Multi-cable control method and device and storage medium

Abstract

The invention discloses a multi-cable control method and device and a storage medium, the device comprises at least one circular ring, multiple cables are wound on the at least one circular ring, the circular ring is connected with the cables, the method comprises the steps that a first task is acquired and analyzed to obtain an output strategy, and the output strategy at least comprises a circular ring output mode and a cable output mode; determining a topological structure of a control target according to a circular ring output mode and a cable output mode; and executing cable control according to the target topological structure. A target topological structure is obtained through a circular ring output mode and a cable output mode in an output strategy of a first task, and the target topological structure is a topological structure in which force application and stress can act flexibly through interaction of a circular ring and a cable, so that an action highly matched with the corresponding first task can be constructed; and executing cable control according to the target topological structure, thereby realizing flexible, accurate and efficient cable control.

Description

Technical Field

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

[0002] Currently, various puppets, toys, robots, etc. are emerging continuously. As components of them, hands and fingers (manipulators) are constantly facing challenges in designing and optimizing design parameters as the demand for the grasping performance of hands and fingers increases. The first challenge is how to achieve adaptive and stable grasping of objects. Adaptability involves the ability of fingers or corresponding joints to adjust their positions and / or movements based on the position and characteristics of contact with another object. Stability means being able to hold the object well in the way of the object itself without slipping or falling. The second technical challenge is how force or torque is transmitted to different links or components of the fingers, making the control and output of the dexterous hand force flexible. Currently, the hands and fingers of puppets, toys, and robots on the market can achieve a certain degree of grasping through cables, but the transmission of force between phalanges is not flexible enough, resulting in problems of low task processing accuracy and low efficiency. Summary of the Invention

[0003] This application aims to solve at least one of the technical problems existing in the related art. For this reason, this application provides a multi-cable control method, device, and storage medium, which can achieve flexible and precise control of fingers.

[0004] In a first aspect, this application provides a multi-cable control method, including at least one ring, the multi-cables are wound around the at least one ring, and the ring is connected to the cables. The method includes:

[0005] Obtaining and parsing a first task to obtain an output strategy, the output strategy at least including a ring output mode and a cable output mode;

[0006] Determining a topological structure for controlling the target from the ring output mode and the cable output mode;

[0007] Performing the control of the cables according to the target topological structure.

[0008] In a second aspect, this application provides a multi-cable control device, including at least one ring, the multi-cables are wound around the at least one ring, and the ring is connected to the cables. The device includes:

[0009] An analysis module, configured to obtain and parse a first task to obtain an output strategy, the output strategy at least including a ring output mode and a cable output mode;

[0010] A determination module, configured to determine a topological structure for controlling a target from the ring output mode and the cable output mode;

[0011] A control module, configured to execute control of the cable according to the target topology structure.

[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 multi-cable control method 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 multi-cable control method 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 configured to run a program or an instruction to implement the multi-cable control method 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 multi-cable control method 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] By obtaining a first task and parsing the output policy of the first task, the target topology structure is obtained from the circular output mode and the cable output mode in the output policy. The cable is controlled according to the target topology structure. The target topology structure is a topology structure that runs through the entire finger and enables the finger to move flexibly through the interaction between the ring and the cable. Since the force interaction between the ring and the cable is relatively flexible, actions highly matching the corresponding first task, such as pinching, grasping, and hooking, can be constructed, thereby realizing flexible, precise, and efficient control of the finger.

[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 diagram of a mechanical toy of an application scenario adapted to the embodiments of the present application.

[0021] Figure 2 is another schematic diagram of a mechanical toy of an application scenario adapted to the embodiments of the present application.

[0022] Figure 3 It is a schematic structural diagram of a controller for a humanoid robot or a toy provided by an embodiment of the present application.

[0023] Figure 4 It is a schematic flowchart of a cable control method provided by an embodiment of the present application.

[0024] Figure 5 It is a schematic structural diagram of a cable control device provided by an embodiment of the present application.

[0025] Figure 6 It is a schematic structural diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0026] 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 some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application belong to the scope of protection of the present application.

[0027] 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 may be interchanged under appropriate circumstances so that the embodiments of the present application can be implemented in an order different from those illustrated or described herein, and the objects distinguished by "first", "second", etc. generally belong to the same category, and the number of objects is not limited. For example, the first object may 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 represents an "or" relationship between the associated objects before and after.

