CN106965190A - Manipulator control system - Google Patents
Manipulator control system Download PDFInfo
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- CN106965190A CN106965190A CN201710147070.3A CN201710147070A CN106965190A CN 106965190 A CN106965190 A CN 106965190A CN 201710147070 A CN201710147070 A CN 201710147070A CN 106965190 A CN106965190 A CN 106965190A
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- 238000012545 processing Methods 0.000 claims abstract description 65
- 230000033001 locomotion Effects 0.000 claims abstract description 27
- 230000006698 induction Effects 0.000 claims abstract description 11
- 230000000052 comparative effect Effects 0.000 claims description 27
- 230000005611 electricity Effects 0.000 claims description 17
- 230000009471 action Effects 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 10
- 238000006243 chemical reaction Methods 0.000 claims description 7
- 238000001914 filtration Methods 0.000 claims description 3
- 238000010521 absorption reaction Methods 0.000 claims description 2
- 230000005057 finger movement Effects 0.000 abstract description 5
- 210000003811 finger Anatomy 0.000 description 86
- 210000003414 extremity Anatomy 0.000 description 10
- 230000007246 mechanism Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 210000003205 muscle Anatomy 0.000 description 5
- 210000003813 thumb Anatomy 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000003321 amplification Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
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- 238000007689 inspection Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 210000000746 body region Anatomy 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 235000013372 meat Nutrition 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 210000003314 quadriceps muscle Anatomy 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- Automation & Control Theory (AREA)
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- Manipulator (AREA)
Abstract
The present invention provides a kind of manipulator control system, and it includes：Sensor, central processing module, motor, electric-motor drive unit, finger mode switching switch and power supply, the induction end of sensor are connected on human body limb, the electromyographic signal produced when carrying out finger motion for detecting human body limb position；Finger mode controlling switch is used to input the mode switching signal for switching default finger mode to central processing module；Central processing module, for the electromyographic signal and mode switching signal detected according to sensor, motor control signal is sent to electric-motor drive unit；Electric-motor drive unit is used to be operated according to motor control signal motor；The physical button of finger mode switching switch is arranged on the outer surface of manipulator.The embodiment of the present invention can control the electromyographic signal control machinery hand transmitted during finger movement to act according to human body, realize the Automated condtrol of manipulator behavior, be easy to that manipulator is carried out to use operation.
Description
Technical field
The present invention relates to mechano-electronic field, more particularly to a kind of manipulator control system.
Background technology
Today's society occurs needing individuals with disabilities due to reasons such as various accidents, natural calamity and diseases, wherein, permitted
Many individuals with disabilities are the situations for losing single armed or both arms, and arm has important effect in daily life, if without hand
Arm, almost daily life can not take care of oneself.In the prior art, although occur in that many artificial limb arms, but these artificial limb arms
It is merely capable of playing simple effect, mainly plays effect attractive in appearance in other words, and really can not be applied in life.
The content of the invention
The present invention provides a kind of manipulator control system, manual come control machinery by the muscle movement of human body to realize
Make.
To achieve these goals, the invention provides a kind of manipulator control system, including：At least one sensor,
Central processing module, multiple motor, each motors for driving finger motion correspond to electric-motor drive unit, a finger respectively
Mode selector switch, the power supply for being powered to the control system, wherein, the induction end of the sensor is connected to human body limb
On body, the sensor is electrically connected with the first input end of the central processing module, the output end of the central processing module
Electrically connected with the input of the electric-motor drive unit, the output end of the electric-motor drive unit and the input electricity of the motor
Connection；The sensor, the electromyographic signal produced when carrying out finger motion for detecting human body limb position；The finger
Mode control switch is electrically connected with the 3rd input of the central processing module, is used for being inputted to the central processing module
In the mode switching signal for switching default finger mode；The central processing module, for being detected according to the sensor
Electromyographic signal and the mode switching signal, send motor control signal to the electric-motor drive unit；The motor driving
Unit, for driving the motor to operate according to the motor control signal；The physical button of the finger mode switching switch
It is arranged on the outer surface of the manipulator.
