Intelligent adjusting support and control method

Abstract

The invention relates to the technical field of supports, in particular to a control method for intelligently adjusting a support, and the method comprises the following steps: S1, building a three-dimensional coordinate system; s2, at least one target pose parameter of the adjusting support is collected; s3, the control unit obtains a target pose parameter, collects a current pose parameter in real time, and adjusts the adjusting support from the current pose to the target pose according to the parameter difference between the target pose and the current pose; s4, the control unit collects current pose parameters of the adjusting support in real time, pose parameter comparison and pose adjustment are started according to the pose maintaining strategy, and the adjusting support is maintained at the target pose. According to the method, the target pose parameter and the current pose parameter of the adjusting support are obtained, and the adjusting support is adjusted from the current pose and maintained at the target pose. Therefore, the relative posture of the adjusting support can be accurately adjusted in real time according to the needs of a user, and the clamped object fixed to the clamping end of the adjusting support is located at the target position set by the user all the time.

Description

Technical Field

[0001] The present invention relates to the technical field of brackets, and in particular to an intelligent adjustment bracket and a control method. Background Art

[0002] As electronic products are used more and more widely, and the frequency and duration of use are relatively long, in order to relieve the fatigue caused by holding electronic products, people often use adjustable brackets to fix electronic products, such as mobile phones, in a suitable position for use.

[0003] The existing adjustable bracket generally comprises a base, a support rod connected to the base, and a clamping end rotatably fixed to one end of the support rod. When in use, people adjust the length and rotation angle of the support rod as needed to adjust the electronic product to the best viewing position.

[0004] However, after the existing adjustable bracket is manually adjusted, the adjustable bracket often shifts due to the use environment or the factors of the adjustable bracket itself, causing the electronic product to deviate from the user-set use position. In this case, the user is often required to manually adjust it again. However, in some special use environments, such as in-vehicle environments, it is inconvenient for the driver to manually adjust the adjustable bracket to restore it to the set position. As a result, it brings inconvenience to the user and even safety hazards. Summary of the invention

[0005] In order to solve at least one of the above technical problems, the present invention proposes an intelligent adjustment bracket and a control method to solve the problem that the existing adjustment bracket cannot be automatically adjusted to the user-set position during use.

[0006] To achieve the above object, the present invention adopts the following technical solution:

[0007] A first aspect of the present invention provides a control method for an intelligent adjustable bracket, comprising the following steps:

[0008] S1, establish a three-dimensional coordinate system based on the right-hand rule;

[0009] S2, collecting at least one target posture parameter of the adjustment bracket in the three-dimensional coordinate system and storing it in the control unit;

[0010] S3, the control unit obtains target posture parameters, collects current posture parameters in real time, and controls the driving device to drive the first rotating joint and / or the second rotating joint to perform a rotation action and / or the translation joint to perform a telescopic action according to the parameter difference between the target posture and the current posture, so as to adjust the adjustment bracket from the current posture to the target posture;

[0011] S4, the control unit collects the current posture parameters of the adjusting bracket in real time, and starts comparing the current posture parameters with the target posture parameters according to the posture maintenance strategy. If the current posture parameters are inconsistent with the target posture parameters, the driving device is controlled to drive the first rotating joint and / or the second rotating joint to perform a rotation movement and / or the translation joint to perform a telescopic movement, so as to maintain the adjusting bracket in the target posture.

[0012] Preferably, the target posture parameters include target angles between the connecting rods and the X-axis, Y-axis and Z-axis of the three-dimensional coordinate system when the connecting rods are in the target posture, the first target rotation angles of the first rotation joints and / or the second target rotation angles of the second rotation joints and / or the target displacements of the translation joints;

[0013] The current posture parameters include the actual angles between several connecting rods and the X-axis, Y-axis and Z-axis of the three-dimensional coordinate system at any current moment, the first actual rotation angles of several of the first rotation joints and / or the second actual rotation angles of the second rotation joints and / or the actual displacements of the translation joints.

[0014] Preferably, the posture maintenance strategy in S4 is an iterative strategy, specifically including: setting an iteration time interval, and the control unit controls the driving device to drive the first rotation joint and / or the second rotation joint to perform a rotation movement and / or the translation joint to perform a telescopic movement in units of the iteration time interval until the current posture parameters of the adjustment bracket are consistent with the target posture parameters.

