Control method and device of manipulator, transmission device and storage medium

Abstract

The invention discloses a manipulator control method and device, a transmission device and a storage medium, and belongs to the field of robots. The method is applied to a transmission device of the manipulator, the transmission device comprises a plurality of pulley blocks and a transmission silk thread, each pulley block comprises a plurality of pulleys, and input and output variable force is achieved by controlling the transmission silk thread to penetrate through different pulleys in the transmission device. The method specifically comprises the steps of obtaining and analyzing a first task to obtain an input force and an output force; calculating a target pulley required for executing the first task according to the input force and the output force, and obtaining a transmission path of the transmission wire based on the target pulley; the target pulley is controlled to be in a put-down state; and controlling the conveying wire to pass through the corresponding target pulley according to the transmission path. The variable force control of the end part and the tail part of the manipulator can be realized, and the control flexibility of the manipulator is improved.

Description

Technical Field

[0001] This application belongs to the technical field of manipulator control, and particularly relates to a control method, device, transmission device and storage medium of a manipulator. Background Art

[0002] In the field of robotics, especially in the field of manipulator technology, the transmission of force has always been a technical problem to be solved. Currently, tendon ropes are used for force transmission in manipulators, such as directly using tendon ropes for control at the end and the tail. When controlling the force at the tail of the manipulator with a tendon rope, the force control and output at the end and the tail are usually in a 1:1 control and output. That is to say, if a large or small force is required at the tail, the output control at the end also requires a force of the same magnitude. This makes the force control and output of the manipulator not flexible enough, affecting the control efficiency of the manipulator. Summary of the Invention

[0003] This application aims to solve at least one of the technical problems existing in the related art. Therefore, the control method, device, transmission device and storage medium of the manipulator provided by this application can improve the flexibility of manipulator control and output and enhance the manipulator control efficiency.

[0004] In a first aspect, this application provides a control method of a manipulator, which is applied to a transmission device of the manipulator. The transmission device includes a plurality of pulley groups and transmission wires. Each pulley group includes a plurality of pulleys. By controlling the transmission wires to pass through different pulleys in the transmission device, variable force input and output can be achieved. The method includes:

[0005] Obtain and analyze a first task to obtain an input force and an output force;

[0006] Calculate a target pulley required to execute the first task according to the input force and the output force, and obtain a transmission path of the transmission wire based on the target pulley;

[0007] Control the target pulley to be in a lowered state;

[0008] Control the transmission wire to pass through the corresponding target pulley according to the transmission path.

[0009] In a second aspect, this application provides a control device of a manipulator, which is applied to a transmission device of the manipulator. The transmission device includes a plurality of pulley groups and transmission wires. Each pulley group includes a plurality of pulleys. By controlling the transmission wires to pass through different pulleys in the transmission device, variable force input and output can be achieved. The device includes:

[0010] An acquisition and analysis module, configured to obtain and analyze a first task to obtain an input force and an output force;

[0011] A calculation module, configured to calculate a target pulley required to perform the first task according to the input force and the output force, and obtain a transmission path of the transmission wire based on the target pulley;

[0012] A first control module, configured to control the target pulley to be in a lowered state;

[0013] A second control module, configured to control the transmission wire to pass through the corresponding target pulley according to the transmission path.

[0014] In a third aspect, the present application provides a transmission device, including a plurality of pulleys arranged in a pulley channel, a variable-length transmission wire arranged at an input end, and a controller electrically connected to a retracting and releasing structure of the pulley group and a control structure of the transmission wire. By passing the transmission wire through different pulleys, variable-force control of input and output is achieved, and the controller can execute the manipulator control method in the first aspect above.

[0015] 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 manipulator as described in the first aspect above is implemented.

[0016] In a fifth 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 manipulator as described in the first aspect above is implemented.

[0017] In a sixth 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 an instruction to implement the control method of the manipulator as described in the first aspect.

[0018] In a seventh 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 manipulator as described in the first aspect above is implemented.

