Cable control method and device and storage medium

Abstract

The invention discloses a cable control method and device and a storage medium, and belongs to the field of mechanical control. The cable is arranged in a storage channel, at least one circular ring is further arranged in the storage channel, a miniature elastic reel is arranged in each circular ring and used for achieving automatic retraction of the cable connected with the miniature elastic reel, and the method comprises the steps that first tension detected by a tension sensor corresponding to a target miniature elastic reel is obtained, the target micro elastic reel is any one of the micro elastic reels, and the first tension is tension applied to a target cable connected with the target micro elastic reel by the target micro elastic reel; when it is determined that the first tension is smaller than the preset tension range of the target cable, the target miniature elastic reel is controlled to rotate in the first direction to tighten the target cable, and the first tension of the target cable is made to be within the preset tension range. The tension of the cable can be ensured to be stable, and the phenomenon of loosening interference of the cable is avoided.

Description

Technical Field

[0001] This application belongs to the field of mechanical control, and particularly relates to a control method, device, and storage medium for cables. Background Art

[0002] With the continuous emergence of various puppets, toys, robots, etc., in the field of manipulator technology, the transmission of force has always been a technical problem to be solved. Currently, cables are used for force transmission in manipulators, such as directly using cables for control at the end and the tail. However, in a multi-cable and ring cooperation system, problems such as slack, interference, or entanglement are likely to occur during the dynamic operation of the cables, resulting in unstable cable tension and low space utilization. Summary of the Invention

[0003] This application aims to solve at least one of the technical problems existing in the related art. For this purpose, this application provides a control method, device, and storage medium for cables, which can ensure stable cable tension and avoid the phenomenon of cable slack and interference.

[0004] In a first aspect, this application provides a control method for cables. The cables are arranged in a storage channel, and at least one ring is also arranged in the storage channel. Each ring is provided with a micro elastic reel for realizing the automatic retraction of the cable connected thereto. The method includes:

[0005] Obtain a first tension detected by a tension sensor corresponding to a target micro elastic reel. The target micro elastic reel is any one of the micro elastic reels, and the first tension is the tension exerted by the target micro elastic reel on the target cable connected thereto;

[0006] When it is determined that the first tension is less than the preset tension range of the target cable, control the target micro elastic reel to rotate in a first direction to tighten the target cable so that the first tension of the target cable is within the preset tension range.

[0007] In some embodiments, the method further includes:

[0008] When it is determined that the first tension is greater than the preset tension range, control the target micro elastic reel to rotate in a second direction to loosen the target cable so that the tension of the target cable is within the preset tension range, where the second direction is the direction opposite to the first direction.

[0009] In some embodiments, each ring is further provided with a slidable buckle structure for clamping the corresponding cable. The method further includes:

[0010] When it is determined that the first tension is within the preset tension range, control the target micro elastic reel not to rotate, and control the target buckle structure to clamp the target cable, where the target buckle structure is the buckle structure corresponding to the target cable.

[0011] In some embodiments, when the storage channel is a multi-layer structure, the method further includes:

[0012] When it is determined that the first tension is less than the preset tension range of the target cable and the target micro elastic reel cannot rotate toward the first direction, control the upper micro elastic reel corresponding to the target micro elastic reel to store the target cable;

[0013] When it is determined that the first tension is greater than the preset tension range of the target cable and the target micro elastic reel cannot rotate toward the second direction, control the upper micro elastic reel corresponding to the target micro elastic reel to release the corresponding cable.

[0014] In some embodiments, a storage box is provided at the head end of the storage channel for storing redundant cables or releasing additional cables; the method further includes:

[0015] When it is detected that there are redundant cables, control the storage box to store the redundant cables in a zigzag pattern;

[0016] When it is detected that the target micro elastic reel needs additional cables, control the storage box to release the additional cables.

[0017] In some embodiments, the material of the storage box is carbon fiber material, and the storage box is provided with a quick-release interface;

[0018] The material of the cable is ultra-high molecular weight polyethylene material.

[0019] In some embodiments, the storage channel includes an input layer at the head end, an output layer at the end, and an intermediate layer between the input layer and the output layer;

[0020] The input layer is provided with a spiral guide groove for arranging the first cable, where the first cable is a cable connecting the head end and the first ring in the input layer;

[0021] The intermediate layer and the output layer are provided with guide tubes for guiding the cable to be arranged along the corresponding guide tubes.