[0015] Preferably, the posture maintenance strategy in S4 is an event-driven strategy, which specifically includes: when the IMU sensor detects severe vibration and / or acceleration change, the control unit obtains the actual angle and target angle of the connecting rod and the actual displacement and target displacement, and compares the drift values ​​of the actual angle and the current angle and the actual displacement and the target displacement;

[0016] A threshold of the drift value is set. When the drift value exceeds the threshold, the control unit controls the driving device to drive the first rotation joint and / or the second rotation joint to perform a rotation movement and / or the translation joint to perform a telescopic movement until the current posture parameters of the adjustment bracket are consistent with the target posture parameters.

[0017] Preferably, the posture maintenance strategy in S4 is a voice-driven strategy, specifically including: a user initiates a voice command to the control unit to drive the first rotational joint and / or the second rotational joint to perform a rotational movement and / or the translational joint to perform a telescopic movement until the current posture parameters of the adjustment bracket are consistent with the target posture parameters.

[0018] A second aspect of the present invention provides an intelligent adjustable bracket, which is used to implement the control method as described in the first aspect, including:

[0019] A fixing portion, used for fixing to a contact surface;

[0020] A clamping portion, used for clamping an object;

[0021] A connecting rod structure connected between the fixing portion and the clamping portion, wherein the connecting rod structure includes a plurality of movably connected connecting rods;

[0022] A joint assembly, used for active connection between connecting rods, between connecting rods and clamping parts, and between connecting rods and fixing parts, wherein the joint structure includes a first rotating joint rotating around a first axis and / or a second rotating joint rotating around a second axis perpendicular to the first axis and / or a translation joint extending and retracting along the first axis;

[0023] An IMU sensor, at least used to measure the deflection angle of the connecting rod, wherein the IMU sensor is fixed on the connecting rod;

[0024] A sensor group, comprising an angle sensor for measuring the rotation angles of the first rotation joint and the second rotation joint and a displacement sensor for measuring the telescopic length of the connecting rod;

[0025] A plurality of driving devices, used for driving the first rotary joint and the second rotary joint to rotate and the translation joint to extend and retract;

[0026] A control unit is used to drive the first rotary joint and / or the second rotary joint to perform a rotational action and / or a translational joint to perform a telescopic action based on the data received and processed from the IMU sensor, the angle sensor and the displacement sensor, so as to adjust the clamped object to a preset position.

[0027] Preferably, the driving device comprises a rotary motor for driving the first rotary joint and the second rotary joint and a translation motor for driving the translation joint to extend and retract.

[0028] Preferably, the adjusting bracket further comprises:

[0029] A plurality of physical buttons for obtaining the user's operation instructions for adjusting the bracket and sending them to the control unit; and / or,

[0030] The voice device is used to collect user voice commands and send them to the control unit.

[0031] Preferably, the angle sensor is a rotary encoder, the displacement sensor is a linear encoder, and the motor is a stepping motor or a servo motor.

[0032] Preferably, the fixing portion and the contact surface are fixed by clamping, bonding or adsorption.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] The present invention obtains the target posture parameters and current posture parameters of the adjustment bracket placed in the three-dimensional coordinate system, and controls the rotation joint and / or translation joint through the control unit to adjust the adjustment bracket from the current posture and maintain it in the target posture. Thereby, the adjustment bracket can accurately adjust the relative posture in real time according to the user's needs. At the same time, the posture of the adjustment bracket is dynamically adjusted through the posture maintenance strategy so that the clamped object fixed by the clamping end of the adjustment bracket is always in the target posture set by the user, realizing the automatic adjustment of the adjustment bracket, avoiding the inconvenience of operation and safety hazards of manually adjusting the posture of the adjustment bracket in a similar vehicle-mounted environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a structural schematic diagram of an intelligent adjustable bracket;

[0036] Figure 2 It is a top view of the fixing part in the present invention;

[0037] Figure 3 This is a control principle diagram of the control unit in the present invention;

[0038] Figure 4 It is a flow chart of the control method of the intelligent adjustment bracket of the present invention;

[0039] Figure 5 A schematic diagram of the angle between the connecting rod and the three-dimensional coordinate axis in the present invention;

[0040] Figure 6 It is a schematic diagram of the rotation and displacement of each joint in the present invention;

[0041] In the figure: 10, fixing part; 20, clamping part; 30, connecting rod structure; 40, joint assembly; 401, first rotation joint; 402, second rotation joint; 403, translation joint; 50, I MU sensor; 60, voice device; 70, physical button. DETAILED DESCRIPTION

[0042] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. It is obvious that the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments of the present invention.