[0019] One or more of the above technical solutions in the embodiments of the present application have at least the following technical effects:

[0020] The control method, device, transmission device and storage medium of the manipulator provided in the embodiments of the present application analyze the acquired first task to obtain the input force T1 and the output force T2, calculate the target pulley required to execute the first task according to the input force T1 and the output force T2, and obtain the transmission path of the transmission wire based on the target pulley, and then control the state of the target pulley to be a lowered state so that the transmission wire passes through the transmission path with the target pulley as the fulcrum, thereby realizing variable force control of the end and tail of the manipulator, improving the control flexibility of the manipulator, and further improving the control efficiency of the manipulator.

[0021] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0023] Figure 1 This is a schematic diagram of a humanoid robot provided in an embodiment of the present application.

[0024] Figure 2 It is a schematic diagram of the structure of the controller of the humanoid robot provided in an embodiment of the present application.

[0025] Figure 3 It is a flow chart of the control method of the manipulator provided in the embodiment of the present application.

[0026] Figure 4 It is one of the schematic diagrams of the position layout and transmission path of the transmission device provided in the embodiment of the present application.

[0027] Figure 5 This is the second schematic diagram of the position layout and transmission path of the transmission device provided in the embodiment of the present application.

[0028] Figure 6 It is an oblique schematic diagram of the position layout of the transmission device provided in an embodiment of the present application.

[0029] Figure 7 It is a schematic diagram of the structure of the control device of the manipulator provided in an embodiment of the present application.

[0030] Figure 8 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0031] 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.

[0032] 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. are usually of the same type, and the number of objects is not limited. For example, the first object can be one or multiple. In addition, "and / or" in the specification 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.

[0033] The control method, device, transmission device and storage medium of the manipulator provided by the embodiments of the present application belong to the field of robots. This method is applied to the transmission device of the manipulator. The transmission device includes a plurality of pulley groups and transmission wires. Each pulley group includes a plurality of pulleys. By controlling the transmission wires to pass through different pulleys in the transmission device, variable force of input and output is realized. The method includes: acquiring and parsing a first task to obtain an input force and an output force; calculating a target pulley required to execute the first task according to the input force and the output force, and obtaining a transmission path of the transmission wire based on the target pulley; controlling the target pulley to be in a lowered state; controlling the transmission wire to pass through the corresponding target pulley according to the transmission path. This method uses electronic signals to control the retraction and lowering of the pulleys in the transmission device, and controls the transmission wire to pass through the corresponding target pulley to realize the variable force control of the end and tail forces, thereby achieving the technical effect of variable force.

[0034] Next, in conjunction with the accompanying drawings, the control method, device, transmission device and storage medium of the manipulator provided by the embodiments of the present application will be described in detail through specific embodiments and their application scenarios.

[0035] Figure 1 This is an example humanoid robot 100 of the application scenario adapted to the embodiments of the present application. Figure 2FIG. 0 is a schematic structural diagram of the controller 108 of the humanoid robot in the example, which can integrate the devices and methods described in this article. The humanoid robot 100 can include an upper body 102, two arms 104, and two legs 106. The upper body 102 can include a controller 108 for controlling the robot 100. 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. The robot 100 can include a plurality of actuators 118 associated with a plurality of joints. Each arm 104 can include a corresponding hand 120. The robot 100 can include one or more sensors for sensing the robot 100 or the surrounding environment of the robot 100. The robot 100 can include one or more cameras.

[0036] 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 in this article. 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.

[0037] The memory 116 (e.g., memory unit and / or storage device) can include one or more devices (e.g., RAM, ROM, flash memory, hard disk memory) for storing data and / or computer code to complete or facilitate the various processes described. In the present disclosure, the memory 116 can be communicatively connected to the processor 114 to provide computer code or instructions to the processor 114 for executing at least some of the processes described in this article. In addition, the memory 116 can be or include tangible, non-transitory volatile memory or non-volatile memory. For example, the memory 116 can include database components, object code components, script components, or any other type of information structure for supporting the various activities and information structures described in this article.

[0038] The communication interface 112 can 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 of the robot 100. The interface 112 can enable communication between the processing unit 110 (or the processor 114) and the actuators 118, sensors, or cameras integrated into the robot 100. In some embodiments, the communication interface 112 can enable communication with a remote system or device.

