Control method and device of tendon rope manipulator, storage medium and electronic equipment

Abstract

The invention discloses a control method and device of a tendon rope manipulator, a storage medium and electronic equipment, and belongs to the field of manipulators. The method comprises the steps of obtaining a first task, and extracting a target object and quality information and appearance information of the target object from the first task; according to the quality information and the shape information, determining a target finger needing to be used for controlling the target object and the degree of freedom needed by the target finger; and according to the target finger and the required degree of freedom, generating control parameters for controlling the movement of the tendon rope manipulator, and according to the control parameters, controlling the tendon rope manipulator to execute the first task. The tendon rope manipulator can be flexibly and accurately controlled.

Description

Technical Field

[0001] This application belongs to the technical field of manipulators, and particularly relates to a control method, device, storage medium, and electronic device for a tendon-cable manipulator. Background Art

[0002] A tendon-cable manipulator mimics the tendon structure of a human finger, fixes the actuator that generates finger movement to the palm or wrist of the manipulator, and drives the fingers and their joints to move flexibly by means of the actuator pulling the tendon-cable. However, due to the relatively large number of degrees of freedom of the finger joints of the tendon-cable manipulator, how to achieve its flexible and precise manipulation control is a technical problem to be solved urgently. 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, storage medium, and electronic device for a tendon-cable manipulator, which can achieve flexible and precise control of the tendon-cable manipulator.

[0004] In a first aspect, this application provides a control method for a tendon-cable manipulator, and the method includes:

[0005] Obtain a first task, and extract a target object and the mass information and shape information of the target object from the first task;

[0006] Determine the target finger required to manipulate the target object and the degrees of freedom required according to the mass information and the shape information;

[0007] Generate control parameters for controlling the movement of the tendon-cable manipulator according to the target finger and the required degrees of freedom, and control the tendon-cable manipulator to execute the first task according to the control parameters.

[0008] In a second aspect, this application provides a control device for a tendon-cable manipulator, and the device includes:

[0009] An extraction module, configured to obtain a first task, and extract a target object and the mass information and shape information of the target object from the first task;

[0010] A determination module, configured to determine the target finger required to manipulate the target object and the degrees of freedom required according to the mass information and the shape information;

[0011] A control module, configured to generate control parameters for controlling the movement of the tendon-cable manipulator according to the target finger and the required degrees of freedom, and control the tendon-cable manipulator to execute the first task according to the control parameters.

[0012] 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 control method of the tendon-cable manipulator described in the first aspect above is implemented.

[0013] 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 control method of the tendon-cable manipulator described in the first aspect above is implemented.

[0014] 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 used to run a program or an instruction to implement the control method of the tendon-cable manipulator described in the first aspect.

[0015] 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 control method of the tendon-cable manipulator described in the first aspect above is implemented.

[0016] One or more of the above technical solutions in the embodiments of the present application have at least the following technical effects:

[0017] The control method, device, storage medium, and electronic device of the tendon-cable manipulator provided in the embodiments of the present application obtain a first task, extract a target object, mass information, and shape information of the target object from the first task, determine the target finger and the required degrees of freedom for operating the target object according to the mass information and the shape information, generate control parameters according to the target finger and the required degrees of freedom, and control the tendon-cable manipulator to execute the first task according to the control parameters. Since the target finger and the required degrees of freedom to be used are determined from multiple fingers and degrees of freedom of the tendon-cable manipulator according to the shape information and mass information of the target object, flexible and precise control of the tendon-cable manipulator can be achieved.

[0018] The additional aspects and advantages of the present application will be partially given in the following description, partially become obvious from the following description, or be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and / or additional aspects and advantages of the present application will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, where:

[0020] Figure 1 is a schematic flowchart of the control method of the tendon-cable manipulator provided in the embodiment of the present application;

[0021] Figure 2 is a schematic structural diagram of the control device of the tendon-cable manipulator provided in the embodiment of the present application;

[0022] Figure 3 It is a schematic structural diagram of an electronic device provided by an embodiment of the present application. Specific embodiments

[0023] Next, the technical solutions in the embodiments of the present application will be clearly described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present application.