[0043] Embodiment 1

[0044] The present embodiment provides an intelligent adjustable bracket, the use environment of the adjustable bracket includes but is not limited to an unstable environment such as a vehicle environment, or a stable environment such as a desktop, and the clamped objects include but are not limited to electronic products such as mobile phones and tablets.

[0045] Please refer to Figure 1-2 As shown, an intelligent adjustable bracket includes:

[0046] A fixing portion 10, used for fixing to a contact surface;

[0047] A clamping portion 20, used for clamping an object;

[0048] A connecting rod structure 30 is connected between the fixing portion 10 and the clamping portion 20, and the connecting rod structure 30 includes a plurality of movably connected connecting rods;

[0049] The joint assembly 40 is used for active connection between connecting rods, between connecting rods and the clamping part 20, and between connecting rods and the fixing part 10. The joint structure includes a first rotating joint 401 rotating around a first axis and / or a second rotating joint 402 rotating around a second axis perpendicular to the first axis and / or a translation joint 403 extending and retracting along the first axis;

[0050] An IMU sensor 50 is at least used to measure the deflection angle of the connecting rod, and the IMU sensor 50 is fixed on the connecting rod;

[0051] A sensor group, an angle sensor for measuring the rotation angles of the first rotation joint 401 and the second rotation joint 402 and a displacement sensor for measuring the telescopic length of the connecting rod;

[0052] A plurality of driving devices, used for driving the first rotating joint 401 and the second rotating joint 402 to rotate and the translation joint 403 to extend and retract;

[0053] The control unit is used to drive the first rotary joint 401 and / or the second rotary joint 402 to perform a rotational action and / or the translation joint 403 to perform a telescopic action based on the data received and processed from the IMU sensor 50, the angle sensor and the displacement sensor, so as to adjust the clamped object to a preset position.

[0054] In this embodiment, the control unit controls the driving device to drive the joint assembly 40 to rotate and / or translate, adjusts the relative spatial position of the connecting rod, and thus changes the relative spatial position of the clamping portion 20 located at the end of the connecting rod, so that the relative spatial position of the clamped object clamped and fixed by the clamping portion 20 can be automatically adjusted according to the needs of the user.

[0055] It can be understood that the number and combination of the first rotation joint 401, the second rotation joint 402 and the translation joint 403 can be set according to the actual needs of the adjustment bracket.

[0056] Specifically, the first rotation joint 401 , the second rotation joint 402 and the translation joint 403 can all be used separately, that is, the connecting rod of the adjustment bracket can only rotate around the first rotation joint 401 or the second rotation joint 402 , or can only be telescopically adjusted through the translation joint 403 .

[0057] When the first rotation joint 401 and the second rotation joint 402 are used in combination, the connecting rod of the adjustment bracket has the function of rotating around the first rotation joint 401 and the second rotation joint 402, thereby realizing complex rotation adjustment.

[0058] When the first rotation joint 401 or the second rotation joint 402 is used in combination with the translation joint 403 , the connecting rod of the adjustment bracket has the function of rotating around the first rotation joint 401 or the second rotation joint 402 and extending and retracting along the translation joint 403 .

[0059] When the first rotation joint 401 , the second rotation joint 402 and the translation joint 403 are used in combination, the connecting rod of the adjustment bracket has the function of rotating around the first rotation joint 401 and the second rotation joint 402 and extending and retracting along the translation joint 403 .

[0060] It should be noted that when the above-mentioned multiple joints are used in combination, not every joint will make corresponding movements in each adjustment. For example, when the first rotation joint 401 and the second rotation joint 402 are used in combination, in a certain posture adjustment, only the first rotation joint 401 may rotate, while the second rotation joint 402 does not rotate.