[0039] The processing unit 110 or the processor 114 may be configured to control the joints of the robot 100. The processing unit 110 or the processor 114 may control the joints or the movements associated with the joints by controlling the corresponding actuators 118. Specifically, each joint may include one or more actuators 118 or may be associated with one or more actuators 118, and the actuators 118 are configured to drive the movement of the robot components or elements connected via the joints. As discussed in further detail below, the processing unit 110 or the processor 114 may send instructions to the actuators 118 to cause or trigger the precise movement of one or more elements or components of the robot 100. The processing unit 110 or the processor 114 may control multiple joints simultaneously to achieve the coordinated movement of the robot 100.

[0040] The processing unit 110 or the processor 114 may receive data from sensors and / or cameras integrated in the robot 100, and make decisions based on the received data, such as which elements of the robot 100 should move and how to move. For example, the data received from the sensors and / or cameras may indicate obstacles in the path of the robot 100. The processing unit 110 or the processor 114 may decide to modify the path and determine one or more limbs or control the components of the robot 100 based on the modified path. In some embodiments, the processing unit 110 or the processor 114 may receive data indicating the tasks to be performed by the robot 100 from a remote device or system, and determine the movement sequence of the limbs or components of the robot 100 to perform the tasks.

[0041] Although Figure 1 it is shown that the controller is integrated in the chest or upper body of the robot 100, generally speaking, the controller 108 may be placed or integrated in other areas or parts of the robot 100. For example, the robot 100 may include a head and the controller 108 may be integrated into or on the head. In some embodiments, the controller 108 may be placed in the back, the waist area or on the waist area of the robot 100 and / or placed in or on one of the limbs of the robot 100.

[0042] Embodiment 1

[0043] As Figure 3 shown, an embodiment of the present application provides a control method for a manipulator, which is applied to the transmission device of the manipulator. The transmission device includes a plurality of pulley groups and transmission wires. Each pulley group includes a plurality of pulleys, and the input and output variable forces are realized by controlling the transmission wires to pass through different pulleys in the transmission device. The method includes:

[0044] S110, obtain and parse the first task to obtain the input force and the output force.

[0045] S120: Calculate a target pulley required to perform the first task according to the input force and the output force, and obtain a transmission path of the transmission wire based on the target pulley.

[0046] S130, controlling the target pulley to be in a lowered state.

[0047] S140, controlling the transmission wire to pass through a corresponding target pulley according to the transmission path.

[0048] The control method of the manipulator provided in the embodiment of the present application analyzes the acquired first task to obtain the input force T1 and the output force T2, calculates the target pulley required to execute the first task according to the input force T1 and the output force T2, and obtains the transmission path of the transmission wire based on the target pulley, and then controls the state of the target pulley to be a lowered state so that the transmission wire passes through the transmission path with the target pulley as the fulcrum, thereby realizing variable force control of the end and tail of the manipulator, improving the control flexibility of the manipulator, and further improving the control efficiency of the manipulator.

[0049] It should be noted that the first task in this embodiment can be obtained by the control unit, or directly obtained by the server first and then transmitted to the control unit. Specifically, the control unit receives the first task input by the operator, that is, the first task can be input through the receiving interface of the hardware device; it can also be a preset input task, and the control unit selects the first task from the preset input task; it can also be a pre-set task generation rule, so that the control unit can generate the first task by itself according to the generation rule. In some embodiments, the transmission wire is a steel wire.

[0050] It is worth noting that, in order to better understand the present invention, the transmission device in this embodiment is briefly described. In some embodiments, such as Figures 4 - 6 As shown, it is the transmission device position layout diagram, the layout diagram is divided into a main view and an oblique view. Figure 4 and Figure 5 These are two schematic examples of the transmission wire passing through the transmission path, and do not constitute a limitation to the present invention.

[0051] The transmission device includes a plurality of pulley blocks and transmission wires, each of which includes a plurality of pulleys. The input force and output force are changed by controlling the transmission wires to pass through different pulleys in the transmission device. In some embodiments, these pulleys are fixed pulleys, and the diameters of the fixed pulleys are uniformly fixed. The transmission wire enters the transmission device from the top left position T1 and is output at the bottom right position T2, with the target pulley in the middle as the force point, to achieve variable force control of input and output.

