10, resetting the robot arm through multiple rounds of resetting processes.

[0047] In this embodiment, the above-mentioned robotic arm is controlled by a robotic arm system. The robotic arm system may include an operation mode and a reset mode. After the user's limb is connected to the receiving cavity, in the operation mode, the user's limb makes corresponding movements and generates electromyographic signals corresponding to the movements. The motor in the robotic arm generates corresponding action instructions based on the detected electromyographic information, and the multiple finger mechanisms of the robotic arm will respond to the action instructions to perform corresponding actions.

[0048] In a possible embodiment, when the robot hand suddenly loses power due to accidentally touching the power off button or other reasons, the fingers keep the last posture, for example, the thumb of the robot hand is close to the palm and on the inner side of the index finger and middle finger, or the inner side of the thumb is close to the outer side of the index finger and the outer side of the middle finger. After the robot hand is powered on, it will enter the reset mode to reset the robot hand.

[0049] The above reset mode is a running process of restoring the default gesture posture of the robot hand so as to restart or correct errors. The default gesture posture of the robot hand can be five fingers open.

[0050] The above-mentioned multiple rounds of resetting process can be understood as a resetting process of performing multiple iterations or cycles on the robot hand until the robot hand is restored to the default gesture posture. Each cycle is a round, and each round involves the resetting operation of the finger mechanism.

[0051] The above-mentioned resetting of one round is performed according to the resetting sequence, and the above-mentioned resetting sequence can be the resetting sequence of thumb-index finger-middle finger-ring finger-little finger, or the resetting sequence of index finger-middle finger-ring finger-little finger-thumb, etc.

[0052] It should be noted that during the resetting process, there may be mutual interference between the degrees of freedom of multiple fingers, especially the path interference between the thumb and the index finger and middle finger. For example, the thumb interferes with the resetting path of the index finger and middle finger from the outside, and the index finger and middle finger interfere with the resetting path of the thumb from the outside. Therefore, it is necessary to perform multiple rounds of resetting processes according to the resetting sequence to reset the robot hand.

[0053] Step S20, during the resetting process, according to a preset resetting sequence, the finger mechanisms are sequentially controlled to extend toward the maximum extension angle by a preset resetting current.

[0054] In this embodiment, the above-mentioned preset reset order is a pre-set finger reset order, and the reset order can be the reset order of thumb-index finger-middle finger-ring finger-little finger, or the reset order of index finger-middle finger-ring finger-little finger-thumb, etc.

[0055] The above-mentioned preset reset current is a preset reset current, and each finger corresponds to a reset current.

[0056] The above-mentioned maximum extension angle can be understood as the finger mechanism being able to be extended as much as possible, such as five fingers being spread out.

[0057] Step S30: for each finger mechanism, during the extension process, controlling the finger mechanism to stop extending by increasing the current load.

[0058] In this embodiment, the above current load refers to the magnitude of the actual load current of the motor during operation.

[0059] In a possible embodiment, the reset sequence is thumb-index finger-middle finger-ring finger-little finger. When the last finger position is a fist of the robot hand, the thumb is close to the palm and inside the index finger and middle finger. During the stretching process, the thumb is first stretched and reset, and a smaller reset current is given to the motor of the thumb, so that it is slowly stretched to the maximum angle that the finger can stretch at a smaller reset speed. When a sudden increase in the current load is detected, it is inferred that resistance is encountered and the thumb is blocked inside the index finger and middle finger, and the thumb stretching movement is controlled to stop; then, the index finger is stretched and reset, and a smaller reset current is given to the motor of the index finger, so that it is slowly stretched to the maximum angle that the finger can stretch at a smaller reset speed. When a sudden increase in the current load is detected, it is inferred that the maximum position has been successfully reset, and the index finger stretching movement is controlled to stop; then, the middle finger is stretched and reset, and a smaller reset current is given to the motor of the middle finger, so that it is slowly stretched to the maximum angle that the finger can stretch at a smaller reset speed. The finger is stretched and reset to its maximum angle. When a sudden increase in current load is detected, it is inferred that the maximum position has been reached and reset is successful, so the middle finger stretching movement is stopped; then, the ring finger is stretched and reset, a smaller reset current is given to the motor of the ring finger, and the finger is slowly stretched and approached to the maximum angle that the finger can stretch at a smaller reset speed. When a sudden increase in current load is detected, it is inferred that the maximum position has been reached and reset is successful, so the ring finger stretching movement is stopped; finally, the little finger is stretched and reset, a smaller reset current is given to the motor of the little finger, and the finger is slowly stretched and approached to the maximum angle that the finger can stretch at a smaller reset speed. When a sudden increase in current load is detected, it is inferred that the maximum position has been reached and reset is successful, so the little finger stretching movement is stopped.