[0061] At the same time, when the adjustment bracket is composed of multiple adjustment parts, the same target posture of the above-mentioned clamp can be adjusted by a combination of different rotational movements and / or telescopic movements of the first rotation joint 401 and / or the second rotation joint 402 and / or the translation joint 403.

[0062] Please refer to Figure 1 As shown, the above-mentioned IMU sensor 50 (Inertial Measurement Unit) is a device for measuring and reporting the acceleration, angular velocity and sometimes the magnetic field strength of an object.

[0063] The main components of the I MU sensor 50 are:

[0064] Accelerometer: Measures the acceleration of an object in all directions and is used to determine the object's velocity and displacement.

[0065] Gyroscope: measures the angular velocity of an object in all directions and is used to track its angle changes and attitude.

[0066] Magnetometer (sometimes included): Measures the strength of the Earth's magnetic field relative to an object in all directions, used to compensate for gyro drift and provide absolute orientation information.

[0067] In this embodiment, the IMU sensor 50 is at least used to provide the deflection angle of the connecting rod in space. The working principle of the IMU sensor 50 belongs to the prior art. This application will not repeat it here.

[0068] The above-mentioned angle sensor can adopt a rotary encoder, and the displacement sensor can adopt a linear encoder. The encoder includes an absolute encoder and a relative encoder. The absolute encoder can directly output the angle or displacement value, and the relative encoder usually outputs the angle or displacement pulse. By presetting a reference point of a known position in the system, the angle or displacement value can be indirectly obtained in combination with the pulse count. The working principle of the above-mentioned rotary encoder and linear encoder belongs to the prior art. This application will not be repeated here.

[0069] It can be understood that, through the above-mentioned IMU sensor 50, angle sensor and displacement sensor, the control unit can obtain the posture parameters of the adjustment bracket at any current moment, that is, the current posture parameters, in real time.

[0070] In order to facilitate adjustment of the position and posture of the connecting rod, the present embodiment uses a motor to directly drive the rotation of the first rotating joint 401 and the second rotating joint 402 , or to indirectly drive the extension and retraction of the translation joint 403 .

[0071] Specifically, the first rotary joint 401 and the second rotary joint 402 can be directly connected to the output shaft of the motor, and the first rotary joint 401 and the second rotary joint 402 can be directly driven to rotate by the output shaft. Of course, the conversion of the motor's rotary motion can also be achieved through a gear structure. Specifically, a driving gear is fixedly installed on the motor output shaft, and a driven gear meshing with the driving gear is arranged on the periphery of the first rotary joint 401 and the second rotary joint 402. The driven gear is driven to rotate by the driving gear, thereby realizing the rotation of the first rotary joint 401 and the second rotary joint 402.

[0072] For the telescopic action of the translation joint 403, the motor, the lead screw and the nut can cooperate to convert the rotational action into a linear action. Specifically, the connecting rod at least includes a fixed section and a telescopic section, the motor is fixed to the fixed section, the lead screw is coaxially connected to the output shaft of the motor, the nut is coaxially fixed to the telescopic section, and at the same time, the nut thread is sleeved on the outside of the lead screw. In this way, when the motor rotates, it drives the lead screw to rotate, and under the action of the thread cooperation, the nut is driven away from or close to the motor, thereby realizing the telescopic function of the connecting rod. It can be understood that the above-mentioned displacement sensor should be fixed on the telescopic section of the connecting rod so that the displacement sensor can accurately measure the telescopic length of the connecting rod, that is, the displacement.

[0073] In this embodiment, the motor mentioned above can be a stepper motor or a servo motor to better control the rotation or translation action.

[0074] For the convenience of fixing, in this embodiment, the fixing method between the fixing part 10 and the contact surface can be clamping fixing, pasting fixing or adsorption fixing. The above fixing methods belong to the prior art and are not described in detail in this application.

[0075] In order to facilitate the user's intelligent control of the adjustment bracket, the adjustment bracket in this embodiment also includes: a plurality of physical buttons 70 and / or a voice device 60.

