Vibration control method of handle

Abstract

The vibration control method of the handle comprises the following steps: acquiring angle values of the handle on an x axis, a y axis and a z axis; s3, judging whether the angle value is within a preset range or not, and if yes, performing the step S3; performing angle mapping on the angle value through a preset rule to obtain a mapping angle value; according to the mapping angle value, the pulse width modulation duty ratio of the handle is adjusted, and real-time vibration control over the handle is achieved. Compared with the prior art, the handle device can quickly respond to angle changes, and the operation accuracy and stability of the handle device are ensured.

Description

Technical Field

[0001] The invention is applicable to the technical field of robots, and in particular relates to a vibration control method of a handle. Background Art

[0002] Existing vibration handle technology is mainly used for robot manipulation, usually relying on simple vibration control mechanisms. These handles provide feedback through basic vibration motors, but they are insufficient in real-time perception of user operations and dynamic adjustment. Although many existing technologies use vibration handles with integrated gyroscopes, which can obtain posture information and adjust vibration control appropriately, they still face some problems. Although they can sense certain posture changes, the vibration mode and intensity of feedback are often preset and lack dynamic adaptability for different operating scenarios. In addition, delays in data transmission and processing may result in untimely feedback, which affects the user's sense of control and safety of the machine. Therefore, current technology has not yet fully met the needs for efficient, precise and intuitive manipulation.

[0003] Therefore, a new vibration control method of a handle is urgently needed to solve the above technical problems. Summary of the invention

[0004] The present invention provides a vibration control method for a handle, aiming to control the vibration of the handle in real time, thereby improving the vibration feedback effect of the handle and enhancing the operability of the handle operation.

[0005] The present invention provides a vibration control method for a handle, the vibration control method comprising the following steps:

[0006] S1, obtaining the angle values ​​of the handle on the x-axis, y-axis and z-axis;

[0007] S2, determining whether the angle value is within a preset range, if so, proceeding to step S3;

[0008] S3, performing angle mapping on the angle value according to a preset rule to obtain a mapped angle value;

[0009] S4. Adjust the pulse width modulation duty cycle of the handle according to the mapping angle value to achieve real-time vibration control of the handle.

[0010] Preferably, the mapping angle value is defined as A, and the preset rule is:

[0011] A=((abs((int)angleN)-10)*5);

[0012] Wherein, abs represents the absolute value, int represents converting the angle value into an integer type, and angleN represents the angle value.

[0013] Preferably, in step S2, if the angle value is not within the preset range, the comparison register of the corresponding direction in the timer of the handle is set to 0.

[0014] Compared with the prior art, the present invention obtains the angle values ​​of the handle on the x-axis, y-axis and z-axis; determines whether the angle value is within the preset range, and if so, proceeds to step S3; performs angle mapping on the angle value according to the preset rule to obtain the mapped angle value; and adjusts the pulse width modulation duty cycle of the handle according to the mapped angle value to achieve real-time vibration control of the handle. In this way, the present invention can respond quickly to angle changes and ensure the accuracy and stability of the handle device operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention will be described in detail below in conjunction with the accompanying drawings. The above and other aspects of the present invention will become clearer and easier to understand through the detailed description made in conjunction with the following drawings. In the accompanying drawings:

[0016] Figure 1 It is a flowchart of a vibration control method of a handle provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0018] Please refer to Figure 1 The present invention provides a vibration control method for a handle, the vibration control method comprising the following steps:

[0019] S1. Obtain the angle values ​​of the handle on the x-axis, y-axis and z-axis.

[0020] In an embodiment of the present invention, the handle specifically includes multiple modules: a button module, a wireless serial port module, a gyroscope, a FOC brushless motor, an SD card, a three-axis motor, and a microcontroller. The feedback data is processed by the microcontroller. The user inputs instructions through the button input module, and the microcontroller receives and processes these instructions, controlling the FOC brushless motor and the three-axis motor to generate vibration control and motion instructions. The data interacts with the robot in real time through serial port communication to ensure that the instructions are accurately transmitted. At the same time, the built-in SD card in the handle stores user settings and operation records, and the ADC monitoring system monitors the power supply and status in real time to ensure the stable operation of the handle. The wireless serial port module realizes wireless connection with external devices, enhances the flexibility and convenience of control, and thus provides a smooth remote control experience.

[0021] The gyroscope of the handle is used to obtain the angle values ​​angleX, angleY, and angleZ from the x-axis, y-axis, and z-axis.