[0060] In another embodiment, the reset sequence is index finger-middle finger-ring finger-little finger-thumb. When the last finger position is the robot hand making a fist, the inner side of the thumb is close to the outer side of the index finger and the outer side of the middle finger. During the stretching process, first stretch and reset the index finger, give the motor of the index finger a smaller reset current, and let it slowly stretch and approach the maximum angle that the finger can stretch at a smaller reset speed. When a sudden increase in the current load is detected, it is inferred that resistance is encountered, and the index finger is blocked on the inner side of the thumb, and the index finger stretching movement is controlled to stop; then, stretch and reset the middle finger, give the motor of the middle finger a smaller reset current, and let it slowly stretch and approach the maximum angle that the finger can stretch at a smaller reset speed. When a sudden increase in the current load is detected, it is inferred that resistance is encountered, and the middle finger is blocked on the inner side of the thumb, and the middle finger stretching movement is controlled to stop; then, stretch and reset the ring finger, give the motor of the ring finger a smaller reset current, and let it slowly stretch and approach the maximum angle that the finger can stretch at a smaller reset speed. When the maximum angle is stretched and approached, when a sudden increase in current load is detected, it is inferred that the maximum position has been reached, reset is successful, and the ring finger stretching movement is stopped; then, the little finger is stretched and reset, a smaller reset current is given to the motor of the little finger, and it is slowly stretched and approached to the maximum angle that the finger can stretch at a smaller reset speed. When a sudden increase in current load is detected, it is inferred that the maximum position has been reached, reset is successful, and the little finger stretching movement is stopped; finally, the thumb is stretched and reset, a smaller reset current is given to the motor of the thumb, and it is slowly stretched and approached to the maximum angle that the finger can stretch at a smaller reset speed. When a sudden increase in current load is detected, it is inferred that the maximum position has been reached, reset is successful, and the thumb stretching movement is stopped.

[0061] Step S40, when the last finger mechanism stops extending, a round of resetting process ends.

[0062] In this embodiment, according to the resetting sequence, when the last finger mechanism stops extending, a round of resetting process ends.

[0063] In a possible embodiment, the reset sequence is thumb-index finger-middle finger-ring finger-little finger. When the last finger position is a fist of the robot hand, the thumb is close to the palm and inside the index finger and middle finger. During the stretching process, the thumb, index finger, middle finger, and ring finger are first stretched and reset, and finally, the little finger is stretched and reset. When the little finger is stretched to the maximum angle, the little finger stretching movement is controlled to stop. This completes a round of the reset process.

[0064] It should be noted that after completing the above round of reset process, since the thumb may still be blocked and not reset successfully, the next round of reset process is required. The thumb needs to be stretched and reset again, and a smaller reset current is given to the thumb motor, and it is slowly stretched to the maximum angle that the finger can stretch at a smaller reset speed. When a sudden increase in current load is detected, it is inferred that the maximum position has been successfully reset, and the control stops the stretching movement. At this time, the five fingers of the robot hand return to the set initial position.

[0065] In another possible embodiment, when the reset sequence is the reset sequence of index finger-middle finger-ring finger-pinky finger-thumb. When the last finger position is the position of the robot hand making a fist, the inner side of the thumb is close to the outer side of the index finger and the outer side of the middle finger. During the reset process, the index finger, middle finger, ring finger, and pinky finger are first stretched and reset, and finally, the thumb is stretched and reset. When the thumb is stretched to the maximum angle, the reset is completed, and the thumb stretching movement is controlled to stop. A round of reset process is completed.