[0028] Figure 1 It is a mechanical toy that is an example of an application scenario suitable for an embodiment of the present application. The mechanical toy may include a body 102, two arms 104, and a head. It can be understood that although Figure 1 it shows that the controller 108 is integrated in the body of the mechanical toy, generally speaking, the controller 108 can be placed or integrated in other areas or parts of the machine toy. For example, the mechanical toy may include a head, and the controller 108 can be integrated into or on the head. In some embodiments, the controller 108 can be placed in the back, waist area or on the waist area of the mechanical toy and / or placed on the limbs of the mechanical toy.

[0029] Figure 2 It is a toy that is an example of an application scenario suitable for an embodiment of the present application. Figure 2The toy shown in [description] may include a hand 140, and the hand of the toy may integrate a controller 108 as shown in Figure 3 the controller 108 shown in

[0030] Mechanical toys or robots may include multiple actuators associated with multiple joints, and each arm 104 may include a corresponding hand 120 or 140. The robot may include one or more sensors for sensing the robot or the surrounding environment of the robot, and the robot may include one or more cameras.

[0031] Figure 3 FIG. [figure number] is a schematic structural diagram of a controller 108 of a humanoid robot, toy, or puppet in an example, which may integrate the devices and methods described herein. The controller 108 may include a processing unit 110 and a communication interface 112. The processing unit 110 may be communicatively coupled to the communication interface 112. The processing unit 110 may include a processor 114 and a memory 116.

[0032] The processor 114 may 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 device, discrete gate or transistor logic, discrete hardware component, or any combination thereof, and is designed to perform the functions described herein. The processor 114 may be a microprocessor. The processor 114 may 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 may include one or more processors 114.

[0033] The memory 116 (e.g., memory unit and / or storage device) may 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. The memory 116 may 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 herein. In addition, the memory 116 may be or include tangible, non-transitory volatile memory or non-volatile memory. For example, the memory 116 may include database components, object code components, script components, or any other type of information structure for supporting the various activities and information structures described herein.

[0034] The communication interface 112 may include any combination of wired and / or wireless interfaces (e.g., jacks, antennas, transmitters, receivers, transceivers, wired terminals) for data communication with various systems or devices. The interface 112 may enable communication between the processing unit 110 (or the processor 114) and actuators, sensors, or cameras integrated into the robot. In some embodiments, the communication interface 112 may enable communication with a remote system or device.

[0035] The processing unit 110 or the processor 114 may be configured to control the joints of the mechanical body. The processing unit 110 or the processor 114 may control the joints or the movement associated with the joints by controlling the corresponding actuators. Specifically, each joint may include one or more actuators or may be associated with one or more actuators configured to drive the movement of components or elements connected via the joint. As discussed in further detail below, the processing unit 110 or the processor 114 may send instructions to the actuators to cause or trigger precise movement of one or more elements or components of the robot, toy, or puppet, etc. The processing unit 110 or the processor 114 may control multiple joints simultaneously to achieve coordinated movement of the robot, toy, or puppet.

[0036] The multi-cable control method, multi-cable control device, electronic device, and readable storage medium provided by the embodiments of the present application will be described in detail below with reference to the accompanying drawings through specific embodiments and their application scenarios.

[0037] Among them, the multi-cable control method can be applied to a terminal and can be specifically executed by hardware or software in the terminal.

[0038] The multi-cable control method provided by the embodiments of the present application, the execution subject of the multi-cable control method may be an electronic device or a functional module or functional entity in the electronic device that can implement the multi-cable control method. The electronic devices mentioned in the embodiments of the present application include but are not limited to mobile phones, tablet computers, computers, cameras, wearable devices, and controllers, etc. The multi-cable control method provided by the embodiments of the present application will be described below taking the electronic device as the execution subject as an example.

[0039] As Figure 4 shown, the multi-cable control method includes at least one ring, and the multi-cable is wound around the at least one ring, and the ring is connected to the cable. The method includes:

[0040] S110, obtain and parse the first task to obtain an output strategy, where the output strategy includes at least a ring output mode and a cable output mode.

[0041] It can be understood that the first task can be input by the user and the operator of the mechanical body through input devices such as a display interface and a button interface. In some embodiments, the first task can be input into the server and remotely read by the controller of the mechanical body. In some embodiments, the first task can be directly input into the processor of the mechanical body and locally read by the controller of the mechanical body, 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 quality information and shape information of the target object can be directly input, and the controller can directly read these 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 quality information and shape information of the target object can be extracted from the first task through a machine vision algorithm.