[0024] The terms "first", "second", etc. in the description 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 used 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. are usually of the same category, and the number of objects is not limited. For example, the first object can be one or multiple. In addition, "and / or" in the description and claims means at least one of the connected objects, and the character " / " generally means an "or" relationship between the associated objects before and after.

[0025] Next, in conjunction with the accompanying drawings, the control method of the tendon-cable manipulator, the control device of the tendon-cable manipulator, the electronic device, and the readable storage medium provided by the embodiments of the present application will be described in detail through specific embodiments and their application scenarios.

[0026] A tendon-cable manipulator generally includes a palm skeleton and multiple fingers rotatably connected to the palm skeleton. Each finger has multiple finger joints, and the multiple finger joints are movably connected by multiple tendon-cables and intermediate connectors to realize actions such as grasping, pinching, hooking, lifting, and tumbling of the manipulator. Each finger joint can be understood as a degree of freedom. In some embodiments, the degree of freedom of the tendon-cable manipulator is 10-20.

[0027] Among them, the control method of the tendon-cable manipulator can be applied to a terminal, and can be specifically executed by hardware or software in the terminal.

[0028] The control method of the tendon-cable manipulator provided by the embodiments of the present application. The execution subject of the control method of the tendon-cable manipulator can be an electronic device or a functional module or functional entity in the electronic device that can implement the control method of the tendon-cable manipulator. The electronic devices mentioned in the embodiments of the present application include but are not limited to mobile phones, tablet computers, computers, cameras, and wearable devices, etc. Next, the control method of the tendon-cable manipulator provided by the embodiments of the present application will be described by taking the electronic device as the execution subject as an example.

[0029] Such as Figure 1As shown, the control method of the tendon-cable manipulator includes the following steps:

[0030] S110, obtain a first task, and extract a target object and the mass information and shape information of the target object from the first task.

[0031] It can be understood that the first task can be input by the user and the operator of the tendon-cable manipulator through input devices such as a display interface and a button interface. In some embodiments, the first task can be input into a server and remotely read by the controller of the tendon-cable manipulator. In some embodiments, the first task can be directly input into the processor of the tendon-cable manipulator and locally read by the controller of the tendon-cable manipulator, so that the first task can be input at any location. When the user or the operator inputs the first task, the target object of the first task and the mass information and shape information of the target object can be directly input, and the controller can directly read this information from the first task. In some embodiments, in order to improve the convenience of user use, the input first task can also be a picture, a video, etc. At this time, the target object and the mass information and shape information of the target object can be extracted from the first task through a machine vision algorithm.

[0032] S120, determine the target finger and the required degrees of freedom for manipulating the target object according to the mass information and the shape information.

[0033] It can be understood that the mass information here includes the mass of the target object, from which the weight of the target object can be calculated, and the shape information includes the size and shape of the target object, from which the action type to be used, the number of fingers to be used, and the required degrees of freedom can be determined.

[0034] S130, generate control parameters for controlling the movement of the tendon-cable manipulator according to the target finger and the required degrees of freedom, and control the tendon-cable manipulator to execute the first task according to the control parameters.

[0035] After determining the target finger and the required degrees of freedom for manipulating the target object, a series of control parameters can be generated to control the tendon-cable manipulator to execute the first task. In some embodiments, the execution order of obtaining the target finger and the required degrees of freedom is obtained, and the control parameters are generated according to the execution order. Specifically, the identification information of the target finger and the required degrees of freedom in the execution order can be obtained in sequence, and the fingers and / or the required degrees of freedom corresponding to the corresponding identification information can be controlled to move in sequence.

[0036] The control method of the tendon-cable manipulator provided by the embodiment of the present application obtains the first task, extracts the target object and the mass information and shape information of the target object from the first task, determines the target fingers and the required degrees of freedom for operating the target object according to the mass information and the shape information, generates control parameters according to the target fingers and the required degrees of freedom, and controls the tendon-cable manipulator to execute the first task according to the control parameters. Since the target fingers and the required degrees of freedom to be used are determined from multiple fingers and degrees of freedom of the tendon-cable manipulator according to the shape information and the mass information of the target object, flexible and precise control of the tendon-cable manipulator can be achieved.