[0066] After completing the above round of reset process, since the index finger and the middle finger may still be blocked and not reset successfully, the next round of reset process is required. The index finger needs to be stretched and reset again, and a smaller reset current is given to the motor of the index finger, and it is slowly stretched to the maximum angle that the finger can stretch at a smaller reset speed. When a sudden increase in current load is detected, it is inferred that the maximum position has been successfully reset, and the control stops the stretching movement; then the middle finger is stretched and reset again, and a smaller reset current is given to the motor of the middle finger, and it is slowly stretched to the maximum angle that the finger can stretch at a smaller reset speed. When a sudden increase in current load is detected, it is inferred that the maximum position has been successfully reset, and the control stops the stretching movement. At this time, the multiple fingers of the robot hand return to the set initial position.

[0067] Step S50, when the last round of resetting process is completed, the resetting of the robot arm is completed.

[0068] In this embodiment, when the last round of the resetting process is completed, the five fingers of the robot hand return to the set initial positions, exit the resetting mode, and stop extending to avoid damaging the fingers.

[0069] Specifically, after the robot is powered on, it automatically turns on the reset mode to control the fingers to reset. According to the preset reset sequence, the preset reset current is used to control the finger mechanisms to approach the maximum extension angle in sequence. A smaller reset current is given to the motor corresponding to each finger mechanism, and it is slowly allowed to approach the maximum angle that the finger mechanism can extend at a smaller reset speed. When the resistance of the limiter at the maximum angle is encountered during the process, the motor load increases due to the application of the resistance of the limiter, and then the current load increases. If a sudden increase in the current load is detected, it is determined that the finger mechanism may be blocked on the inside of other fingers, or has reached the maximum position and reset successfully, and then the extension of the finger mechanism can be stopped to avoid damage to the finger mechanism. After completing a round of reset process, there is still a possibility that a finger is blocked and not reset successfully, and the finger needs to be reset for another round until the last round of reset process, when all fingers are reset successfully, and then the reset is exited to avoid damage to the finger mechanism.

[0070] Furthermore, after completing the reset, exiting the reset mode and entering the operation mode, the electromyographic signal can be used to instruct the motor to control the position / angle of the finger according to the normal working current, and to control the bending / extension of the finger according to the normal preset speed.

[0071] The robot arm control method of the present embodiment is implemented to reset the robot arm through multiple rounds of reset processes. During the reset process, the finger mechanisms are controlled to extend to the maximum extension angle in sequence according to a preset reset order through a preset reset current. For each finger mechanism, during the extension process, the finger mechanism is controlled to stop extending by increasing the current load. When the last finger mechanism stops extending, a round of reset process is ended. When the last round of reset process is ended, the reset of the robot arm is ended. This solves the problem that in the existing method, under extremely rare gestures, multiple degrees of freedom of fingers may interfere with each other during the reset process, resulting in failure to reset fingers of certain degrees of freedom. This effectively reduces the risk of users damaging their fingers during use.

[0072] It can be understood that in the specific implementation of this application, user data, control data, action data and other related data are involved. When the embodiments in this application are applied to specific products or technologies, user permission or consent is required, and the collection, use and processing of relevant data, as well as the training and use of various models need to comply with relevant laws, regulations and standards of relevant countries and regions.

[0073] Optionally, before resetting the robot arm through multiple rounds of resetting processes, historical reset data and / or historical usage data of the robot arm may be obtained; and a reset sequence may be determined based on the historical reset data and / or historical usage data.

[0074] In the embodiment of the present invention, the historical reset data includes data such as historical reset time, historical reset interval time, etc. The reset time can be understood as the time length taken to complete the reset. The reset interval time can be understood as the time interval between the completion of the last reset and the triggering of the next reset.

[0075] The above historical usage data includes data such as the frequency and number of times the robot arm was used.

[0076] The historical reset data and historical usage data of the above-mentioned robot can be obtained through log data or from the server. Each time the reset mode is entered, the corresponding reset data and usage data will be recorded. The reset data and usage data can be written into the log or uploaded to the server for storage.

[0077] The above reset sequence can be understood as the reset sequence of multiple finger mechanisms of the robotic hand, which can be the reset sequence of thumb-index finger-middle finger-ring finger-little finger, or the reset sequence of little finger-ring finger-middle finger-index finger-thumb, or the reset sequence of index finger-middle finger-ring finger-little finger-thumb, etc.