[0022] In a second aspect, the present application provides a cable control device, characterized in that the cable is arranged in a storage channel, at least one ring is further arranged in the storage channel, and a micro elastic reel is arranged in each ring for realizing automatic retraction of the cable connected thereto. The device includes:

[0023] An acquisition module, configured to acquire a first tension detected by a tension sensor corresponding to a target micro elastic reel, where the target micro elastic reel is any one of the micro elastic reels, and the first tension is the tension applied by the target micro elastic reel to a target cable connected thereto;

[0024] A control module, configured to control the target micro elastic reel to rotate in a first direction to tighten the target cable when it is determined that the first tension is less than a preset tension range of the target cable, so that the first tension of the target cable is within the preset tension range.

[0025] In a third aspect, the present application provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the cable control method described in the first aspect above is implemented.

[0026] In a fourth aspect, the present application provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the cable control method described in the first aspect above is implemented.

[0027] In a fifth aspect, the present application provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor, and the processor is configured to run a program or instruction to implement the cable control method described in the first aspect.

[0028] In a sixth aspect, the present application provides a computer program product, including a computer program. When the computer program is executed by a processor, the cable control method described in the first aspect above is implemented.

[0029] One or more of the above technical solutions in the embodiments of the present application have at least the following technical effects:

[0030] Through the above technical solutions, by acquiring the first tension of the micro elastic reel on the corresponding cable detected by the tension sensors on each ring, and when it is determined that the magnitude of the first tension is less than the preset tension range, controlling the corresponding micro elastic reel to rotate in the first direction to tighten the corresponding cable, so that the first tension of the cable is always within the preset tension range, ensuring the stability of the cable tension, avoiding the phenomenon of cable slack causing interference, and keeping the cable always in a tensioned state. It can also improve the space utilization rate of the storage channel and is applicable to dynamic operation scenarios.

[0031] Additional aspects and advantages of the present application will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present application. Description of the Drawings

[0032] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the following description of embodiments in conjunction with the accompanying drawings, wherein:

[0033] Figure 1 is a schematic diagram of a humanoid robot in an application scenario suitable for embodiments of the present application.

[0034] Figure 2 is a schematic diagram of a toy in an application scenario suitable for embodiments of the present application.

[0035] Figure 3 is a schematic diagram of the structure of a controller of a humanoid robot or a toy provided by an embodiment of the present application.

[0036] Figure 4 is a schematic flowchart of a cable control method provided by an embodiment of the present application.

[0037] Figure 5 is a schematic diagram of the structure of a cable control device provided by an embodiment of the present application.

[0038] Figure 6 is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. Detailed Embodiments

[0039] The following will clearly describe the technical solutions in the embodiments of the present application in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application belong to the scope of protection of the present application.

[0040] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. generally belong to the same category, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / " generally represents an "or" relationship between the associated objects.

[0041] Figure 1 is a mechanical toy as an example of an application scenario suitable for embodiments of the present application. The mechanical toy may include a body 102, two arms 104, and a head. It can be understood that although Figure 1It is shown that the controller 108 is integrated in the body of the mechanical toy. Generally speaking, however, the controller 108 can be placed or integrated in other areas or parts of the robotic toy. For example, the mechanical toy can include a head, and the controller 108 can be integrated into or on the head. In some embodiments, the controller 108 can be placed in the back, waist area or on the waist area of the mechanical toy and / or placed on the limbs of the mechanical toy.

[0042] Figure 2 is an example toy of the application scenario adapted to the embodiments of the present application. Figure 2 The toy shown in can include a hand 140, and the hand of the toy can be integrated as Figure 3 the controller 108 shown in.

[0043] The mechanical toy or robot can include a plurality of actuators associated with a plurality of joints, and each arm 104 can include a corresponding hand 120 or 140. The robot can include one or more sensors for sensing the robot or the surrounding environment of the robot, and the robot can include one or more cameras.

[0044] Figure 3 is a schematic structural diagram of the controller 108 of an example humanoid robot, toy or puppet, which can integrate the devices and methods described herein. The controller 108 can include a processing unit 110 and a communication interface 112. The processing unit 110 can be communicatively coupled to the communication interface 112. The processing unit 110 can include a processor 114 and a memory 116.