[0037] In some embodiments, step S120 includes:

[0038] Determine the first quantity and the first degrees of freedom of the fingers to be used according to the shape information, and determine the second quantity and the second degrees of freedom of the fingers to be used according to the mass information.

[0039] Determine the target fingers and their required degrees of freedom from the first quantity, the second quantity, the first degrees of freedom, and the second degrees of freedom.

[0040] Determine the first quantity and the first degrees of freedom from the shape information of the target object. For example, a large sphere requires 5 fingers and 10 degrees of freedom. Another example: a large square requires 3 fingers and 6 degrees of freedom. Another example: a small sphere requires 2 fingers and 5 degrees of freedom. Further, a preset correspondence table between the shape information and the number of fingers and degrees of freedom is pre-trained by artificial intelligence. After obtaining the shape information of the target object, obtain the preset correspondence table, and obtain the first quantity and the first degrees of freedom from the preset correspondence table according to the shape information. The preset correspondence table is a more detailed division of the shape information and the number of fingers and degrees of freedom, and thus more accurate first quantity and first degrees of freedom can be obtained.

[0041] Determine the second quantity and the second degree of freedom of the fingers to be used according to the quality information, specifically including: obtaining the unit force information of a single tendon rope, calculating the required number of tendon ropes according to the quality information and the unit force information, and determining the second quantity and the second degree of freedom according to the required number of tendon ropes. Further, calculate the target weight of the target object according to the quality information, and divide the target weight by the unit force to obtain the required number of tendon ropes. For example, the unit force of a single tendon rope is 10N, calculate the weight of the target object according to the quality information of the target object. For example, if the calculated weight of the target object is 50N, then determine that the required number of tendon ropes is 5. When determining the second quantity and the second degree of freedom according to the required number of tendon ropes, the second quantity and the second degree of freedom can be determined based on the key stress part and the principle of balanced force distribution. For example, the required number of tendon ropes is 5, and it is also known that the key stress part is the fingertip joint and the middle joint of the index finger. Then the distribution of the required tendon ropes can be 2 between the fingertip joint and the middle joint of the index finger, 2 between the middle joint and the root joint of the index finger, and 1 between the root joint and the palm. In this way, the second quantity can be determined to be 1 and the second degree of freedom to be 3. Another example: the required number of tendon ropes is 5, and the key stress parts are the index finger and the middle finger. Then the distribution of the required tendon ropes can be 1 for each of the fingertip joint, the middle joint, and the root joint of the index finger, and 1 for each of the fingertip joint and the middle joint of the middle finger. In this way, the second quantity can be determined to be 2 and the second degree of freedom to be 5; or, directly determine the second quantity from the required number of tendon ropes and the degree of freedom of a single finger. For example, the required number of tendon ropes is 5, and the degree of freedom of a single finger is 3, then determine that 2 fingers are needed and the second degree of freedom is 5. Among them, the key stress part can be determined by the type of action required for the target object.

[0042] In some embodiments, determine the second degree of freedom of the fingers to be used according to the quality information. That is, only the required second degree of freedom needs to be determined from the quality information, and the number of fingers required to manipulate the target object is only determined by the shape information of the target object. This method can appropriately simplify the control process.

[0043] In some embodiments, determine the second quantity of the fingers to be used according to the quality information. That is, only the second quantity to be in can be determined from the quality, and the required degree of freedom is determined by the shape information of the target object, so as to simplify the control process.

[0044] In some embodiments, determining the target finger and its required degree of freedom from the first quantity, the second quantity, the first degree of freedom, and the second degree of freedom includes:

[0045] Select the larger value between the first quantity and the second quantity as the target quantity, and select the larger value between the first degree of freedom and the second degree of freedom as the target degree of freedom. Determine the target finger and its required degree of freedom according to the target quantity and the target degree of freedom.

[0046] Select the larger value between the first quantity and the second quantity as the number of target fingers to be used, and select the larger value between the first degree of freedom and the second degree of freedom as the required degree of freedom of the target fingers. This can not only ensure the success rate of the tendon-cable manipulator in performing the first task, but also, due to the possible redundancy to a certain extent, ensure the safety of the tendon-cable manipulator to a certain extent.