[0042] S120. Determine the topological structure for controlling the target according to the ring output mode and the cable output mode.

[0043] It can be understood that the controller of the mechanical body can calculate the corresponding output strategy according to the quality information and shape information of the target object in the first task. The output strategy includes but is not limited to the output mode of the mechanical body, including posture, skill, handling distance, energy consumption, magnitude of output force, etc. It is worth noting that the output strategy can be calculated by a pre-trained strategy output model, and the strategy output model is trained according to the shape, weight, size, and material of the target object.

[0044] It can be understood that the ring output mode and the cable output mode obtained from the output strategy of the mechanical body in the above output strategy can also be used to train the strategy output model, and the finger of the mechanical body including the ring output mode and the cable output mode can be directly obtained by the strategy output model.

[0045] It is worth noting that the topological structure includes the number of rings, the number of cables, and the force application and force receiving conditions between each ring through the corresponding cables. It can be understood that the connection relationship between each ring and its corresponding cable can be preset. When determining the target topological structure, the cables for force application and force receiving and the rings for realizing force transmission are determined from the pre-connected cables.

[0046] S130. Execute the control of the cable according to the target topological structure.

[0047] The multi-cable control method provided by the embodiments of the present application obtains the first task and parses the output strategy of the first task. The target topology structure is obtained from the circular ring output mode and the cable output mode in the output strategy, and the control of the cable is executed according to the target topology structure. The target topology structure is a topology structure that runs through the entire finger and enables the finger to move flexibly through the interaction between the circular ring and the cable. Since the force interaction between the circular ring and the cable is relatively flexible, actions highly matching the corresponding first task, such as pinching, grasping, and hooking, can be constructed, thereby realizing flexible, precise, and efficient control of the finger.

[0048] In some embodiments, the cables connected to each circular ring include a force-applying end cable and a force-receiving end cable. The force-applying end cables are distributed at the first end of the circular ring, and the force-receiving end cables are respectively distributed at the second end of the circular ring.

[0049] Step S120 includes:

[0050] Determine the number of circular rings controlling the movement of the finger according to the circular ring output mode, and determine the target circular ring according to the number of circular rings.

[0051] Determine the target force-applying end cable and the target force-receiving end cable controlling the target circular ring according to the cable output mode.

[0052] Determine the target topology structure according to the target circular ring and the target force-applying end cable and the target force-receiving end cable of the target circular ring.

[0053] It can be understood that when there is only one circular ring, the number of circular rings is 1, and this circular ring is the target circular ring. However, there are multiple cables connected to this circular ring. For example, 2 force-applying end cables are connected to the first end of the circular ring, and 5 force-receiving end cables are connected to the second end of the circular ring. Determine the target cables from the force-applying end cables and the force-receiving end cables respectively according to the cable output mode, and then determine the target topology structure according to the target circular ring and the target force-applying end cable and the target force-receiving end cable of the target circular ring.

[0054] When there are multiple rings, for example, 3 rings are arranged in sequence along the direction of the finger, then if force transmission is to be achieved, all 3 rings need to be selected as target rings. Since each ring may be connected to multiple force-applying end cables and multiple force-receiving end cables, it is necessary to determine the target force-applying end cables and target force-receiving end cables of each target ring according to the cable output method, and finally the target topology structure is determined by the target ring and its target force-applying end cables and target force-receiving end cables. For another example: if 3 rings are arranged in a direction perpendicular to the direction of the finger, it may be necessary to determine only 1 ring, 2 rings, or 3 rings from the 3 rings as the target ring, and then determine the target force-applying end cables and target force-receiving end cables from the multiple force-applying end cables and multiple target force-receiving end cables of each target ring, and finally the target topology structure is determined by the target ring and its target force-applying end cables and target force-receiving end cables. The above examples are only for ease of understanding. In actual applications, in order to achieve flexible control of the fingers, multiple rings can be set along the finger direction and perpendicular to the finger direction respectively, and each ring is connected to multiple force-applying end cables and multiple target force-receiving end cables.

[0055] It is worth noting that the cables at the force-applying end of each ring are evenly or unevenly distributed at the first end of the corresponding ring, and the cables at the force-receiving end of each ring are evenly or unevenly distributed at the second end of the corresponding ring. Preferably, in some embodiments, to achieve balanced force application to each ring, the cables at the force-applying end of each ring are evenly distributed at the first end of the corresponding ring, and the cables at the force-receiving end of each ring are evenly distributed at the second end of the corresponding ring.