[0076] Specifically, the physical button 70 is mainly used to obtain the user's operation instructions for the adjustment bracket and send them to the control unit. For example, the operation instruction of the physical button 70 is to collect the target posture. When this physical button 70 is pressed, the current posture of the adjustment bracket is saved as the target posture set by the system. For another example, the operation instruction of the physical button 70 is to restore the target posture. When this physical button 70 is pressed, the adjustment bracket will be restored from the current posture to the target posture set by the system. For another example, the physical button 70 can be set to collect or restore the target postures of the following different users.

[0077] The function of the voice device 60 is to collect the user's voice command and send it to the control unit. For example, the user's voice command of "restore to the target posture" is collected through the microphone, and after voice recognition and command analysis, the voice command is sent to the control unit, and the control unit sends the control command to the relevant components to complete the target posture restoration action.

[0078] It is understandable that the above-mentioned physical button 70 and voice device 60 can be selected either as a manual control method for adjusting the bracket, or both can be configured at the same time.

[0079] The above-mentioned control unit includes at least: a microprocessor for receiving and processing external instructions and controlling the operation of the motor; an internal memory and an external memory (optional) for providing storage space; a peripheral interface for connecting to external devices, such as a sensor interface, a motor control interface, a physical button 70 interface, a microphone interface, etc.

[0080] Please refer to Figure 3 The control unit is respectively connected to the IMU sensor 50, the sensor group, the motor, the microphone and the physical button 70. The connection mode and working principle of the above control unit and each part belong to the prior art, and this application will not be repeated here.

[0081] This embodiment preferably uses an encoder-based angle sensor and displacement sensor, but does not exclude the use of other types of sensors with similar functions, including Hall angle sensors, magnetoresistive angle sensors, capacitive angle sensors, potentiometer displacement sensors, magnetostrictive displacement sensors, LVDT displacement sensors, and grating displacement sensors. The working principles of the above-mentioned angle sensors and displacement sensors belong to the prior art and are not described in detail in this application.

[0082] Embodiment 2

[0083] The following describes in detail the control method of the adjusting bracket, assuming that the connecting rod of the adjusting bracket is a single connecting rod.

[0084] It should be noted that, in this embodiment, the single link is connected to the fixed end and the clamping end respectively through the first rotation joint 401 and the second rotation joint 402 used in combination with each other.

[0085] Please refer to Figure 4-Figure 6 As shown, a control method of an intelligent adjustable bracket includes the following steps:

[0086] S1, establish a three-dimensional coordinate system based on the right-hand rule.

[0087] Please refer to Figure 5-6 The three-dimensional coordinate system in the figure is established using the right-hand rule. Specifically, hold the Z axis with the right hand, and turn the four fingers of the right hand from the positive direction of the X axis to the positive direction of the Y axis at a right angle of 90 degrees. At this time, the direction pointed by the thumb is the positive direction of the Z axis.

[0088] When the IMU sensor 50 is used to measure the position parameters of the connecting rod in space, the Figure 5 The three-dimensional coordinate system shown in FIG. 1 is a three-dimensional coordinate system in which the Z axis coincides with the plumb line of gravity of the earth. The angles between the central axis of the connecting rod and the X axis, Y axis and Z axis are defined as the angles between the connecting rod and the X axis, Y axis and Z axis of the three-dimensional coordinate system. That is, Figure 5 As shown, in the figure, α represents the angle between the connecting rod and the X-axis, β represents the angle between the connecting rod and the Y-axis, and γ represents the angle between the connecting rod and the Z-axis.

[0089] Since the IMU sensor 50 directly outputs the acceleration value and angular velocity value related to the movement of the connecting rod, in order to obtain the inclination value of the connecting rod, it is necessary to provide an initial inclination value and perform an integral operation. For this reason, in this embodiment, the adjustment bracket presets an initial posture with a known inclination value.

[0090] Specifically, when the adjustment bracket is powered on, it is first restored to the initial posture, and subsequent posture adjustments are based on the initial posture, and the inclination value of the connecting rod is obtained through integral calculation. The calculation method of the inclination value belongs to conventional technology and will not be repeated in this application.