[0047] In some embodiments, determining the target fingers and their required degrees of freedom according to the target quantity and the target degree of freedom includes: determining the type of action to be used, and determining the target fingers and their required degrees of freedom according to the action type, the target quantity, and the target degree of freedom. For example: if the target quantity is 2, the target degree of freedom is 5, and the action type is pinching, then it is determined that the target fingers are the thumb and the index finger, and the required degree of freedom is 5. The corresponding relationship between the action type, the number of fingers, and the finger degree of freedom and the target fingers can be obtained through pre-training by artificial intelligence calculation.

[0048] In some embodiments, step S120 includes: obtaining a four-quadrant model determined by mass and shape, determining the quadrant to which the target object belongs according to the mass information and the shape information, and obtaining the target fingers and their required degrees of freedom according to the quadrant and the target action type of the target object. Among them, a corresponding action type is preset in each quadrant, as well as the required fingers and their degrees of freedom corresponding to each action type.

[0049] The four-quadrant module includes the first quadrant, the second quadrant, the third quadrant, and the fourth quadrant. For example: the first quadrant corresponds to large and heavy objects, the second quadrant corresponds to small and heavy objects, the third quadrant corresponds to small and light objects, and the fourth quadrant corresponds to large and light objects. A corresponding common action type is preset in each quadrant, and there are corresponding required fingers and their required degrees of freedom for each action type. For example, for large and heavy objects in the first quadrant, the common action types are lifting and rolling. Among them, the lifting action corresponds to all fingers, and the required degree of freedom is 8 - 16. The rolling action corresponds to the four fingers except the thumb, and the degree of freedom is 8 - 12. Another example: for small and light objects in the third quadrant, the common action types are pinching and pressing. The pinching action corresponds to the thumb and the index finger, and the corresponding required degree of freedom is 5. The pressing action corresponds to the thumb or the index finger, and the degree of freedom is 1. Through the four-quadrant model, the target fingers and their required degrees of freedom can be quickly obtained, realizing the efficient control of the tendon-cable manipulator. Among them, the action type can be determined by the shape information of the target object or input by the user when inputting the first task.

[0050] In some embodiments, step S130 includes: obtaining a redundancy safety factor, determining redundant fingers and their redundant degrees of freedom based on the redundancy safety factor. Generating control parameters for controlling the movement of the tendon-driven manipulator according to the target finger and its required degrees of freedom and the redundant fingers and their redundant degrees of freedom, and controlling the tendon-driven manipulator to execute the first task according to the control parameters.

[0051] For the sake of its own safety, a tendon-driven manipulator will set a redundancy safety factor, that is, while ensuring the completion of the first task, there will be some redundant fingers and redundant degrees of freedom, so that the tendon-driven manipulator is flexible enough when performing tasks and will not cause failures due to some mechanical condition restrictions.

[0052] Specifically, in some embodiments, generating control parameters for controlling the movement of the tendon-driven manipulator according to the target finger and its required degrees of freedom and the redundant fingers and their redundant degrees of freedom includes: obtaining the execution order of the target finger and its required degrees of freedom and the redundant fingers and their redundant degrees of freedom, and generating control parameters according to this execution order.

[0053] In some embodiments, the method further includes: obtaining all degrees of freedom N of the tendon-driven manipulator;

[0054] Determining the magnitude relationship between the required degrees of freedom M and the all degrees of freedom N;

[0055] If M > N, then output a control strategy to abandon the execution of the first task;

[0056] If M = N, then output a first control strategy and issue a warning;

[0057] If M < N, then output a second control strategy.

[0058] If M > N, it means that the required degrees of freedom M are greater than all degrees of freedom of the tendon-driven manipulator, and the tendon-driven manipulator cannot complete the first task. Therefore, output a control strategy to abandon the execution of the first task. In some embodiments, when outputting a control strategy to abandon the execution of the first task, a reminder signal will also be sent to remind the user to change or abandon the first task being executed, or adjust the degrees of freedom of the tendon-driven manipulator; if M = N, it means that the tendon-driven manipulator can barely execute the first task currently. When outputting the first control strategy, a warning will be issued. The warning can be sound information or light information; if M > N, it means that the tendon-driven manipulator can execute the first task currently, then output a second control strategy.