[0056] It's worth noting that the distribution of multiple rings has a sense of spatial hierarchy. The distribution of the rings can be determined by the number and shape of the force-bearing and force-applying channels. For example, within the channels of a robotic finger, they can be divided into multiple layers, each with multiple rings. The multiple rings between layers are separated and do not interfere with each other. The servo motor that controls the cables cannot control multiple layers of cables; it can only control one or more cables in the layer. Each layer can have multiple rings, which are interconnected in an even-numbered symmetrical shape. In a toy hand, there can be only one layer, and this layer can have multiple rings that are interconnected.

[0057] It is worth noting that the force-applying end of each ring can be the force generated by a servo motor. A servo motor can control the cables on a single ring or multiple rings. When the servo motor is not exerting force, the rings and the cables connecting the rings are in a state of equilibrium, which can also be called a relaxed state. In the balanced state, at least one cable connecting the rings does not generate force transmission, which means that at least one cable consumes very little or no energy. Ideally, in a relaxed state, all cables connecting the rings do not generate force transmission and all cables consume no energy.

[0058] It can be understood that if there are different layers in the finger, the cable connecting the rings in adjacent layers can be both the force - applying end cable and the force - receiving end cable at the same time. For example, the force - receiving end cable of the first ring in the input layer and the force - applying end cable of the second ring in the middle layer are the same cable.

[0059] In some embodiments, the number of force - applying end cables of each ring is greater than the number of force - receiving end cables, so as to better achieve the transmission of force.

[0060] In some embodiments, when there is no external force, each of the rings is kept in balance at a first position by some or all of the force - applying end cables and some or all of the force - receiving end cables connected thereto.

[0061] Step S130 includes:

[0062] When it is determined by the output strategy that there is an external variable force, control the target force - applying end cable to apply a first variable force to the corresponding target ring, and control the target ring to transmit a second variable force to the corresponding target force - receiving end cable, so that the target ring is kept in balance at a second position.

[0063] In this embodiment, each ring maintains a certain balance through the force - applying end cable and the force - receiving end cable both when there is no external force and when there is an external variable force. When there is no external force, there may be no force transmission between the rings, and it is only necessary to ensure that the rings do not interfere with each other in the finger. When there is an external variable force, the target force - applying end cable applies a first variable force to the corresponding target ring, and the target ring transmits a second variable force to the corresponding target force - receiving end cable, thereby realizing the transmission of force. It can be understood that the first position and the second position may be the same or different. In most cases, the second position is different from the first position. The first variable force and the second variable force may be the same or different. In some embodiments, the first variable force is greater than the second variable force, so that the force towards the fingertip is more balanced and reasonable.

[0064] It should be noted that if there are multiple layers in the finger, such as: input layer, middle layer, output layer, then the magnitudes of the first variable forces in each layer may be the same or different, and the second variable forces in each layer may be the same or different.

[0065] In some embodiments, the number of the first force - applying end cables for keeping each of the rings in balance is less than the number of the first force - receiving end cables for keeping each of the rings in balance.

[0066] It should be noted that the first force - applying end cable can be part or all of the force - applying end cables pre - connected to the respective rings, and the first force - receiving end cable can be part or all of the force - receiving end cables pre - connected to the respective rings. That is, when actually acting on the rings, not all the force - applying end cables and force - receiving end cables connected to the respective rings are under the action of force. Of course, it can be understood that the first force - applying end cable can also refer to the target force - applying end cable corresponding to the aforementioned respective rings, and the first force - receiving end cable can also refer to the target force - receiving end cable corresponding to the aforementioned respective rings.

[0067] In some embodiments, elastic reels are integrated on each of the rings, and the elastic reels are used to provide a preset initial tension for the cables corresponding to each of the rings.

[0068] The elastic reels integrated on each ring can provide a preset initial tension for the corresponding cable. Through the elastic pre - tightening force, the automatic retraction of the redundant cable is realized, thereby avoiding the problem of mutual entanglement caused by cable slack, and also reducing the friction loss and space occupation of the cable. More specifically, in some embodiments, a first elastic reel is provided at the first end of each ring for providing an initial tension for the corresponding force - applying end cable, and a second elastic reel is provided at the second end of each ring for providing an initial tension for the corresponding force - receiving end cable. In some embodiments, the cable is made of UHMWPE (Ultra - High Molecular Weight Polyethylene), reducing deformation.