[0091] It is understandable that the IMU sensor 50 needs to use an absolute coordinate system based on the Z axis coinciding with the earth's gravity plumb line for measurement. It should be noted that in order to facilitate the measurement of the posture parameters of the connecting rod in the three-dimensional coordinate system, the end of the connecting rod is set to coincide with the coordinate origin in this embodiment.

[0092] When using angle sensors and displacement sensors to measure the position parameters of joints in space, Figure 6 The three-dimensional coordinate system shown in FIG. The rotation center axis of the first rotation joint 401 and the second rotation joint 402 is defined as the first axis and the second axis. That is, Figure 6 As shown in the figure, the first axis coincides with the Z axis, the second axis coincides with the Y axis, the first axis and the second axis are perpendicular to each other, and the movement direction of the translation joint 403 coincides with the Z axis. The rotation angle of the first rotation joint 401 around the coordinate axis Z axis is recorded as φ, the rotation angle of the second rotation joint 402 around the coordinate axis Y axis is recorded as θ, and the displacement of the translation joint 403 along the coordinate axis Z axis is recorded as h.

[0093] It can be understood that when the connecting rod structure 30 is composed of multiple connecting rods, the first rotation joint 401, the second rotation joint 402 and the translation joint 403 all involve relative motion. Therefore, respective relative coordinate systems can be established based on the ends of each connecting rod, which is convenient for measuring the posture parameters of each joint in space.

[0094] S2, collecting at least one target posture parameter of the adjustment bracket in the three-dimensional coordinate system and storing it in the control unit.

[0095] Specifically, the target posture parameters include the target angles between the several links and the X-axis, Y-axis and Z-axis of the three-dimensional coordinate system when they are in the target posture, the first target rotation angles of the several first rotation joints 401 and / or the second target rotation angles of the second rotation joints 402 and / or the target displacements of the translation joints 403.

[0096] Taking into account the differences in the use of the same bracket by different users, multiple groups of the above-mentioned target posture parameters can be collected.

[0097] S3, the control unit obtains the target posture parameters, collects the current posture parameters in real time, and controls the driving device to drive the first rotating joint 401 and / or the second rotating joint 402 to perform a rotation action and / or the translation joint 403 to perform a telescopic action according to the parameter difference between the target posture and the current posture, so as to adjust the adjustment bracket from the current posture to the target posture;

[0098] The current posture parameters include the actual angles between several connecting rods and the X-axis, Y-axis and Z-axis of the three-dimensional coordinate system at any current moment, the first actual rotation angles of several first rotation joints 401 and / or the second actual rotation angles of the second rotation joints 402 and / or the actual displacements of the translation joints 403.

[0099] It is understandable that the change in the angle between the connecting rod and each coordinate axis in the coordinate system can be achieved by rotating the first rotation joint 401 and / or the second rotation joint 402. The displacement of the connecting rod in the Z-axis direction can be achieved by extending and retracting the translation joint 403. In this way, the restoration of the connecting rod posture can be achieved.

[0100] S4, the control unit collects the current posture parameters of the adjusting bracket in real time, and starts comparing the current posture parameters with the target posture parameters according to the posture maintenance strategy. If the current posture parameters are inconsistent with the target posture parameters, the control driving device drives the first rotating joint 401 and / or the second rotating joint 402 to perform a rotation movement and / or the translation joint 403 to perform a telescopic movement to maintain the adjusting bracket in the target posture.

[0101] Specifically, through steps S1-S3, the adjustment bracket in this embodiment has completed the adjustment of the target position set by the user.

[0102] Considering that the adjustment bracket may inevitably drift in posture during use due to environmental factors (such as vibration) and self-weight factors (such as the gravity of the clamped object), that is, the spatial position of the connecting rod in the three-dimensional coordinate system changes. At this time, it is necessary to compare the current posture parameters of the connecting rod with the target posture parameters, and then perform corresponding adjustment actions.

[0103] In addition, considering that a slight posture drift may not be observable by the user's naked eyes, this embodiment adopts a posture maintenance strategy to monitor the posture drift of the connecting rod.

[0104] Specifically, the control unit may maintain the adjustment bracket in the target posture by executing one or more of the following posture maintenance strategies:

[0105] The iterative strategy specifically includes: setting an iteration time interval, and the control unit controls the driving device to drive the first rotation joint 401 and / or the second rotation joint 402 to perform a rotation action and / or the translation joint 403 to perform a telescopic action in units of the iteration time interval until the current posture parameters of the adjustment bracket are consistent with the target posture parameters.