[0059] In some embodiments, the outputting of the first control strategy further includes:

[0060] When determining that there is a locked finger joint in the tendon-cable manipulator that is locked, unlock the locked finger joint to obtain the newly added degrees of freedom after unlocking, and generate a first control strategy based on the required degrees of freedom and the newly added degrees of freedom.

[0061] In the scenario where M = N, the tendon-cable manipulator obviously has no redundancy. At this time, there are certain safety risks in performing the first task. If it is determined that the tendon-cable manipulator still has a locked finger joint that is locked, unlock the locked finger joint so that the tendon-cable manipulator is as safe as possible when performing the first task. In some embodiments, the tendon-cable manipulator can automatically complete the unlocking of the locked finger joint according to an unlocking instruction. The unlocking instruction can be issued by the user or the operator of the tendon-cable manipulator, or can be output after the tendon-cable manipulator makes its own judgment to achieve intelligent unlocking. In some embodiments, the user or the operator of the tendon-cable manipulator can also unlock the locked finger joint. In some embodiments, generating the first control strategy based on the required degrees of freedom and the newly added degrees of freedom after unlocking includes: obtaining the required degrees of freedom M and the second execution order of the newly added degrees of freedom, and generating the first control strategy according to the second execution order.

[0062] In some embodiments, the outputting of the second control strategy includes:

[0063] Obtain the redundant safety factor, and determine the redundant degrees of freedom from the redundant safety factor;

[0064] Calculate the difference in degrees of freedom between the total degrees of freedom N and the required degrees of freedom M;

[0065] When the difference in degrees of freedom is greater than or equal to the redundant degrees of freedom, output the second control strategy according to the required degrees of freedom and the redundant degrees of freedom;

[0066] When the difference in degrees of freedom is less than the redundant degrees of freedom, output the second control strategy according to the required degrees of freedom and the difference in degrees of freedom, and issue a warning.

[0067] In the scenario where M < N, although all degrees of freedom of the tendon - cord manipulator are redundant with respect to the required degrees of freedom, this redundancy may still not meet the safety requirements. Therefore, it is necessary to further calculate the difference in degrees of freedom N - M between all degrees of freedom N and the required degrees of freedom M, and determine whether the difference in degrees of freedom N - M meets the redundant degrees of freedom required by the redundancy safety factor. If it meets, that is, when the difference in degrees of freedom is greater than or equal to the redundant degrees of freedom, then the second control strategy is output according to the required degrees of freedom and the redundant degrees of freedom. That is, the final output degrees of freedom of the second control strategy is the sum of the required degrees of freedom and the redundant degrees of freedom, thereby completely eliminating the safety risks of the tendon - cord manipulator and performing the first task with the least degrees of freedom within the safety range. If it does not meet, that is, when the difference in degrees of freedom is less than the redundant degrees of freedom, then the second control strategy is output according to the required degrees of freedom and the difference in degrees of freedom. That is, the final output degrees of freedom of the second control strategy here is the sum of the required degrees of freedom and the difference in degrees of freedom. However, since the safety risks are still not completely eliminated, a warning needs to be issued.

[0068] In some embodiments, after outputting the second control strategy according to the required degrees of freedom and the difference in degrees of freedom and issuing a warning when the difference in degrees of freedom is less than the redundant degrees of freedom, it further includes:

[0069] When it is determined that there is a locked finger joint in the tendon - cord manipulator, unlock the locked finger joint;

[0070] Determine the newly added degrees of freedom after unlocking, and calculate the total degrees of freedom of the newly added degrees of freedom and the difference in degrees of freedom;

[0071] If the total degrees of freedom is greater than or equal to the redundant degrees of freedom, then re - output the second control strategy according to the required degrees of freedom and the redundant degrees of freedom, and cancel the warning;

[0072] If the total degrees of freedom is less than the redundant degrees of freedom, then re - output the second control strategy according to the required degrees of freedom and the total degrees of freedom.