[0069] In some embodiments, corresponding pressure - point sensors are provided on each of the rings for detecting the real - time distributed pressure when each of the rings conducts force transmission, and the output strategy further includes the target distributed pressure corresponding to each of the rings.

[0070] After step S130, it further includes:

[0071] Obtain the distributed pressure detected by the piezoelectric sensors of each ring. If the distributed pressure is different from the corresponding target distributed pressure, update the target topological structure, and execute the control of the cable according to the updated target topological structure.

[0072] It can be understood that from the output strategy, the target distributed pressure corresponding to each ring in the presence of external variable forces can be obtained. For example, the target force - applying pressure and target force - receiving pressure of each ring. If the real - time distributed pressure detected by the piezoelectric sensors provided on each ring is different from the target distributed pressure of each ring, update the target topological structure until the real - time distributed pressure on each ring is the same as the target distributed pressure, so that the output force best fits the force distribution requirements when performing the first task.

[0073] In some embodiments, the finger includes an input layer, an intermediate layer, and an output layer. The input layer of the finger is provided with a spiral guide groove, and the cables of the first ring located in the input layer are arranged in the spiral guide groove; the output layer of the finger is provided with a V-shaped guide groove, and the force-receiving end cables of the third ring located in the output layer are embedded in the V-shaped guide groove; the second ring located in the intermediate layer of the finger is connected to the first ring and the third ring by a double fisherman's knot method of the cables.

[0074] This embodiment is a specific implementation of the distribution of each ring and its cables in different layers of the finger. The input layer of the finger can be understood as the end connected to the palm rest. The input layer is provided with a spiral guide groove, and the cables of the first ring are arranged in the spiral guide groove, which can avoid the cables from crossing and winding in the finger and improve the force transmission efficiency. It is worth noting that multiple spiral guide grooves can be provided in the input layer, and each spiral guide groove corresponds to a cable of the first ring, further avoiding the crossing and winding between the cables, improving the force transmission efficiency, reducing the path deviation, and enhancing the stability of multi-directional force transmission. There can also be multiple second rings in the intermediate layer of the finger. The adjacent second rings can maintain the balance of each second ring in a cross-cross manner through the cables, achieving the effects of multi-directional binding force and anti-lateral offset. The second rings are connected to the first ring and the third ring through cables, and the cables can be connected by a double fisherman's knot method when connecting the rings, so as to ensure the reliability of the connection between the rings. The output layer of the finger is provided with a V-shaped guide groove. The reason for the V-shaped guide groove is to match the shape of the fingertip. The force-receiving end cables of each third ring are embedded in the V-shaped guide groove, and the V-shaped groove is automatically locked after being tightened along the force direction, so as to maintain the reliability of the fingertip when the finger performs the first task.

[0075] In some embodiments, determining the number of rings that control the movement of the finger according to the ring output mode and determining the target rings according to the number of rings includes:

[0076] Determining the number of first rings in the input layer and determining the first target ring according to the number of first rings;

[0077] Determining the number of second rings in the intermediate layer and determining the second target ring according to the number of second rings;

[0078] Determining the number of third rings in the output layer and determining the third target ring according to the number of third rings.

[0079] When the finger has an input layer, an intermediate layer, and an output layer, when determining the number of rings, it is necessary to determine the number of rings in each layer and the target rings in each layer respectively, so as to lay the foundation for forming the final target topology.

[0080] In some embodiments, determining the target force - applying end cable and the target force - receiving end cable for controlling the target ring according to the cable output mode includes:

[0081] Determining the first target force - applying end cable of the first target ring, and the first target force - receiving end cable between the first target ring and the second target ring;

[0082] Determining the second target force - applying end cable of the second target ring, and the second target force - receiving end cable between the second target ring and the third target ring, where the second target force - applying end cable corresponds to the same cable as the first target force - receiving end cable;

[0083] Determining the third target force - applying end cable of the third target ring, and the third target force - receiving end cable applied by the third target ring to the V - shaped guide groove, where the third target force - applying end cable corresponds to the same cable as the second target force - receiving end cable.