[0045] The processor 114 can be implemented as a single-chip or multi-chip processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic, discrete hardware components or any combination thereof, and is designed to perform the functions described herein. The processor 114 can be a microprocessor. The processor 114 can also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors combined with a DSP core, or any other such configuration. In some embodiments, the controller 108 can include one or more processors 114.

[0046] The memory 116 (e.g., memory cells and / or storage devices) may include one or more devices (e.g., RAM, ROM, flash memory, hard disk storage) for storing data and / or computer code to complete or facilitate the various processes described. The memory 116 may be communicatively coupled to the processor 114 to provide computer code or instructions to the processor 114 for execution of at least some of the processes described herein. Additionally, the memory 116 may be or include tangible, non-transitory volatile memory or non-volatile memory. For example, the memory 116 may include database components, object code components, script components, or any other type of information structure for supporting the various activities and information structures described herein.

[0047] The communication interface 112 may include any combination of wired and / or wireless interfaces (e.g., jacks, antennas, transmitters, receivers, transceivers, wired terminals) for data communication with various systems or devices. The interface 112 may enable communication between the processing unit 110 (or processor 114) and actuators, sensors, or cameras integrated into the robot. In some embodiments, the communication interface 112 may enable communication with a remote system or device.

[0048] The processing unit 110 or processor 114 may be configured to control the joints of the mechanical body. The processing unit 110 or processor 114 may control the joints or the movement associated with the joints by controlling the corresponding actuators. Specifically, each joint may include one or more actuators or may be associated with one or more actuators configured to drive the movement of the components or elements connected via the joint. As discussed in further detail below, the processing unit 110 or processor 114 may send instructions to the actuators to cause or trigger precise movement of one or more elements or components of the robot, toy, or puppet, etc. The processing unit 110 or processor 114 may control multiple joints simultaneously, enabling coordinated movement of the robot, toy, or puppet.

[0049] The control method of the cable, the control device of the cable, the electronic device, and the readable storage medium provided by the embodiments of the present application will be described in detail below with reference to the accompanying drawings through specific embodiments and their application scenarios.

[0050] Among them, the control method of the cable can be applied to a terminal and can be specifically executed by hardware or software in the terminal.

[0051] The cable control method provided by the embodiments of the present application. The execution subject of the cable control method can be an electronic device or a functional module or functional entity in the electronic device that can implement the cable control method. The electronic devices mentioned in the embodiments of the present application include, but are not limited to, mobile phones, tablet computers, computers, cameras, wearable devices, and controllers, etc. Hereinafter, taking the electronic device as the execution subject as an example, the cable control method provided by the embodiments of the present application will be described.

[0052] As Figure 4 shown, the cable control method is applied to a controller for storing a cable. The cable is disposed in a storage channel, and at least one ring is further disposed in the storage channel. A micro elastic reel is provided in each of the rings for automatically retracting the cable connected thereto. The method includes:

[0053] S110, obtaining a first tension detected by a tension sensor corresponding to a target micro elastic reel, where the target micro elastic reel is any one of the micro elastic reels, and the first tension is the tension applied by the target micro elastic reel to the target cable connected thereto.

[0054] S120, when it is determined that the first tension is less than a preset tension range of the target cable, controlling the target micro elastic reel to rotate in a first direction to tighten the target cable, so that the first tension of the target cable is within the preset tension range, where the target cable is the cable connected to the target micro elastic reel.

[0055] The cable control method provided by the embodiments of the present application obtains the first tension of the micro elastic reel on each ring detected by the corresponding tension sensor on the cable connected thereto, and when it is determined that the magnitude of the first tension is less than the preset tension range, controls the corresponding micro elastic reel to rotate in the first direction to tighten the corresponding cable, so that the first tension of the cable is always within the preset tension range, ensuring the stability of the cable tension, avoiding the phenomenon of cable slack causing interference, and keeping the cable always in a tensioned state. It can also improve the space utilization rate of the storage channel and is applicable to dynamic operation scenarios.