[0073] In the scenario where the difference degree of freedom NM is less than the redundant degree of freedom S, the tendon manipulator still faces certain safety risks when performing the first task. At this time, if it is determined that the tendon manipulator has a locked finger joint, the locked finger joint is unlocked to obtain the newly added degree of freedom after unlocking, and the total degree of freedom of the newly added degree of freedom and the difference degree of freedom is calculated to determine whether the total degree of freedom is greater than or equal to the redundant degree of freedom. If so, it means that the safety requirements are met after unlocking the locked finger joint. At this time, the second control strategy is re-output based on the required degree of freedom and the redundant degree of freedom, that is, the final output degree of freedom of the second control strategy is the sum of the required degree of freedom and the redundant degree of freedom, and the warning is cancelled. If not, it means that the safety risk cannot be completely eliminated after unlocking the locked finger joint, but it is necessary to re-output the second control strategy based on the required degree of freedom and the total degree of freedom, that is, the final output degree of freedom of the second control strategy is the sum of the required degree of freedom and the total degree of freedom, so as to eliminate the safety risk as much as possible.

[0074] In some embodiments, when it is determined that the tendon manipulator has a locked finger joint, unlocking the locked finger joint further includes:

[0075] Determine whether the number of locked finger joints meets the requirements of the redundant safety factor. If so (i.e., the number of locked finger joints is greater than or equal to the required number of redundant degrees of freedom corresponding to the redundant safety factor), unlock the required number of locked finger joints corresponding to the redundant safety factor to avoid unlocking excessively locked finger joints. If not (i.e., the number of locked finger joints is less than the required number of redundant degrees of freedom corresponding to the redundant safety factor), unlock all locked finger joints.

[0076] In some embodiments, step S130 includes: obtaining the time information and path information required to complete the first task, and generating control parameters for controlling the movement of the tendon manipulator based on the time information, path information, the target finger and its required degrees of freedom, and the redundant fingers and their redundant degrees of freedom.

[0077] In this embodiment, the tendon manipulator is first controlled to move to the location of the target object based on the time information and path information, and then the target finger and its required degrees of freedom and the redundant fingers and their redundant degrees of freedom manipulate the target object, thereby achieving the complete execution of the first task.

[0078] The control method of the tendon-wire manipulator provided in the embodiment of the present application can be executed by the control device of the tendon-wire manipulator. In the embodiment of the present application, the control method of the tendon-wire manipulator executed by the control device of the tendon-wire manipulator is taken as an example to illustrate the control device of the tendon-wire manipulator provided in the embodiment of the present application.

[0079] The present application also provides a control device for a tendon rope manipulator, such as Figure 2As shown, the control device of the tendon-cable manipulator includes:

[0080] An extraction module 110, configured to obtain a first task, and extract a target object and the mass information and shape information of the target object from the first task;

[0081] A determination module 120, configured to determine the target finger and the required degrees of freedom for manipulating the target object according to the mass information and the shape information;

[0082] A control module 130, configured to generate control parameters for controlling the movement of the tendon-cable manipulator according to the target finger and the required degrees of freedom, and control the tendon-cable manipulator to execute the first task according to the control parameters.

[0083] The control device of the tendon-cable manipulator provided by the embodiments of the present application obtains a first task, extracts a target object and the mass information and shape information of the target object from the first task, determines the target finger and the required degrees of freedom for operating the target object according to the mass information and the shape information, generates control parameters according to the target finger and the required degrees of freedom, and controls the tendon-cable manipulator to execute the first task according to the control parameters. Since the target finger and the required degrees of freedom to be used are determined from multiple fingers and degrees of freedom of the tendon-cable manipulator according to the shape information and mass information of the target object, flexible and precise manipulation of the tendon-cable manipulator can be achieved.

[0084] In some embodiments, the determination module 120 is further configured to determine a first number of fingers and a first degree of freedom of the fingers to be used according to the shape information, determine a second number of fingers and a second degree of freedom of the fingers to be used according to the mass information; and determine the target finger and the required degrees of freedom therefrom based on the first number, the second number, the first degree of freedom, and the second degree of freedom.