[0084] When there are an input layer, an intermediate layer, and an output layer in the finger, when determining the target force - applying end cable and the target force - receiving end cable of the target ring for realizing force transmission, it is necessary to determine the target force - applying end cable and the target force - receiving end cable of the target ring in each layer to form the final target topology.

[0085] It can be understood that the first target ring can be part or all of the rings in the input layer, the first target force - applying end cable can be part or all of the force - applying end cables of the first target ring, the first target force - receiving end cable can be part or all of the force - receiving end cables of the first target ring, the second target ring can be part or all of the rings in the intermediate layer, the second target force - applying end cable can be part or all of the force - applying end cables of the second target ring, the second target force - receiving end cable can be part or all of the force - receiving end cables of the second target ring, the third target ring can be part or all of the rings in the output layer, the third target force - applying end cable can be part or all of the force - applying end cables of the third target ring, and the third target force - receiving end cable can be part or all of the force - receiving end cables of the third target ring.

[0086] In the multi - cable control method provided by the embodiments of the present application, the execution subject can be a multi - cable control device. In the embodiments of the present application, taking the multi - cable control device executing the multi - cable control method as an example, the multi - cable control device provided by the embodiments of the present application is described.

[0087] The embodiments of the present application further provide a multi - cable control device, including at least one ring, where the multi - cable is wound around the at least one ring, and the ring is connected to the cable. As Figure 5As shown in the figure, the multi-cable control device includes: a parsing module 210, configured to obtain and parse a first task to obtain an output policy, where the output policy at least includes a circular output mode and a cable output mode. A determination module 220, configured to determine a target topology for controlling the finger movement from the circular output mode and the cable output mode. A control module 230, configured to execute the control of the cable according to the target topology.

[0088] According to the multi-cable control device provided by the embodiment of the present application, by obtaining a first task and parsing the output policy of the first task, a target topology is obtained from the circular output mode and the cable output mode in the output policy, and the control of the cable is executed according to the target topology. The target topology is a topology that runs through the entire finger and enables the finger to move flexibly through the interaction between the circular ring and the cable. Since the force interaction between the circular ring and the cable is relatively flexible, an action highly matching the corresponding first task, such as pinching, grasping, hooking, etc., can be constructed, thereby realizing flexible, precise, and efficient control of the finger.

[0089] In some embodiments, the cables connected to each circular ring include a force-applying end cable and a force-receiving end cable. The force-applying end cables are distributed at the first end of the circular ring, and the force-receiving end cables are respectively distributed at the second end of the circular ring. The determination module 220 is further configured to determine the number of circular rings for controlling the finger movement from the circular output mode, and determine a target circular ring from the number of circular rings; determine a target force-applying end cable and a target force-receiving end cable for controlling the target circular ring from the cable output mode; and determine the target topology according to the target circular ring and the target force-applying end cable and the target force-receiving end cable of the target circular ring.

[0090] In some embodiments, when there is no external force acting on each circular ring, each circular ring is kept in balance at a first position by some or all of the force-applying end cables and some or all of the force-receiving end cables connected thereto. The control module 230 is further configured to, when it is determined from the output policy that there is an external variable force, control the target force-applying end cable to apply a first variable force to the corresponding target circular ring, and control the target circular ring to transfer a second variable force to the corresponding target force-receiving end cable, so that the target circular ring is kept in balance at a second position.

[0091] In some embodiments, the force-applying end cables are evenly distributed at the first end of the corresponding circular ring; the force-receiving end cables are evenly distributed at the second end of the corresponding circular ring. The number of the first force-applying end cables for keeping each circular ring in balance is less than the number of the first force-receiving end cables for keeping each circular ring in balance.

[0092] In some embodiments, a spiral guide groove is provided in the input layer of the finger, and the cable of the first ring located in the input layer is arranged in the spiral guide groove; a V-shaped guide groove is provided in the output layer of the finger, and the force-receiving end cable of the third ring located in the output layer is embedded in the V-shaped guide groove; the second ring located in the middle layer of the finger is connected to the first ring and the third ring by a double knot of the cable.

[0093] In some embodiments, the determining module 220 is further configured to determine the number of the first rings in the input layer and determine a first target ring based on the number of the first rings; determine the number of the second rings in the middle layer and determine a second target ring based on the number of the second rings; determine the number of the third rings in the output layer and determine a third target ring based on the number of the third rings.