[0056] It should be noted that the micro elastic reel is integrated in the ring, so as to ensure that the micro elastic reel occupies the smallest space in the storage channel. In some embodiments, if the ring is connected with multiple cables, each micro elastic reel includes a plurality of rotatable rotating shafts, and each rotating shaft stores a cable. Each rotating shaft can be driven by the same driving mechanism or by different driving mechanisms respectively. In some embodiments, to further avoid the mutual interference of the cables, if the ring is connected with multiple cables, the ring is correspondingly integrated with a plurality of micro elastic reels, and each micro elastic reel is responsible for storing one cable. It can be understood that the preset tension range can be the optimal tension range of the cable measured in advance, within which the cable can be kept in a tensioned state without being overly taut.

[0057] It should be noted that the distribution of multiple rings has a spatial hierarchy. The distribution of the rings can be determined by the force, the number and shape of the force application channels. For example, in the channels of the robotic finger, it can be divided into multiple layers, each layer has multiple rings, and the multiple rings between layers are separated and do not interfere with each other. The servo motor controlling the cable cannot control the cables of multiple layers, but can only control one or more cables of the layer where it is located. Each layer can have multiple rings, and the multiple rings are interlocked and in an even symmetric shape. In the toy hand, there can be only one layer, and this layer can have multiple rings, and the rings are connected to each other.

[0058] It should be noted that the force application end of each ring can be the force generated by the servo motor. One servo motor can control the cables on one ring or the cables on multiple rings. When the servo motor does not exert force, the ring and the cables connecting the ring are in a balanced state, and the balanced state can also be called the relaxed state. In the balanced state, at least one cable connecting the ring does not generate force transmission, that is, at least one cable does not consume or consumes very little energy. Ideally, all the cables connecting the ring do not generate force transmission in the relaxed state, and all the cables do not consume energy.

[0059] It should be noted that the cable control method provided in the embodiments of the present application can be applied to the fingers of the aforementioned humanoid robot or toy. The storage channel in this embodiment can be understood as the accommodation space of the finger.

[0060] In some embodiments, when it is determined that the first tension is greater than the preset tension range, the target micro elastic reel is controlled to rotate in the second direction to loosen the target cable, so that the tension of the target cable is within the preset tension range, where the second direction is the direction opposite to the first direction.

[0061] In addition to ensuring that the cable is not too loose, it is also necessary to ensure that the cable is not too tight, otherwise it may cause the cable to break. By controlling the corresponding micro-elastic reel to rotate in the second direction to loosen the target cable when it is determined that the first tension of each cable is greater than the preset tension range, so that the tension of the corresponding cable is within the preset tension range, it is ensured that the cable will not break due to being too tight.

[0062] In some embodiments, an adjustable buckle structure is further provided in each of the rings for clamping the corresponding cable. The method further includes:

[0063] When it is determined that the first tension is within the preset tension range, control the target micro-elastic reel not to rotate, and control the target buckle structure to clamp the target cable, where the target buckle structure is the buckle structure corresponding to the target cable.

[0064] In this embodiment, the stability of the cable tension can be further ensured through the buckle structure, and the buckle structure can slide in the ring and can clamp different cables in the corresponding ring as needed.

[0065] It should be noted that the buckle structure not only clamps the corresponding cable when the first tension of the cable is within the preset tension range, but can also clamp the cable with the first tension greater than the preset tension range as needed, so that the corresponding cable can provide a large enough force. For example, when a finger performs a task and requires a large enough force provided by the corresponding cable, when the cable meets the force requirement, the cable is clamped by the buckle structure, thereby realizing the transmission of force.

[0066] In some embodiments, when the storage channel is a multi-layer structure, the method further includes:

[0067] When it is determined that the first tension is less than the preset tension range of the target cable and the target micro-elastic reel cannot rotate in the first direction, control the upper-layer micro-elastic reel corresponding to the target micro-elastic reel to store the target cable;

[0068] When it is determined that the first tension is greater than the preset tension range of the target cable and the target micro-elastic reel cannot rotate in the second direction, control the upper-layer micro-elastic reel corresponding to the target micro-elastic reel to release the corresponding cable.