[0085] In some embodiments, the determination module 120 is specifically further configured to obtain a preset correspondence table between the shape information and the number of fingers and degrees of freedom, and obtain the first number and the first degree of freedom from the preset correspondence table according to the shape information; obtain the unit force information of a single tendon cable, calculate the required number of tendon cables according to the mass information and the unit force information, and determine the second number and the second degree of freedom according to the required number of tendon cables.

[0086] In some embodiments, the determination module 120 is specifically further configured to select the larger value between the first number and the second number as the target number, and select the larger value between the first degree of freedom and the second degree of freedom as the target degree of freedom; and determine the target finger and the required degrees of freedom according to the target number and the target degree of freedom.

[0087] In some embodiments, the determination module 120 is further configured to obtain a four-quadrant model determined by quality and shape, determine the quadrant to which the target object belongs according to the quality information and the shape information, and obtain the target finger and its required degrees of freedom according to the quadrant to which the target object belongs and the target action type of the target object; wherein, a corresponding action type is preset in each quadrant, as well as the required fingers and their required degrees of freedom corresponding to each of the action types.

[0088] In some embodiments, the control module 130 is further configured to obtain a redundancy safety factor, determine redundant fingers and their redundant degrees of freedom from the redundancy safety factor; generate control parameters for controlling the movement of the tendon-cable manipulator according to the target finger and its required degrees of freedom and the redundant fingers and their redundant degrees of freedom, and control the movement of the tendon-cable manipulator according to the control parameters.

[0089] In some embodiments, the extraction module 110 is further configured to obtain the first task from the server or the processor of the tendon-cable manipulator; extract the target object and the quality information and shape information of the target object from the first task through a machine vision algorithm.

[0090] The control device of the tendon-cable manipulator in the embodiments of the present application may be an electronic device or a component in an electronic device, such as an integrated circuit or a chip. The electronic device may be a terminal or other devices other than the terminal. Exemplarily, the electronic device may be a mobile phone, a tablet computer, a laptop computer, a palm 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., and may 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., which is not specifically limited in the embodiments of the present application.

[0091] The control device of the tendon-cable manipulator in the embodiments of the present application may be a device with an operating system. The operating system may be a Microsoft (Windows) operating system, an Android operating system, an IOS operating system, or other possible operating systems, which is not specifically limited in the embodiments of the present application.

[0092] The control device of the tendon-cable manipulator provided by the embodiment of the present application can achieve Figure 1 each process implemented by the method embodiment. To avoid repetition, it will not be elaborated here.

[0093] In some embodiments, as Figure 3 shown, the embodiment of the present application further provides an electronic device 300, including a processor 301, a memory 302, and a computer program stored on the memory 302 and executable on the processor 301. When the program is executed by the processor 301, it implements each process of the above-mentioned control method embodiment of the tendon-cable manipulator and can achieve the same technical effect. To avoid repetition, it will not be elaborated here.

[0094] It should be noted that the electronic device in the embodiment of the present application includes the above-mentioned mobile electronic device and non-mobile electronic device.

[0095] The embodiment of the present application further provides a non-transitory computer-readable storage medium. A computer program is stored on the non-transitory computer-readable storage medium. When the computer program is executed by a processor, it implements each process of the above-mentioned control method embodiment of the tendon-cable manipulator and can achieve the same technical effect. To avoid repetition, it will not be elaborated here.

[0096] 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 disk or optical disc, etc.

[0097] The embodiment of the present application further provides a computer program product, including a computer program. When the computer program is executed by a processor, it implements the above-mentioned control method of the tendon-cable manipulator.

[0098] 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 disk or optical disc, etc.

[0099] The embodiment of the present application further provides a chip. The chip includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run a program or instruction to implement each process of the above-mentioned control method embodiment of the tendon-cable manipulator and can achieve the same technical effect. To avoid repetition, it will not be elaborated here.

[0100] It should be understood that the chip mentioned in the embodiment of the present application may also be referred to as a system-on-chip, system chip, chip system, or system-on-chip, etc.

[0101] It should be noted that in this text, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements not only includes those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the phrase "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising that element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, but may also include performing functions in a substantially simultaneous manner or in the 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.

[0102] Through the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments 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. Based on this 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 to enable 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.