[0078] Optionally, in the step of determining the reset order based on historical reset data and / or historical usage data, the interference rate of each finger mechanism can be determined based on the historical reset data and / or historical usage data; the reset priority of each finger mechanism can be determined based on the interference rate; and the reset order can be determined in descending order of the reset priority.

[0079] In this embodiment, the above interference rate can be understood as the ratio of the number of times the finger mechanism is interfered to the total number of times. The above interference rate is used to measure the degree of interference to the finger mechanism. In the process of resetting the robot hand, there may be different degrees of interference between multiple finger degrees of freedom. For example, when the robot hand is clenched into a fist, the thumb is close to the palm and on the inside of the index finger and middle finger, or when the robot hand is clenched into a fist, the thumb is on the outside of the index finger and middle finger, etc., the path interference between the thumb and the index finger and middle finger. When the robot hand is clenched into a fist, the thumb is close to the palm and on the inside of the index finger and middle finger, or when the robot hand is clenched into a fist, if the thumb is reset first, it will be blocked by the index finger and middle finger; when the robot hand is clenched into a fist, the thumb is on the outside of the index finger and middle finger, if the index finger is reset first, it will be blocked by the thumb.

[0080] The above reset priorities can be understood as the reset order of different components or functions when the system is reset. For example, the finger mechanism with the highest priority will be reset first, followed by the second highest priority, and so on.

[0081] The lower the above interference rate is, the higher the reset priority is. For example, the interference rate of each finger mechanism is thumb interference rate < pinky interference rate < ring finger interference rate < middle finger interference rate < index finger interference rate. During the reset process, the thumb will be reset first, then the pinky, then the ring finger, then the middle finger, and finally the index finger in the reset order; the index finger interference rate < middle finger interference rate < ring finger interference rate < pinky interference rate < thumb interference rate. During the reset process, the index finger will be reset first, then the middle finger, then the ring finger, then the pinky, and finally the thumb in the reset order.

[0082] In one embodiment, when the five-degree-of-freedom fingers perform complex operations, or various fingers interfere with each other, it is necessary to collect a large amount of historical reset data and historical usage data, analyze several high-frequency gestures that may cause path interference, and the corresponding high-frequency interfering finger mechanisms, so that the high-frequency interfering index finger can be reset first, thereby improving the reset efficiency and safety of the robot arm.

[0083] Optionally, in the step of determining the interference rate of each finger mechanism based on historical reset data and / or historical usage data, the first interference rate of each finger mechanism in different rounds of reset processes can be determined based on the historical reset data; the second interference rate of each finger mechanism during use can be determined based on the historical usage data; and the interference rate of each finger mechanism can be determined based on the first interference rate and / or the second interference rate.

[0084] In this embodiment, the first interference rate of each finger mechanism in different rounds of resetting processes can be determined based on the historical reset time and historical reset interval of each finger mechanism; and the second interference rate of each finger mechanism during use can be determined based on the historical use frequency and number of times of each finger mechanism; and the interference rate of each finger mechanism can be determined based on the first interference rate of each finger mechanism in different rounds of resetting processes and the second interference rate of each finger mechanism during use.

[0085] The above interference rate is used to measure the interference degree of the finger mechanism.

[0086] Furthermore, the first interference rate of the little finger is determined based on the historical time spent and the historical reset interval time of the little finger mechanism; the first interference rate of the ring finger is determined based on the historical time spent and the historical reset interval time of the ring finger mechanism; the first interference rate of the middle finger is determined based on the historical time spent and the historical reset interval time of the middle finger mechanism; the first interference rate of the index finger is determined based on the historical time spent and the historical reset interval time of the index finger mechanism; the first interference rate of the thumb is determined based on the historical time spent and the historical reset interval time of the thumb mechanism.

[0087] Furthermore, the second interference rate of the little finger is determined based on the historical frequency and number of uses of the little finger mechanism; the second interference rate of the ring finger is determined based on the historical frequency and number of uses of the ring finger mechanism; the second interference rate of the middle finger is determined based on the historical frequency and number of uses of the middle finger mechanism; the second interference rate of the index finger is determined based on the historical frequency and number of uses of the index finger mechanism; the second interference rate of the thumb is determined based on the historical frequency and number of uses of the thumb mechanism.