[0052] In some embodiments, the transmission device includes a plurality of pulley groups, each pulley group includes a plurality of pulleys, and the plurality of pulley groups are arranged in series or in parallel to achieve control of various torques.

[0053] In some embodiments, there are three pulley blocks, each of which includes three pulleys. Figure 4 and Figure 5 Arrangement, the first set of pulleys is denoted as M 1x , the second set of pulleys is denoted as M 2x , the third group of pulleys is denoted as M 3x , so that the controller can recognize the identification of each pulley.

[0054] It can be understood that when variable force control is performed, the number of target pulleys is increased or decreased according to the relationship between T1 and T2, such as Figure 4 Using 3 of the target pulleys, you can also Figure 5 Shown using 2 of the target pulleys.

[0055] In some embodiments, the transmission device can be placed in the dexterous hand of a humanoid robot to achieve variable force control of input force and output force.

[0056] In some embodiments, the length of the transmission wire can be controlled by providing a wire post near the input end of the transmission device and a corresponding storage bin near the input end. The wire post can be rotated under the control of the controller to lengthen or shorten the transmission wire, thereby controlling the transmission wire to pass through the transmission path, and the storage bin is used to place excess transmission wire. In some embodiments, the transmission wire can also be controlled only by the wire post.

[0057] In some embodiments, the transmission device also includes a back plate group, and the back plate group includes a pulley channel composed of a front back plate and a rear back plate, which is used to store the retracted pulley. A corresponding retractable structure, such as a bayonet, is provided in the pulley channel, which is used to fix and support the pulley to protrude and release when the pulley is in a lowered state. When a pulley lowering instruction is received, the retractable structure slides outward and protrudes and presses against the pulley. When a pulley retracting instruction is received, the retractable structure is recessed, and the pulley is retracted into the pulley channel through the track of the pulley channel. The release and retraction of the pulley is controlled by an electrical signal of a controller. The controller can be placed in the middle of the back plate and connected to the retractable structure in the pulley channel through a signal line.

[0058] In some embodiments, when the pulley of the front back plate is retracted, the pulley enters the corresponding pulley channel through the track in the channel of the front back plate, comes out of the channel of the rear back plate, and the corresponding pulley appears on the surface of the rear back plate.

[0059] In this embodiment, after obtaining the required output force T2, the computer first calculates the required number of target pulleys and the passing path of the wire. After determining the required number of target pulleys, the positions of the pulleys to be lowered and retracted are determined. Then, the controller issues a control signal. After receiving the control signal, the corresponding pulley executes the control instruction to retract or lower. Then, the corresponding wire passes through the corresponding pulley according to the transmission path, realizing the variable force control of the input force and the output force.

[0060] In some embodiments, step S110 includes: parsing the first task to obtain the proportional relationship between the output force and the input force.

[0061] By parsing the first task, the magnitudes of the required output force and input force can be directly obtained, or it can be the proportional relationship between the output force and the input force. The first task is the relationship between the output magnitude, height, etc. obtained from the controller, which can be specific values or the relationship between the output and the input. The values are precise, and the relationship between the output and the input is rough. These precisions and roughnesses are affected and controlled by the computing power and resources of the controller. It can be understood that using the proportional relationship between the output force and the input force to calculate the target pulley can avoid the calculation of specific values and improve the processing efficiency.

[0062] Generally speaking, controlled by the calculation relationship between T1 and T2, the target pulley is the transmission of force. The variable target pulley can realize the variable force control between the input force and the output force. For example, when the input force is constant, the magnitude of the output force is controlled by retracting and lowering the pulley, achieving the technical effect of variable force. For example, when the input force T1 is equal to the output force T2, it is required that the wire simply passes through the pulley M22. At this time, the controller controls the retracting and releasing structure of the pulley channel H22 of M22 through an electrical signal to release the pulley M22 and fix the pulley M22, and other pulleys are in the retracted state. Another example is when the input force T1 is less than the output force T2, it is required that the wire simply passes through M32 and M23. The controller controls the retracting and releasing structures of the corresponding pulley channels H32 and H23 of M32 and M23 through an electrical signal to release the pulley M32 and the pulley M23 and fix M32 and M23, and other pulleys are in the retracted state.