[0103] The embodiments of the present application have been described above with reference to the accompanying drawings. However, the present application is not limited to the above specific embodiments. The above specific embodiments 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.

[0104] 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.

[0105] Although 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 principles and spirit of the present application. The scope of the present application is defined by the claims and their equivalents.

Claims

1. A control method for a tendon rope manipulator, characterized in that: include: Acquire a first task, and extract a target object and quality information and appearance information of the target object from the first task; Determine a target finger and its required degrees of freedom required for manipulating the target object according to the mass information and the appearance information; Control parameters for controlling the movement of the tendon-tethered manipulator are generated according to the target finger and the required degree of freedom, and the tendon-tethered manipulator is controlled to perform the first task according to the control parameters.

2. The method according to claim 1, characterized in that The determining, according to the mass information and the appearance information, a target finger required to manipulate the target object and its required degrees of freedom includes: Determine a first number and a first degree of freedom of the fingers to be used according to the appearance information, and determine a second number and a second degree of freedom of the fingers to be used according to the mass information; The target finger and its required degrees of freedom are determined according to the first number, the second number, the first degree of freedom and the second degree of freedom.

3. The method according to claim 2, characterized in that Determining the first number and the first degree of freedom of the fingers to be used according to the appearance information, and determining the second number and the second degree of freedom of the fingers to be used according to the mass information includes: Acquire a preset correspondence table of the appearance information, the number of fingers and the degree of freedom, and obtain the first number and the first degree of freedom from the preset correspondence table according to the appearance information; The unit force information of a single tendon rope is obtained, the required number of tendon ropes is calculated according to the mass information and the unit force information, and the second number and the second degree of freedom are determined according to the required number of tendon ropes.

4. The method according to claim 3, characterized in that The step of determining the target finger and its required degree of freedom based on the first quantity, the second quantity, the first degree of freedom and the second degree of freedom includes: Selecting a larger value between the first number and the second number as a target number, and selecting a larger value between the first degree of freedom and the second degree of freedom as a target degree of freedom; The target fingers and their required degrees of freedom are determined according to the target number and the target degrees of freedom.

5. The method according to claim 1, characterized in that Determining the target finger to be used in the tendon-wire manipulator and its required degrees of freedom according to the mass information and the shape information includes: Acquire a four-quadrant model determined by mass and shape, determine the quadrant to which the target object belongs according to the mass information and the shape information, and obtain the target finger and its required degrees of freedom according to the quadrant and the target action type for the target object; Each quadrant is preset with a corresponding action type, as well as required fingers and required degrees of freedom corresponding to each action type.

6. The method according to any one of claims 1 to 5, characterized in that: The step of generating a control parameter for controlling the movement of the tendon-tethered manipulator according to the target finger and the required degree of freedom, and controlling the tendon-tethered manipulator to perform the first task according to the control parameter, comprises: Obtaining a redundant safety factor, and determining a redundant finger and its redundant degrees of freedom according to the redundant safety factor; Control parameters for controlling the movement of the tether manipulator are generated based on the target finger and its required degrees of freedom and the redundant fingers and their redundant degrees of freedom, and the tether manipulator is controlled to perform the first task according to the control parameters.

7. The method according to any one of claims 1 to 5, characterized in that: The acquiring of the first task, extracting the target object and the quality information and the appearance information of the target object from the first task, includes: Obtaining the first task from the server or the processor of the tendon-wire manipulator; The target object and the quality information and appearance information of the target object are extracted from the first task through a machine vision algorithm.

8. A control device for a tendon rope manipulator, characterized in that: include: An extraction module, used for acquiring a first task, and extracting a target object and quality information and appearance information of the target object from the first task; A determination module, configured to determine a target finger to be used for manipulating the target object and its required degrees of freedom according to the mass information and the appearance information; A control module is used to generate control parameters for controlling the movement of the tendon-tethered manipulator according to the target finger and the required degree of freedom, and control the tendon-tethered manipulator to perform the first task according to the control parameters.

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, it implements the control method of the tendon rope manipulator as described in any one of claims 1-7.

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 tendon-wire manipulator as described in any one of claims 1-7 is implemented.

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