[0022] S2. Determine whether the angle value is within a preset range. If so, proceed to step S3.

[0023] In the embodiment of the present invention, specifically, if the angle value is greater than a preset threshold angle_error but less than 30 degrees, or less than -30 degrees but greater than -(30+angle_error), the angle value is considered to be within an acceptable error range.

[0024] In step S2, if the angle value is not within the preset range, the comparison register of the corresponding direction in the timer of the handle is set to 0.

[0025] S3. Perform angle mapping on the angle value according to a preset rule to obtain a mapped angle value.

[0026] In the embodiment of the present invention, the mapping angle value is defined as A, and the preset rule is.

[0027] A=((abs((int)angleN)-10)*5);

[0028] Wherein, abs represents the absolute value, int represents converting the angle value into an integer type, and angleN represents the angle value.

[0029] S4. Adjust the pulse width modulation duty cycle of the handle according to the mapping angle value to achieve real-time vibration control of the handle.

[0030] In the embodiment of the present invention, the mapped angle value is set to the corresponding capture / compare register (CCR) of the timer TIM3 of the handle to adjust the duty cycle of the pulse width modulation (PWM). Specifically:

[0031] For the angle value angleX of the x-axis, the mapping value is set to TIM3->CCR4.

[0032] For the angle value of the y-axis angleY, the mapping value is set to TIM3->CCR3.

[0033] For the angle value of the z-axis angleZ, the mapping value is set to TIM3->CCR2.

[0034] Among them, CCR2, CCR3, and CC4 represent the corresponding comparison registers in the x-axis, y-axis, and z-axis directions respectively.

[0035] Specifically, the present invention provides an eccentric motor in three directions of XYZ on the handle of the robot posture control to provide precise vibration control. The design of the handle enables the operator to feel real feedback related to the robot arm movement during operation, enhancing the intuitiveness and immersion of the control.

[0036] By converting the angle data collected by the gyroscope into clearly perceptible vibration information, the built-in gyroscope in the handle monitors the changes in the handle's posture in real time, and maps the acquired angle data to different linear motor vibration powers. This binding of angle and vibration amplitude allows the operator to adjust the posture of the robot arm, and the handle will generate corresponding vibration control according to the specified angle, helping the operator to better understand the current control status.

[0037] By converting the angle value into a mapped angle value in real time and controlling the pulse width modulation duty cycle of the handle through the mapped angle value, the handle can not only respond to the operator's input, but also dynamically adjust according to the robot's state feedback. When the robot is in a specific posture or performing a specific task, the handle can automatically adjust the intensity of the vibration control to ensure that the controller always gets the most relevant tactile information.

[0038] Compared with the prior art, the present invention obtains the angle values ​​of the handle on the x-axis, y-axis and z-axis; determines whether the angle value is within the preset range, and if so, proceeds to step S3; performs angle mapping on the angle value according to the preset rule to obtain the mapped angle value; and adjusts the pulse width modulation duty cycle of the handle according to the mapped angle value to achieve real-time vibration control of the handle. In this way, the present invention can respond quickly to angle changes and ensure the accuracy and stability of the handle device operation.

[0039] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0040] The embodiments of the present invention are described above in conjunction with the accompanying drawings. What is disclosed is only the preferred embodiment of the present invention. However, the present invention is not limited to the above-mentioned specific implementation manner. The above-mentioned specific implementation manner is only illustrative rather than restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms and equivalent changes without departing from the scope of protection of the purpose of the present invention and the claims, all of which are within the protection of the present invention.

Claims

1. A method for controlling vibration of a handle, characterized in that: The vibration control method comprises the following steps: S1, obtaining the angle values ​​of the handle on the x-axis, y-axis and z-axis; S2, determining whether the angle value is within a preset range, if so, proceeding to step S3; S3, performing angle mapping on the angle value according to a preset rule to obtain a mapped angle value; S4. Adjust the pulse width modulation duty cycle of the handle according to the mapping angle value to achieve real-time vibration control of the handle.

2. The vibration control method of the handle as claimed in claim 1, characterized in that: The mapping angle value is defined as A, and the preset rule is: A=((abs((int)angleN)-10)*5); Wherein, abs represents the absolute value, int represents converting the angle value into an integer type, and angleN represents the angle value.

3. The vibration control method of the handle as claimed in claim 1, characterized in that: In step S2, if the angle value is not within the preset range, the comparison register of the corresponding direction in the timer of the handle is set to 0.

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