[0063] In some embodiments, step S120 includes:

[0064] Calculating the target number and target position of the target pulley required to execute the first task according to the input force and the output force.

[0065] Based on the target number and the target position, determining the order in which the transmission wire needs to pass through the target pulleys in sequence, and determining the transmission path.

[0066] In this embodiment, since the number of target pulleys in the transmission device is adjustable, after obtaining the first task, the number of target pulleys required to perform the first task is calculated according to the numerical value or proportional relationship between the required output force and the input force to achieve a predetermined output result. More specifically, the controller obtains the magnitude of the output force required to complete the first task based on the instruction of the first task obtained, and obtains the number of target pulleys for performing the first task based on the magnitude of the output force. Generally speaking, when performing the corresponding calculation, an integer value will not be obtained, and it is necessary to round off to obtain an integer result, such as rounding up to obtain the number of target pulleys. If the calculated result is 4.2 pulleys, the controller confirms that the number of pulleys required to perform the first task is 5, and so on, rounding up.

[0067] After obtaining the number of pulleys required to perform the first task, it is also necessary to confirm which pulleys are performing the first task, that is, to determine the position of the target pulley so as to control the state of the target pulley to be lowered. Each target pulley determines the transmission path according to the sequence, allowing the transmission wire to pass through it as the fulcrum, thereby realizing variable force control at the end and tail of the manipulator.

[0068] It is understandable that each pulley has its own corresponding identification. After determining which pulleys are target pulleys and which pulleys are other pulleys, the identifications of the lowered and retracted pulleys will be collected to the controller so that the controller can send instructions for control.

[0069] It is worth noting that when controlling the transmission wire to pass through the transmission path, the transmission wire can be guided through by magnets arranged on the transmission wire and the pulley.

[0070] In some embodiments, the step of calculating a target number and a target position of target pulleys required to perform the first task according to the input force and the output force includes:

[0071] Get the redundant number of pulleys required for the redundancy factor;

[0072] calculating a first quantity based on the input force and the output force;

[0073] The target number is determined by the redundant number and the first number.

[0074] As mentioned above, when calculating the number of target pulleys, the calculated value of the target pulleys is rounded up to meet the basic requirements of the pulleys for performing the first task. On this basis, a certain redundancy is also required, that is, a redundancy coefficient is obtained, and the number of target pulleys is determined by the redundancy coefficient, so as to further improve the control flexibility and safety of the manipulator. For example, the redundant number of pulleys corresponding to the redundancy coefficient is generally 0.5. Therefore, when the calculated result is 4.6 pulleys, the redundant number is added to get 5.1 pulleys, and finally the number of target pulleys required to perform the first task is confirmed to be 6.

[0075] In some embodiments, step S130 includes:

[0076] Determine the pulleys in the transmission device other than the target pulleys as other pulleys.

[0077] Control the target pulleys to be clamped and protrude outside the pulley channels of the transmission device, and control the other pulleys to be received in the pulley channels.

[0078] In order to ensure that the transmission wire is not affected by other pulleys when passing through the transmission device, it is not only necessary to control the target pulleys to be in the lowered state, that is, to control the target pulleys to be clamped and protrude outside the pulley channels of the transmission device, but also necessary to control the other pulleys to be in the retracted state, that is, to be received in the pulley channels.

[0079] Furthermore, in some embodiments, the controlling the target pulleys to protrude outside the pulley channels of the transmission device and controlling the other pulleys to be received in the pulley channels includes:

[0080] Determine the pulleys in the target pulleys that are currently in the lowered state as the first pulleys, and determine the pulleys in the target pulleys that are currently in the retracted state as the second pulleys, and control the second pulleys to slide out from the corresponding first pulley channels and protrude and be fixed outside the first pulley channels.

[0081] Determine the pulleys in the other pulleys that are currently in the lowered state as the third pulleys, and determine the pulleys in the other pulleys that are currently in the retracted state as the fourth pulleys, and control the third pulleys to be received in the corresponding second pulley channels.