[0088] Furthermore, the final interference rate of the little finger is determined based on the first interference rate of the little finger and the second interference rate of the little finger; the final interference rate of the ring finger is determined based on the first interference rate of the ring finger and the second interference rate of the ring finger; the final interference rate of the middle finger is determined based on the first interference rate of the middle finger and the second interference rate of the middle finger; the final interference rate of the index finger is determined based on the first interference rate of the index finger and the second interference rate of the index finger; and the final interference rate of the thumb is determined based on the first interference rate of the thumb and the second interference rate of the thumb.

[0089] Optionally, in the step of determining the first interference rate of each finger mechanism in the reset process of different rounds based on the historical reset data, the actual reset angle sequence of each finger mechanism in the reset process of different rounds can be determined based on the historical reset data; based on the actual reset angle sequence, the number and sequence of non-zero actual reset angles can be determined; based on the number and sequence of non-zero actual reset angles, the first interference rate of the finger mechanism in the reset process of different rounds can be determined.

[0090] In this embodiment, the above-mentioned actual reset angle sequence includes actual reset angles arranged in order of rounds, and each finger mechanism corresponds to an actual reset angle sequence.

[0091] According to the historical time spent and the historical reset interval time, the actual reset angle sequence of the little finger in different rounds of reset, the actual reset angle sequence of the ring finger in different rounds of reset, the actual reset angle sequence of the middle finger in different rounds of reset, the actual reset angle sequence of the index finger in different rounds of reset and the actual reset angle sequence of the thumb in different rounds of reset can be determined; and the number of all non-zero angle values ​​and the corresponding sequence positions can be determined according to the actual reset angle sequence.

[0092] Furthermore, the first interference rate of each finger mechanism in the resetting process of different rounds is determined according to the number of all non-zero angle values ​​and the sequence positions corresponding to all non-zero angle values.

[0093] Furthermore, according to the actual reset angle sequence of the little finger in different rounds of reset processes, the number of all non-zero angle values ​​of the little finger and the sequence positions corresponding to all non-zero angle values ​​are determined, thereby determining the first interference rate of the little finger in different rounds of reset processes; according to the actual reset angle sequence of the ring finger in different rounds of reset processes, the number of all non-zero angle values ​​of the ring finger and the sequence positions corresponding to all non-zero angle values ​​are determined, thereby determining the first interference rate of the ring finger in different rounds of reset processes; according to the actual reset angle sequence of the middle finger in different rounds of reset processes, the number of all non-zero angle values ​​of the middle finger and the sequence positions corresponding to all non-zero angle values ​​are determined. The number of and the sequence positions corresponding to all non-zero angle values ​​of the index finger are determined according to the actual reset angle sequence of the index finger in the reset process in different rounds, thereby determining the first interference rate of the index finger in the reset process in different rounds; the number of all non-zero angle values ​​of the thumb and the sequence positions corresponding to all non-zero angle values ​​are determined according to the actual reset angle sequence of the thumb in the reset process in different rounds, thereby determining the first interference rate of the thumb in the reset process in different rounds.

[0094] Optionally, in the step of determining the second interference rate of each finger mechanism during use based on historical usage data, extension data of each finger mechanism during use can be determined based on the historical usage data; and the second interference rate of each finger mechanism during use can be determined based on the extension data.

[0095] In this embodiment, the above extension data can be understood as physical quantities such as the extension length, data, etc. of the fingers during movement or use. For example, in the process of grasping an object, the movement angles of the finger mechanisms are coupled with each other, and facing different objects, the finger mechanisms will produce different grasping gestures, and the number of fingers applied is also different.

[0096] The extension data of each finger mechanism during use can be determined according to the frequency and number of times of use of each finger mechanism, and the second interference rate of each finger mechanism during use can be determined according to the extension data of each finger mechanism during use.