[0069] It can be understood that if the storage channel is a single-layer structure, that is, only one layer of rings is deployed along the extending direction of the storage channel, the first tension of the cable on this ring only needs to meet the aforementioned requirements. If the storage channel is a multi-layer structure, that is, multiple layers of rings are deployed along the extending direction of the storage channel. For example, the finger includes an input layer, an intermediate layer, and an output layer, and corresponding rings are deployed in each layer. Then, the cables on the rings in each layer need to meet the requirements of the aforementioned first tension. And because the storage channel is a multi-layer structure and there is an interconnection between each layer, when it is determined that the first tension is less than the preset tension range of the target cable and the target micro-elastic reel cannot rotate towards the first direction, the upper-layer micro-elastic reel corresponding to the target micro-elastic reel is controlled to store the target cable. When it is determined that the first tension is greater than the preset tension range of the target cable and the target micro-elastic reel cannot rotate towards the second direction, the upper-layer micro-elastic reel corresponding to the target micro-elastic reel is controlled to release the corresponding cable, that is, it is necessary to cooperate with the micro-elastic reels of the corresponding rings in the upper layer to achieve the tightening and relaxation of the cable.

[0070] It can be understood that the storage capacity of the micro-elastic reels in each layer is limited, but a general storage box can be set at the head end of the storage channel (such as the palm rest connected to the input layer of the finger), and this storage box can accommodate enough cables. Therefore, through the cooperation of each layer, the first tension of the cables in each layer can ultimately be within the preset tension range, fully ensuring the stability of the cable tension.

[0071] In some embodiments, a storage box is provided at the head end of the storage channel for storing redundant cables or releasing additional cables.

[0072] In some embodiments, the method further includes:

[0073] When detecting that there are redundant cables, control the storage box to store the redundant cables in a zigzag pattern.

[0074] When detecting that the target micro-elastic reel needs additional cables, control the storage box to release the additional cables.

[0075] The storage box in this embodiment can store enough cables, thereby assisting the micro-elastic reels in each layer to achieve the stability of the first tension of the cables. Storing the redundant cables in a zigzag pattern can save the storage space of the storage box to the greatest extent.

[0076] In some embodiments, the material of the storage box is carbon fiber material, and the storage box is provided with a quick-release interface for realizing the quick and convenient replacement of the cable, supporting high-frequency maintenance and upgrade. At the same time, the carbon fiber material can realize the lightweight of the cable storage and reduce the overall weight of the storage channel.

[0077] In some embodiments, the material of the cable is ultra-high molecular weight polyethylene material, which can maximize the avoidance of cable deformation.

[0078] In some embodiments, the storage channel includes an input layer at the head end, an output layer at the tail end, and an intermediate layer between the input layer and the output layer.

[0079] The input layer is provided with a spiral guide groove for arranging the first cable, where the first cable is a cable connecting the head end and the first ring in the input layer; it can avoid the cross-winding between cables, improve the force transmission efficiency, reduce the path deviation and friction loss, and enhance the stability of multi-directional force transmission.

[0080] The intermediate layer and the output layer are provided with guide tubes for guiding the cable to be arranged along the corresponding guide tubes, avoiding the path chaos caused by cross-winding between multiple cables, and improving the path controllability and force transmission accuracy.

[0081] In the cable control method provided by the embodiments of the present application, the execution subject can be a cable control device. In the embodiments of the present application, taking the cable control device executing the cable control method as an example, the cable control device provided by the embodiments of the present application is described.

[0082] The embodiments of the present application further provide a cable control device. The cable is arranged in a storage channel, and at least one ring is further arranged in the storage channel. A micro elastic reel is arranged in each ring for realizing the automatic retraction of the cable connected thereto. As Figure 5 shown, the cable control device includes: an acquisition module 210, configured to acquire a first tension detected by a tension sensor corresponding to a target micro elastic reel, where the target micro elastic reel is any one of the micro elastic reels, and the first tension is the tension applied by the target micro elastic reel to the target cable connected thereto. A control module 220, configured to control the target micro elastic reel to rotate in a first direction to tighten the target cable when it is determined that the first tension is less than the preset tension range of the target cable, so that the first tension of the target cable is within the preset tension range.

[0083] The cable control device provided by the embodiments of the present application acquires the first tension of the micro elastic reel on each ring applied to the cable connected thereto through the tension sensor, and when it is determined that the magnitude of the first tension is less than the preset tension range, controls the corresponding micro elastic reel to rotate in the first direction to tighten the corresponding cable, so that the first tension of the cable is always within the preset tension range, ensuring the stability of the cable tension, avoiding the phenomenon of interference caused by cable slack, and keeping the cable always in a tensioned state. It can also improve the space utilization rate of the storage channel.