[0106] It should be noted that the above iteration time interval can be set to 1 second or 1 minute, etc., and the user can decide according to the actual use environment of the adjustment bracket.

[0107] Specifically, when the use environment is relatively unstable, such as when the road surface is poorly smooth in a vehicle, the iteration time interval can be set to be relatively short, such as 1 second. When the use environment is relatively stable, such as when it is used on a desktop, and the weight of the clamped object is light, it is not easy for the connecting rod to drift due to gravity, the iteration time interval can be set to be relatively long, such as 1 minute.

[0108] The event-driven strategy specifically includes: when the IMU sensor 50 detects a severe vibration and / or acceleration change, the control unit obtains the actual angle and target angle of the connecting rod and the actual displacement and target displacement, and compares the drift values ​​of the actual angle and the current angle and the actual displacement and the target displacement;

[0109] A threshold of the drift value is set. When the drift value exceeds the threshold, the control unit controls the driving device to drive the first rotation joint 401 and / or the second rotation joint 402 to perform a rotation action and / or the translation joint 403 to perform a telescopic action until the current posture parameters of the adjustment bracket are consistent with the target posture parameters.

[0110] Similarly, the above threshold value can be set according to the actual use environment of the adjustment bracket, and can be 1 degree, greater than 1 degree or less than 1 degree.

[0111] The voice-driven strategy specifically includes: the user initiates a voice command to the control unit to drive the first rotation joint 401 and / or the second rotation joint 402 to perform a rotation action and / or the translation joint 403 to perform a telescopic action until the current posture parameters of the adjustment bracket are consistent with the target posture parameters.

[0112] It should be noted that the above-mentioned adjustment bracket is composed of a single connecting rod. When multiple connecting rods are used, the multiple connecting rods are connected through the first rotating joint 401 and / or the second rotating joint 402. The adjustment range and angle of the bracket can be larger through the above-mentioned control method, supporting a larger range of spatial three-dimensional movement, and being able to meet more user needs and more complex application scenarios.

[0113] This embodiment obtains the target posture parameters and current posture parameters of the adjustment bracket placed in the three-dimensional coordinate system, and controls the rotation joint and / or translation joint 403 through the control unit to adjust the adjustment bracket from the current posture and maintain it at the target posture. Therefore, the adjustment bracket can accurately adjust the relative posture in real time according to the needs of the user, so that the clamped object fixed by the clamping end of the adjustment bracket is always at the target position set by the user.

[0114] The above is a specific implementation of the embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of this application.

Claims

1. A control method for an intelligent adjustable bracket, characterized in that: The steps include: S1, establish a three-dimensional coordinate system based on the right-hand rule; S2, collecting at least one target posture parameter of the adjustment bracket in the three-dimensional coordinate system and storing it in the control unit; S3, the control unit acquires target posture parameters, collects current posture parameters in real time, and controls the driving device to drive the first rotating joint (401) and / or the second rotating joint (402) to perform a rotating action and / or the translation joint (403) to perform a telescopic action according to the parameter difference between the target posture and the current posture, so as to adjust the adjustment bracket from the current posture to the target posture; S4, the control unit collects the current posture parameters of the adjustment bracket in real time, starts comparing the current posture parameters with the target posture parameters according to the posture maintenance strategy, and if the current posture parameters are inconsistent with the target posture parameters, controls the driving device to drive the first rotating joint (401) and / or the second rotating joint (402) to perform a rotational movement and / or the translation joint (403) to perform a telescopic movement, so as to maintain the adjustment bracket in the target posture.

2. The control method of the intelligent adjustable bracket according to claim 1, characterized in that: The target posture parameters include target angles between the plurality of connecting rods and the X-axis, Y-axis and Z-axis of the three-dimensional coordinate system when the connecting rods are in the target posture, first target rotation angles of the plurality of first rotation joints (401) and / or second target rotation angles of the second rotation joints (402) and / or target displacements of the translation joints (403); The current posture parameters include the actual angles between a number of connecting rods and the X-axis, Y-axis and Z-axis of the three-dimensional coordinate system at any current moment, the first actual rotation angles of a number of the first rotation joints (401) and / or the second actual rotation angles of the second rotation joints (402) and / or the actual displacements of the translation joints (403).