[0097] Further, based on the frequency and number of times the thumb is used, the stretch data of the thumb during use is determined, and based on the stretch data of the thumb during use, the second interference rate of the thumb is determined; based on the frequency and number of times the index finger is used, the stretch data of the index finger during use is determined, and based on the stretch data of the index finger during use, the second interference rate of the index finger is determined; based on the frequency and number of times the middle finger is used, the stretch data of the middle finger during use is determined, and based on the stretch data of the middle finger during use, the second interference rate of the middle finger is determined; based on the frequency and number of times the ring finger is used, the stretch data of the ring finger during use is determined, and based on the stretch data of the ring finger during use, the second interference rate of the ring finger is determined; based on the frequency and number of times the little finger is used, the stretch data of the little finger during use is determined, and based on the stretch data of the little finger during use, the second interference rate of the little finger is determined.

[0098] Optionally, in the step of determining the interference rate of each finger mechanism based on the first interference rate and the second interference rate, the first interference rate can be normalized to obtain the weight value of each finger mechanism; based on the weight value, the second interference rate can be weighted to obtain the interference rate of each finger mechanism.

[0099] In this embodiment, each finger mechanism corresponds to a weight value.

[0100] The above normalization process can be understood as limiting the first interference rate to a specific range (such as a range of 0-1). The normalization process can make features of different scales have the same order of magnitude, thereby making it easier to compare and analyze.

[0101] The above weights can be understood as the importance of a certain factor or indicator relative to a certain thing, and the weight value of each finger mechanism quantifies the importance of each finger mechanism to the overall impact.

[0102] The above-mentioned weighted processing can be understood as a process of performing weight distribution on the second interference rate.

[0103] The first interference rate of each finger mechanism may be normalized to obtain a weight value of each finger mechanism, and the second interference rate of each finger mechanism may be weighted according to the weight value of each finger mechanism to obtain the interference rate of each finger mechanism.

[0104] Optionally, in the steps of multiple rounds of resetting process, the actual resetting angle of the finger mechanism in the previous round can also be obtained in the resetting process of a non-first round; if the actual resetting angle of the previous round is zero, the resetting step of the finger mechanism is skipped in the resetting process of this round.

[0105] In this embodiment, the non-first round of reset process may be the second round, the third round, etc., which are not the first round of reset process.

[0106] The actual reset angle of the finger mechanism in the last round can be understood as the reset angle of the finger mechanism after the first round of reset when the finger mechanism keeps the last posture when the power is cut off.

[0107] The above actual reset angle of zero can be understood as that during the reset process, one of the fingers in the finger mechanism did not move, which means that the finger is located at the system default initial position and should not be reset.

[0108] In one embodiment, during the second round of resetting, it is obtained that the little finger has not moved during the first round of resetting, then during the second round of resetting, the little finger reset can be skipped, and the other finger mechanisms can be reset; during the first round of resetting, the ring finger reset can be skipped, and the other finger mechanisms can be reset; during the first round of resetting, it is obtained that the little finger and the ring finger have not moved, then during the second round of resetting, the little finger and the ring finger reset can be skipped, and the other finger mechanisms can be reset, etc.

[0109] In this embodiment, the present invention can also be applied to electronic devices that require hand reset control, such as manipulators, industrial robots, and humanoid robots.

[0110] The present invention also provides a robot control device, see Figure 2 , Figure 2 It is a schematic diagram of the structure of a robot control device in a hardware operating environment involved in an embodiment of the present invention.

[0111] The robot control device of the embodiment of the present invention can be a computing device such as a desktop computer, a notebook, a palm computer, and a server. Figure 2As shown, the robot arm control device may include: a processor 1001 (such as a CPU), a network interface 1004, a user interface 1003, a memory 1005 and a communication bus 1002. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit, such as a keyboard (Keyboard), and the user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory, or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0112] Those skilled in the art will understand that Figure 2 The structure of the robot arm control device shown in the figure does not constitute a limitation of the robot arm control device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0113] like Figure 2 As shown, the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module and a computer program.

[0114] exist Figure 2 In the robot arm control device shown, the network interface 1004 is mainly used to connect to the background server and communicate data with the background server; the user interface 1003 is mainly used to connect to the client (user end) and communicate data with the client; and the processor 1001 can be used to call the computer program stored in the memory 1005. When the computer program is called and executed by the processor 1001, the steps of the above-mentioned robot arm control method are implemented.