[0084] In some embodiments, the control module 220 is further configured to, when determining that the first tension is greater than the preset tension range, control the target micro-elastic reel to rotate in a second direction to release the target cable, so that the tension of the target cable is within the preset tension range, where the second direction is opposite to the first direction.

[0085] In some embodiments, a slidable buckle structure is further provided in each of the rings for buckling the corresponding cable.

[0086] In some embodiments, the control module 220 is further configured to, when determining that the first tension is within the preset tension range, control the target micro-elastic reel not to rotate, and control the target buckle structure to buckle the target cable, where the target buckle structure is the buckle structure corresponding to the target cable.

[0087] In some embodiments, when the storage channel is a multi-layer structure, the control module 220 is further configured to, when determining that the first tension is less than the preset tension range of the target cable and the target micro-elastic reel cannot rotate in the first direction, control the upper-layer micro-elastic reel corresponding to the target micro-elastic reel to store the target cable; when determining that the first tension is greater than the preset tension range of the target cable and the target micro-elastic reel cannot rotate in the second direction, control the upper-layer micro-elastic reel corresponding to the target micro-elastic reel to release the corresponding cable.

[0088] In some embodiments, a storage box is provided at the head end of the storage channel for storing redundant cables or releasing additional cables. The control module 220 is further configured to, when detecting the existence of redundant cables, control the storage box to store the redundant cables in a zigzag pattern; when detecting that the target micro-elastic reel needs additional cables, control the storage box to release the additional cables.

[0089] In some embodiments, the material of the storage box is carbon fiber material, and the storage box is provided with a quick-release interface.

[0090] In some embodiments, the material of the cable is ultra-high molecular weight polyethylene material.

[0091] The cable control device in the embodiments of the present application can be an electronic device or a component in an electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal or other devices other than terminals. Exemplarily, the electronic device can be a mobile phone, a tablet computer, a laptop computer, a handheld computer, a vehicle-mounted electronic device, a Mobile Internet Device (MID), an augmented reality (AR) / virtual reality (VR) device, a robot, a wearable device, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (PDA), etc. It can also be a server, a Network Attached Storage (NAS), a personal computer (PC), a television (TV), a teller machine, or a self-service machine, etc. The embodiments of the present application do not make specific limitations.

[0092] The cable control device in the embodiments of the present application can be a device with an operating system. The operating system can be the Microsoft (Windows) operating system, the Android operating system, the IOS operating system, or other possible operating systems. The embodiments of the present application do not make specific limitations.

[0093] The cable control device provided in the embodiments of the present application can implement Figures 1 to 4 each process implemented by the method embodiments. To avoid repetition, it will not be elaborated here.

[0094] In some embodiments, as Figure 6 shown, the embodiments of the present application further provide an electronic device 800, including a processor 801, a memory 802, and a computer program stored on the memory 802 and executable on the processor 801. When the program is executed by the processor 801, it implements each process of the above-mentioned cable control method embodiments and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0095] It should be noted that the electronic devices in the embodiments of the present application include the above-mentioned mobile electronic devices and non-mobile electronic devices.

[0096] The embodiments of the present application further provide a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements each process of the above-described embodiment of the control method for the cable, and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0097] Wherein, the processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes computer-readable storage media, such as computer read-only memory ROM, random access memory RAM, magnetic disks, or optical discs, etc.

[0098] The embodiments of the present application further provide a computer program product, including a computer program, which implements the above-described control method for the cable when executed by a processor.

[0099] Wherein, the processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes computer-readable storage media, such as computer read-only memory ROM, random access memory RAM, magnetic disks, or optical discs, etc.

[0100] The embodiments of the present application further provide a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement each process of the above-described embodiment of the control method for the cable, and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0101] It should be understood that the chip mentioned in the embodiments of the present application may also be referred to as a system-on-chip, system chip, chip system, or system-on-a-chip, etc.