3. The control method of the intelligent adjustable bracket according to claim 1, characterized in that: The posture maintenance strategy in S4 is an iterative strategy, which specifically includes: setting an iteration time interval, and the control unit controls the driving device to drive the first rotation joint (401) and / or the second rotation joint (402) to perform a rotation action and / or the translation joint (403) to perform a telescopic action in units of the iteration time interval until the current posture parameters of the adjustment bracket are consistent with the target posture parameters.

4. The control method of the intelligent adjustable bracket according to claim 1, characterized in that: The posture maintenance strategy in S4 is an event-driven strategy, specifically comprising: when the IMU sensor (50) detects a severe vibration and / or acceleration change, the control unit obtains the actual angle and target angle of the connecting rod and the actual displacement and target displacement, and compares the drift values ​​of the actual angle and the current angle and the actual displacement and the target displacement; A threshold value of the drift value is set. When the drift value exceeds the threshold value, the control unit controls the driving device to drive the first rotating joint (401) and / or the second rotating joint (402) to perform a rotating action and / or the translation joint (403) to perform a telescopic action until the current posture parameter of the adjustment bracket is consistent with the target posture parameter.

5. The control method of the intelligent adjustable bracket according to claim 1, characterized in that: The posture maintenance strategy in S4 is a voice-driven strategy, which specifically includes: a user initiates a voice command to the control unit to drive the first rotation joint (401) and / or the second rotation joint (402) to perform a rotation action and / or the translation joint (403) to perform a telescopic action until the current posture parameters of the adjustment bracket are consistent with the target posture parameters.

6. An intelligent adjustment bracket, used to implement the control method according to any one of claims 1 to 5, characterized in that: include: A fixing portion (10) for fixing to a contact surface; A clamping portion (20) for clamping an object; A connecting rod structure (30) connected between the fixing portion (10) and the clamping portion (20), wherein the connecting rod structure (30) comprises a plurality of movably connected connecting rods; A joint assembly (40) for active connection between connecting rods, between connecting rods and a clamping portion (20), and between connecting rods and a fixing portion (10), wherein the joint structure comprises a first rotating joint (401) rotating about a first axis and / or a second rotating joint (402) rotating about a second axis perpendicular to the first axis and / or a translation joint (403) extending and retracting along the first axis; An IMU sensor (50), at least used to measure the deflection angle of the connecting rod, the IMU sensor (50) being fixed on the connecting rod; A sensor group, comprising an angle sensor for measuring the rotation angles of the first rotation joint (401) and the second rotation joint (402), and a displacement sensor for measuring the telescopic length of the connecting rod; A plurality of driving devices, used for driving the first rotating joint (401) and the second rotating joint (402) to rotate and the translation joint (403) to extend and retract; A control unit is used to drive the first rotary joint (401) and / or the second rotary joint (402) to perform a rotational action and / or the translational joint (403) to perform a telescopic action based on the received and processed data from the IMU sensor (50), the angle sensor and the displacement sensor, so as to adjust the clamped object to a preset position.

7. The intelligent adjustable bracket according to claim 6, characterized in that: The driving device comprises a rotary motor for driving the first rotary joint (401) and the second rotary joint (402), and a translation motor for driving the translation joint (403) to extend and retract.

8. The intelligent adjustable bracket according to claim 6, characterized in that: The adjusting bracket also includes: A plurality of physical buttons (70) for obtaining the user's operation instructions for adjusting the bracket and sending them to the control unit; and / or, The voice device (60) is used to collect user voice commands and send them to the control unit.

9. The intelligent adjustable bracket according to claim 6, characterized in that: The angle sensor is a rotary encoder, the displacement sensor is a linear encoder, and the motor is a stepping motor or a servo motor.

10. The intelligent adjustable bracket according to claim 6, characterized in that: The fixing method of the fixing portion (10) and the contact surface is clamping fixing, pasting fixing or adsorption fixing.

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