[0082] To save energy, when obtaining the number of target pulleys and determining the positions of the pulleys to be retracted and extended, priority is given to retracting and extending the pulleys in the same state and maintaining this state. For example, before receiving the first task, if the conveyor pulley is in the retracted state, when it is confirmed that the retraction includes this pulley, the state of this pulley is preferably confirmed as the retracted state, and only the pulleys in the lowered state among the pulleys to be retracted are controlled to change to the retracted state. Similarly, before receiving the first task, if the pulley is in the lowered state, when it is confirmed that the pulleys to be lowered include this pulley, the state of this pulley is preferably confirmed as the lowered state, and only the pulleys in the retracted state among the pulleys to be lowered are controlled to change to the lowered state.

[0083] In some embodiments, the method further includes:

[0084] Sending the target pulley and the transmission path to a preset neural network, calculating and verifying whether the corresponding output force satisfies the execution of the first task, and when not satisfied, returning to execute the step of calculating the target pulley required for executing the first task according to the input force and the output force, and obtaining the transmission path of the transmission wire based on the target pulley.

[0085] In this embodiment, the transmission path, the number, and the position of the target pulleys need to be secondarily verified, and the secondary verification occurs during the process of calculating the transmission path of the transmission wire. Generally, through the prediction ability of artificial intelligence, that is, through the visual recognition and Bayesian training of artificial intelligence, the confirmed transmission path, the number, and the position of the target pulleys are input into the corresponding neural network to calculate whether the corresponding output satisfies the execution of the first task. If it is satisfied, go to S130. If it is not satisfied or the first task changes, return to S120.

[0086] Embodiment 2

[0087] The control method of the manipulator provided in the embodiment of the present application, the execution subject can be the control device of the manipulator. In the embodiment of the present application, taking the control device of the manipulator executing the control method of the manipulator as an example, the control device of the manipulator provided in the embodiment of the present application is described.

[0088] The embodiment of the present application also provides a control device of a manipulator, as Figure 7 shown, applied to the transmission device of the manipulator, the transmission device includes a plurality of pulley groups and transmission wires, each pulley group includes a plurality of pulleys, and the variable force of input and output is realized by controlling the transmission wire to pass through different pulleys in the transmission device; the device includes:

[0089] An acquisition and analysis module 210, configured to acquire and analyze the first task to obtain an input force and an output force.

[0090] The calculation module 220 is configured to calculate a target pulley required to perform the first task according to the input force and the output force, and obtain a transmission path of the transmission wire based on the target pulley.

[0091] The first control module 230 is used to control the target pulley to be in a lowered state.

[0092] The second control module 240 is used to control the transmission wire to pass through the corresponding target pulley according to the transmission path.

[0093] The control device of the manipulator provided in the embodiment of the present application analyzes the acquired first task to obtain the input force T1 and the output force T2, calculates the target pulley required to execute the first task according to the input force T1 and the output force T2, and obtains the transmission path of the transmission wire based on the target pulley, and then controls the state of the target pulley to be a lowered state so that the transmission wire passes through the transmission path with the target pulley as the fulcrum, thereby realizing variable force control of the end and tail of the manipulator, improving the control flexibility of the manipulator, and further improving the control efficiency of the manipulator.

[0094] In some embodiments, the acquisition and analysis module 210 is further used to analyze the first task to obtain a proportional relationship between the output force and the input force.

[0095] In some embodiments, the calculation module 220 is further used to calculate the target number and target position of the target pulleys required to perform the first task based on the input force and the output force; determine the order in which the transmission wire needs to pass through the target pulleys in sequence based on the target number and the target position, and determine the transmission path.

[0096] In some embodiments, the calculation module 220 is further used to obtain the redundant number of pulleys required for the redundancy coefficient; calculate a first number according to the input force and the output force; and determine the target number based on the redundant number and the first number.

[0097] In some embodiments, the first control module 230 is further used to determine the pulleys in the transmission device other than the target pulley as other pulleys; control the target pulley to be stuck and protrude outside the pulley channel of the transmission device, and control the other pulleys to be received in the pulley channel.