[0102] It should be noted that in this article, the term "comprising", "including" or any other variant thereof is intended to cover a non-exclusive inclusion, such that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the methods and devices in the embodiments of the present application are not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in a reverse order according to the functions involved. For example, the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0103] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described embodiment methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases, the former is a better implementation method. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the related art can be embodied in the form of a computer software product. The computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions for causing a terminal (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of the present application.

[0104] The embodiments of the present application have been described above in conjunction with the accompanying drawings. However, the present application is not limited to the above specific implementation manners. The above specific implementation manners are merely illustrative and not restrictive. Under the inspiration of the present application, those of ordinary skill in the art can also make many forms without departing from the purpose of the present application and the scope protected by the claims, and all of them belong to the protection scope of the present application.

[0105] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0106] Although the embodiments of the present application have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and purpose of the present application. The scope of the present application is defined by the claims and their equivalents.

Claims

1. A cable control method, characterized in that: The cable is arranged in a storage channel, and at least one circular ring is arranged in the storage channel. Each circular ring is provided with a micro elastic reel for realizing automatic retraction of the cable connected thereto. The method comprises: Acquire a first tension detected by a tension sensor corresponding to a target micro elastic reel, wherein the target micro elastic reel is any one of the micro elastic reels, and the first tension is the tension applied by the target micro elastic reel to a target cable connected thereto; When it is determined that the first tension is less than the preset tension range of the target cable, the target micro elastic reel is controlled to rotate in a first direction to tighten the target cable so that the first tension of the target cable is within the preset tension range.

2. The method according to claim 1, characterized in that The method further comprises: When it is determined that the first tension is greater than the preset tension range, the target micro elastic reel is controlled to rotate in a second direction to loosen the target cable so that the tension of the target cable is within the preset tension range, wherein the second direction is opposite to the first direction.

3. The method according to claim 1 or 2, characterized in that: Each of the rings is also provided with a slidable buckle structure for clamping a corresponding cable. The method further includes: When it is determined that the first tension is within the preset tension range, the target micro elastic reel is controlled not to rotate, and the target buckle structure is controlled to clamp the target cable, wherein the target buckle structure is a buckle structure corresponding to the target cable.

4. The method according to claim 3, characterized in that When the receiving channel is a multi-layer structure, the method further comprises: When it is determined that the first tension is less than the preset tension range of the target cable and the target micro elastic reel cannot rotate toward the first direction, controlling the upper micro elastic reel corresponding to the target micro elastic reel to receive the target cable; When it is determined that the first tension is greater than the preset tension range of the target cable and the target micro elastic reel cannot rotate toward the second direction, the upper micro elastic reel corresponding to the target micro elastic reel is controlled to release the corresponding cable.

5. The method according to claim 3, characterized in that: A storage box is provided at the head end of the storage channel for storing redundant cables or releasing additional cables; the method further comprises: When the existence of redundant cables is detected, controlling the storage box to store the redundant cables in a Z-shape; When it is detected that the target micro elastic reel needs additional cable, the storage box is controlled to release the additional cable.

6. The method according to claim 5, characterized in that The material of the storage box is carbon fiber material, and the storage box is provided with a quick release interface; The cable is made of ultra-high molecular weight polyethylene.

7. The method according to claim 1, characterized in that The receiving channel comprises an input layer at the head end, an output layer at the tail end, and an intermediate layer between the input layer and the output layer; The input layer is provided with a spiral guide groove for arranging a first cable, wherein the first cable is a cable connecting the head end portion and the first ring in the input layer; The middle layer and the output layer are provided with guide tubes for directing the cables to be arranged along the corresponding guide tubes.

8. A cable control device, characterized in that: The cable is arranged in the storage channel, and at least one circular ring is arranged in the storage channel. Each circular ring is provided with a micro elastic reel for realizing automatic retraction of the cable connected thereto. The device comprises: an acquisition module, configured to acquire a first tension detected by a tension sensor corresponding to a target micro elastic reel, wherein the target micro elastic reel is any one of the micro elastic reels, and the first tension is the tension applied by the target micro elastic reel to a target cable connected thereto; The control module is used for controlling the target micro elastic reel to rotate in a first direction to tighten the target cable so that the first tension of the target cable is within the preset tension range when it is determined that the first tension is less than the preset tension range of the target cable.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the cable control method according to any one of claims 1 to 7 is implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the control method of the cable according to any one of claims 1 to 7 is implemented.

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