[0115] Based on the computer program proposed in the aforementioned embodiment, the present invention also proposes a robot, which includes a robot arm and a robot arm control device. The robot arm includes multiple finger mechanisms, each finger mechanism has a corresponding finger joint, and the finger mechanism controls the motor through the robot arm control device to drive the finger joint to rotate so that the finger mechanism extends or bends. The robot arm control device is the robot arm control device of the aforementioned embodiment.

[0116] Since the robot control device and robot of the present invention can implement the steps of the above-mentioned robot control method, they at least have all the beneficial effects brought by the technical solutions of the above-mentioned robot control method embodiments, which will not be described one by one here.

[0117] In the several embodiments provided in the present application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another device, 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 an indirect coupling or communication connection through some interfaces, devices or modules, which can be electrical, mechanical or other forms.

[0118] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0119] In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of software functional modules.

[0120] If the integrated module is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the 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 (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0121] The above description is only a partial or preferred embodiment of the present invention. Neither the text nor the drawings can limit the scope of protection of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the overall concept of the present invention, or direct / indirect application in other related technical fields are included in the scope of protection of the present invention.

Claims

1. A robot arm control method, characterized in that: The robot arm includes a plurality of finger mechanisms, each of which has a corresponding finger joint, and the finger mechanism drives the finger joint to rotate by a motor so that the finger mechanism is extended or bent. The method includes: Acquiring historical reset data and / or historical usage data of the robot; Determining the interference rate of each of the finger mechanisms based on the historical reset data and / or the historical usage data; Based on the interference rate, determining the reset priority of each of the finger mechanisms, the lower the interference rate, the higher the reset priority; Determine the reset order from high to low in the order of the reset priorities; Resetting the robot arm through multiple rounds of resetting processes; During the resetting process, according to a preset resetting sequence, the finger mechanisms are sequentially controlled to extend toward the maximum extension angle by a preset resetting current; For each of the finger mechanisms, during the extension process, the finger mechanism is controlled to stop extending by increasing the current load; When the last finger mechanism stops extending, a round of the resetting process ends; When the last round of the resetting process is completed, the resetting of the robot arm is completed.

2. The robot arm control method according to claim 1, characterized in that: The determining of the interference rate of each of the finger mechanisms based on the historical reset data and / or the historical usage data includes: Based on the historical reset data, determining the first interference rate of each of the finger mechanisms in the reset process of different rounds, specifically based on the historical reset data, determining the actual reset angle sequence of each of the finger mechanisms in the reset process of different rounds, the actual reset angle sequence including the actual reset angles sorted in order of rounds, each of the finger mechanisms corresponding to one actual reset angle sequence; based on the actual reset angle sequence, determining the number and sequence of non-zero actual reset angles; based on the number and sequence of the non-zero actual reset angles, determining the first interference rate of the finger mechanism in the reset process of different rounds; Based on the historical usage data, determining a second interference rate of each of the finger mechanisms during use; specifically based on the historical usage data, determining extension data of each of the finger mechanisms during use; based on the extension data, determining a second interference rate of each of the finger mechanisms during use; Based on the first interference rate and / or the second interference rate, the interference rate of each of the finger mechanisms is determined.

3. The robot arm control method according to claim 2, characterized in that: The determining the interference rate of each of the finger mechanisms based on the first interference rate and the second interference rate includes: Normalizing the first interference rate to obtain weight values ​​of each of the finger mechanisms, each of the finger mechanisms corresponding to one weight value; Based on the weight value, the second interference rate is weighted to obtain the interference rate of each of the finger mechanisms.

4. The robot arm control method according to any one of claims 1 to 3, characterized in that: The multiple rounds of resetting process also include: In the resetting process that is not the first round, obtaining the actual resetting angle of the finger mechanism in the previous round; If the actual reset angle of the previous round is zero, then in the reset process of this round, the reset step of the finger mechanism is skipped.

5. A robot arm control device, characterized in that: The robot arm control device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, the steps of the robot arm control method according to any one of claims 1 to 4 are implemented.

6. A robot, characterized in that: The robot includes a robotic arm and a robotic arm control device. The robotic arm includes multiple finger mechanisms, each finger mechanism has a corresponding finger joint, and the finger mechanism controls a motor through the robotic arm control device to drive the finger joint to rotate so that the finger mechanism extends or bends. The robotic arm control device is the robotic arm control device as described in claim 5.

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