[0098] In some embodiments, the first control module 230 is further configured to determine the pulley in the lowered state among the target pulleys as the first pulley, and determine the pulley in the retracted state among the target pulleys as the second pulley, and control the second pulley to slide out from the corresponding first pulley channel and protrude and fix outside the first pulley channel; determine the pulley in the lowered state among the other pulleys as the third pulley, and determine the pulley in the retracted state among the other pulleys as the fourth pulley, and control the third pulley to retract into the corresponding second pulley channel.

[0099] In some embodiments, the device includes a verification module, configured to send the target pulley and the transmission path to a preset neural network, calculate and verify whether the corresponding output force meets the execution of the first task, and return to the calculation module 220 when not met.

[0100] The control device of the manipulator 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 a terminal. Exemplarily, the electronic device can be a mobile phone, a tablet computer, a laptop computer, a handheld computer, an in-vehicle 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 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.

[0101] The control device of the manipulator in the embodiments of the present application can be a device with an operating system. The operating system can be a Microsoft (Windows) operating system, an Android operating system, an IOS operating system, or other possible operating systems. The embodiments of the present application do not make specific limitations.

[0102] The control device of the manipulator provided in the embodiments of the present application can implement Figures 1 - 6 each process implemented by the method embodiments and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0103] Example 3

[0104] The present application also provides a transmission device, including multiple pulleys arranged in a pulley channel, a variable-length transmission wire arranged at an input end, and a controller electrically connected to the retraction and extension structure of the pulley group and the control structure of the transmission wire. Variable force control of input and output is achieved by passing the transmission wire through different pulleys. The controller can execute the manipulator control method described in Example 1.

[0105] The transmission device provided in the embodiment of the present application analyzes the acquired first task to obtain the input force T1 and the output force T2, calculates the target pulley required to execute the first task according to the input force T1 and the output force T2, and obtains the transmission path of the transmission wire based on the target pulley, and then controls the state of the target pulley to be a lowered state so that the transmission wire passes through the transmission path with the target pulley as the fulcrum, thereby realizing variable force control of the end and tail of the manipulator, improving the control flexibility of the manipulator, and further improving the control efficiency of the manipulator.

[0106] In some embodiments, the transmission device includes a plurality of pulley groups, each pulley group includes a plurality of pulleys, and the plurality of pulley groups are arranged in series or in parallel to achieve control of various torques.

[0107] In some embodiments, the transmission device is placed in the dexterous hand of the humanoid robot to achieve variable force control of input force and output force.

[0108] In some embodiments, the transmission device includes a wire column disposed at an input end for winding the transmission wire, the wire column is disposed on a rotatable control structure, and the control structure realizes the change of the length of the transmission wire under the control of the controller.

[0109] In some embodiments, the transmission device includes a storage bin disposed at the input end for storing the transmission wire to prevent contamination of the transmission wire.

[0110] In some embodiments, the transmission device also includes a back plate group, the back plate group includes a front back plate and a rear back plate, and a pulley channel composed of the front back plate and the rear back plate for accommodating the pulley, and a corresponding retraction and extension structure is provided in the pulley channel for realizing the retraction or lowering of the pulley under the control of the controller.

[0111] It is understandable that the transmission device provided in the embodiment of the present application can achieve Figures 1 - 6 The various processes implemented by the method embodiment can achieve the same technical effect, and to avoid repetition, they will not be described here.

[0112] In some embodiments, Figure 8As shown in the figure, an embodiment of the present application further provides an electronic device 300, which includes 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 control method embodiment for the retraction and extension of the transmission device, and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0113] 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.

[0114] An embodiment of the present application further provides 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 control method embodiment for the retraction and extension of the transmission device, and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0115] 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.

[0116] An embodiment of the present application further provides a computer program product, including a computer program, which implements the control method for the retraction and extension of the transmission device when executed by a processor.

[0117] 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.

[0118] Another embodiment of 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 programs or instructions to implement each process of the control method embodiment for the retraction and extension of the transmission device, and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0119] 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.

[0120] It should be noted that in this document, the terms "include", "comprise" or any other variants thereof are 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 statement "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, 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.

[0121] 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 such an understanding, the technical solution of the present application, in essence or the part that contributes to the related technology, can be embodied in the form of a computer software product. This 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 the various embodiments of the present application.