[0094] In some embodiments, the determining module 220 is further configured to determine a first target force-applying end cable of the first target ring, and a first target force-receiving end cable between the first target ring and the second target ring; determine a second target force-applying end cable of the second target ring, and a second target force-receiving end cable between the second target ring and the third target ring, wherein the second target force-applying end cable corresponds to the same cable as the first target force-receiving end cable; determine a third target force-applying end cable of the third target ring, and a third target force-receiving end cable applied by the third target ring to the V-shaped guide groove, wherein the third target force-applying end cable corresponds to the same cable as the second target force-receiving end cable.

[0095] In some embodiments, an elastic reel is integrated on each of the rings, and the elastic reel is configured to provide a preset initial tension for the cable corresponding to each of the rings.

[0096] In some embodiments, a corresponding piezoelectric sensor is provided on each of the rings, configured to detect the real-time distributed pressure when each of the rings performs force transmission, and the output strategy further includes the target distributed pressure corresponding to each of the rings.

[0097] In some embodiments, the device further includes an updating module, configured to obtain the real-time distributed pressure detected by the piezoelectric sensors of each ring, and update the target topology structure if the real-time distributed pressure is different from the corresponding target distributed pressure, and execute the control of the cable according to the updated target topology structure.

[0098] The multi-cable control device in the embodiments of the present application can be an electronic device or a component in an electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal or other devices other than terminals. Exemplarily, the electronic device can be a mobile phone, a tablet computer, a laptop computer, a 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. It can also be a server, a Network Attached Storage (NAS), a personal computer (PC), a television (TV), a teller machine, or a self-service machine, etc. The embodiments of the present application do not make specific limitations.

[0099] The multi-cable control device in the embodiments of the present application can be a device with an operating system. The operating system can be the Microsoft (Windows) operating system, the Android operating system, the IOS operating system, or other possible operating systems. The embodiments of the present application do not make specific limitations.

[0100] The multi-cable control device provided in the embodiments of the present application can implement Figures 1 to 4 each process implemented by the method embodiments. To avoid repetition, it will not be elaborated here.

[0101] In some embodiments, as Figure 6 shown, the embodiments of the present application further provide an electronic device 800, including a processor 801, a memory 802, and a computer program stored on the memory 802 and executable on the processor 801. When the program is executed by the processor 801, it implements each process of the above-mentioned multi-cable control method embodiments and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0102] It should be noted that the electronic devices in the embodiments of the present application include the above-mentioned mobile electronic devices and non-mobile electronic devices.

[0103] The embodiments of the present application further provide a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements each process of the above-mentioned multi-cable control method embodiment and can achieve the same technical effect. To avoid repetition, it will not be elaborated here.

[0104] Among them, 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.

[0105] The embodiments of the present application further provide a computer program product, including a computer program. When the computer program is executed by a processor, it implements the above-mentioned multi-cable control method.

[0106] Among them, 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.

[0107] The embodiments of the present application further provide a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement each process of the above-mentioned multi-cable control method embodiment and can achieve the same technical effect. To avoid repetition, it will not be elaborated here.

[0108] It should be understood that the chip mentioned in the embodiments of the present application can also be referred to as a system-on-chip, system chip, chip system or system-on-chip, etc.

[0109] It should be noted that in this article, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of another identical element in the process, method, article or device including the element. In addition, it should be pointed out that the methods and devices in the embodiments of the present application are not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in a reverse order according to the functions involved. For example, the described method may be performed in an order different from that described, and various steps may be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0110] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described embodiment methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the related 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 for causing a terminal (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of the present application.

[0111] The embodiments of the present application have been described above in conjunction with the accompanying drawings. However, the present application is not limited to the above specific implementation manners. The above specific implementation manners are merely illustrative and not restrictive. Under the inspiration of the present application, those of ordinary skill in the art can also make many forms without departing from the purpose of the present application and the scope protected by the claims, and all of them belong to the protection scope of the present application.

[0112] In the description of this specification, the description of reference 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 representation of the above terms does 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.

[0113] Although the embodiments of the present application have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and purposes of the present application. The scope of the present application is defined by the claims and their equivalents.

Claims

1. A multi-cable control method, characterized in that, It includes at least one circular ring, and the multi-cable is wound around the at least one circular ring, with the circular ring and the cable being interconnected. The method includes: Obtaining and parsing a first task to obtain an output strategy, where the output strategy at least includes a circular-ring output mode and a cable output mode; Determining the topological structure of the control target from the circular-ring output mode and the cable output mode; Executing the control of the cable according to the target topological structure.