[0122] 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 fall within the protection scope of the present application.

[0123] 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 any one or more embodiments or examples in a suitable manner.

[0124] 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 manipulator, characterized in that: A transmission device applied to a manipulator, the transmission device comprising a plurality of pulley blocks and transmission wires, each of the pulley blocks comprising a plurality of pulleys, and variable input and output forces are achieved by controlling the transmission wires to pass through different pulleys in the transmission device; comprising: Obtain and parse the first task to obtain input force and output force; calculating a target pulley required to perform the first task according to the input force and the output force, and obtaining a transmission path of the transmission wire based on the target pulley; Controlling the target pulley to be in a lowered state; The transmission wire is controlled to pass through a corresponding target pulley according to the transmission path.

2. The method according to claim 1, characterized in that The acquiring and parsing the first task to obtain the input force and the output force includes: The first task is analyzed to obtain a proportional relationship between the output force and the input force.

3. The method according to claim 1, characterized in that The step of calculating a target pulley required for performing the first task according to the input force and the output force, and obtaining a transmission path of the transmission wire based on the target pulley, comprises: calculating a target number and a target position of target pulleys required to perform the first task according to the input force and the output force; The order in which the transmission wires need to pass through the target pulleys is determined based on the target quantity and the target position, thereby determining the transmission path.

4. The method according to claim 3, characterized in that The step of calculating the target number and target position of the target pulleys required to perform the first task according to the input force and the output force includes: Get the redundant number of pulleys required for the redundancy factor; calculating a first quantity based on the input force and the output force; The target number is determined by the redundant number and the first number.

5. The method according to claim 1, characterized in that The controlling the target pulley to be in a lowered state includes: Determine the pulleys in the transmission device other than the target pulley as other pulleys; The target pulley is controlled to be clamped and protrude outside the pulley channel of the transmission device, and the other pulleys are controlled to be received in the pulley channel.

6. The method according to claim 5, characterized in that The controlling the target pulley to protrude outside the pulley channel of the transmission device and controlling the other pulleys to be received in the pulley channel comprises: Determine the pulley in the target pulleys that is currently in the lowered state as the first pulley, determine the pulley in the target pulleys that is currently in the retracted state as the second pulley, and control the second pulley to slide out of the corresponding first pulley channel and protrude and be fixed outside the first pulley channel; The pulley whose current state is a lowered state among the other pulleys is determined as the third pulley, and the pulley whose current state is a retracted state among the other pulleys is determined as the fourth pulley, and the third pulley is controlled to be retracted into the corresponding second pulley channel.

7. The method according to any one of claims 1 to 6, characterized in that: The method further comprises: The target pulley and the transmission path are sent to a preset neural network, and the corresponding output force is calculated and verified to determine whether it satisfies the execution of the first task. If not, the step of returning to the step of calculating the target pulley required to execute the first task based on the input force and the output force, and obtaining the transmission path of the transmission wire based on the target pulley is performed.

8. A control device for a manipulator, characterized in that: A transmission device applied to a manipulator, the transmission device comprising a plurality of pulley blocks and transmission wires, each of the pulley blocks comprising a plurality of pulleys, and variable input and output forces are achieved by controlling the transmission wires to pass through different pulleys in the transmission device; the device comprises: An acquisition and analysis module is used to acquire and analyze the first task to obtain input force and output force; a calculation module, configured to calculate a target pulley required to perform the first task according to the input force and the output force, and obtain a transmission path of the transmission wire based on the target pulley; A first control module, used for controlling the target pulley to be in a lowered state; The second control module is used to control the transmission wire to pass through the corresponding target pulley according to the transmission path.

9. A transmission device, characterized in that: The invention comprises a plurality of pulleys arranged in a pulley channel, a variable-length transmission wire arranged at an input end, and a controller electrically connected to the retraction and extension structure of the pulley group and the control structure of the transmission wire. Variable force control of input and output is achieved by passing the transmission wire through different pulleys. The controller is capable of executing the manipulator control method as described in any one of claims 1 to 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 robot as described in any one of claims 1 to 7 is implemented.

Images