2. The method according to claim 1, wherein The cables connected to each circular ring include a force-applying end cable and a force-receiving end cable. The force-applying end cables are distributed at the first end of the circular ring, and the force-receiving end cables are respectively distributed at the second end of the circular ring; The determining the topological structure of the control target from the circular-ring output mode and the cable output mode includes: Determining the number of circular rings for the movement of the control target from the circular-ring output mode, and determining the target circular rings from the number of circular rings; Determining the target force-applying end cable and the target force-receiving end cable for controlling the target circular rings from the cable output mode; Determining the target topological structure according to the target circular rings and the target force-applying end cable and the target force-receiving end cable of the target circular rings.

3. The method according to claim 2, wherein In the case where there is no external force acting on each circular ring, each circular ring is kept in balance at a first position by some or all of the force-applying end cables and some or all of the force-receiving end cables connected thereto; The executing the control of the cable according to the target topological structure includes: When it is determined from the output strategy that there is an external variable force, controlling the target force-applying end cable to apply a first variable force to the corresponding target circular ring, and controlling the target circular ring to transfer a second variable force to the corresponding target force-receiving end cable, so that the target circular ring is kept in balance at a second position.

4. The method according to claim 3, wherein The force-applying end cables are evenly distributed at the first end of the corresponding circular ring; the force-receiving end cables are evenly distributed at the second end of the corresponding circular ring; The number of the first force-applying end cables for keeping each circular ring in balance is less than the number of the first force-receiving end cables for keeping each circular ring in balance.

5. The method according to any one of claims 1 to 4, characterized in that, The method is applicable to a robot. A spiral guide groove is provided in the input layer of the finger of the robot, and the cables of the first circular ring located in the input layer are arranged in the spiral guide groove; a V-shaped guide groove is provided in the output layer of the finger, and the force-receiving end cables of the third circular ring located in the output layer are embedded in the V-shaped guide groove; the second circular ring located in the middle layer of the finger is connected to the first circular ring and the third circular ring by a double overhand knot method of the cable.

6. The method according to claim 5, characterized in that, The determining the number of circular rings for controlling the movement of the finger from the circular-ring output mode, and determining the target circular rings from the number of circular rings includes: Determining the number of the first circular rings in the input layer and determining the first target circular rings from the number of the first circular rings; Determining the number of the second circular rings in the middle layer and determining the second target circular rings from the number of the second circular rings; Determining the number of the third circular rings in the output layer and determining the third target circular rings from the number of the third circular rings; The determining the target force-applying end cable and the target force-receiving end cable for controlling the target circular rings from the cable output mode includes: Determine the first target force - applying end cable of the first target ring, and the first target force - receiving end cable between the first target ring and the second target ring; Determine the second target force - applying end cable of the second target ring, and the second target force - receiving end cable between the second target ring and the third target ring, wherein the second target force - applying end cable is the same cable as the cable corresponding to the first target force - receiving end cable; Determine the third target force - applying end cable of the third target ring, and the third target force - receiving end cable applied by the third target ring to the V - shaped guide groove, wherein the third target force - applying end cable is the same cable as the cable corresponding to the second target force - receiving end cable.

7. The method according to claim 5, wherein An elastic reel is integrated on each of the rings, and the elastic reel is used to provide a preset initial tension for the cable corresponding to each ring.

8. The method according to any one of claims 1-4 and 7, characterized in that, A corresponding piezoelectric sensor is provided on each of the rings, which is used to detect the real - time distributed pressure when each ring conducts force transmission, and the output strategy further includes the target distributed pressure corresponding to each ring; After executing the control of the cable according to the target topology structure, it further includes: Obtain the real - time distributed pressure detected by the piezoelectric sensor of each ring. If the real - time distributed pressure is different from the corresponding target distributed pressure, update the target topology structure, and execute the control of the cable according to the updated target topology structure.

9. A multi-cable control device, characterized in that, It includes at least one ring, and the multi - cable is wound around the at least one ring, and the ring and the cable are connected to each other; the device includes: An analysis module, configured to obtain and analyze a first task to obtain an output strategy, where the output strategy at least includes a ring output mode and a cable output mode; A determination module, configured to determine the topological structure of the control target from the ring output mode and the cable output mode; A control module, configured to execute the control of the cable according to the target topological structure.

10. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the method according to any one of claims 1 - 8.

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