The manipulator control system that the present invention is provided, the flesh for controlling to be transmitted during finger movement by sensor for human detection
Electric signal, sends motor control to electric-motor drive unit from the electromyographic signal that central processing module is detected according to sensor and believes
Number, and then operated by electric-motor drive unit according to motor control signal motor.The embodiment of the present invention can be according to human body control
The electromyographic signal control machinery hand action transmitted during finger movement processed, realizes the Automated condtrol of manipulator behavior, is easy to pair
Manipulator carries out using operation.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of specification, and in order to allow above and other objects of the present invention, feature and advantage can
Become apparent, below especially exemplified by the embodiment of the present invention.
Brief description of the drawings
The structural representation for the manipulator control system that Fig. 1 is provided by the embodiment of the present invention one.
One of structural representation of manipulator control system that Fig. 2 is provided by the embodiment of the present invention two.
The two of the structural representation for the manipulator control system that Fig. 3 is provided by the embodiment of the present invention two.
The use state schematic diagram for the manipulator control system that Fig. 4 is provided by the embodiment of the present invention three.
The structural representation for the manipulator control system that Fig. 5 is provided by the embodiment of the present invention four.
The use state schematic diagram for the manipulator control system that Fig. 6 is provided by the embodiment of the present invention four.
Embodiment
The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although showing the disclosure in accompanying drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
Limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
Complete conveys to those skilled in the art.
The manipulator control system of the embodiment of the present invention is described in detail below in conjunction with the accompanying drawings.
Embodiment one
As shown in figure 1, the structural representation for the manipulator control system that Fig. 1 is provided by the embodiment of the present invention one.This hair
The manipulator control system of bright embodiment includes：At least one sensor, central processing module, the electricity for driving finger motion
Mechanical, electrical machine driver element and the power supply for being powered to control system, wherein, the induction end of sensor is connected to human body limb
On, sensor is electrically connected with the first input end of central processing module, the output end and electric-motor drive unit of central processing module
Input electrical connection, the output end of electric-motor drive unit electrically connects with the input of motor；Sensor, for detecting human body limb
The body region electromyographic signal produced when carrying out finger motion；Central processing module, for the flesh detected according to sensor
Electric signal sends motor control signal to electric-motor drive unit；Electric-motor drive unit, for driving electricity according to motor control signal
Machine is operated.
The output end of above-mentioned central processing module can be GPIOA (universal input/output) access port, above-mentioned centre
Sorting unit access port can be converted for A/D (analog/digital) by managing the first input end of module.In addition, motor can be miniature
Direct current generator.
The sensor can be electromyographic signal sensor.Human body limb position counted on one's fingers and opened up refer to motion when,
Corresponding change can occur respectively for the electromyographic signal at human body limb position, and occurring respective change using electromyographic signal, this is special
Property, the induction end of sensor can be connected on human body limb, pass through the electromyographic signal of sensor for human detection's body part
Change, obtain the action wish at human body limb position.Wherein, human body limb can be human arm, for example, the sense of sensor
The introflexion muscle group position of the biceps position that can be connected to correspondence human arm or correspondence human arm should be held.Need explanation
, human body limb can also be human leg, for example, the induction end of sensor can be connected to the musculus vastus lateralis of correspondence leg
Position or correspondence leg tibialis anterior position, that is to say, that can also by other positions of human body come control machinery hand,
It is not limited to the muscle of arm segment.
The mechanical structure that above-mentioned control system is controlled is described below, the main actions of manipulator are to count on one's fingers and open up
Refer to, count on one's fingers and open up the main power source referred to and both be from above-mentioned motor, specifically, can be by as a kind of optional mechanical structure
The overall construction design of mechanical structure is：Motor output shaft drives the input shaft operating of decelerator, is slowed down by decelerator, slowed down
The output shaft of device is by transmission mechanism, to drive finger to be counted on one's fingers or open up the motion referred to, wherein it is possible to be directed to each finger
A special motor is equipped with, all fingers can also be driven by certain motor, it is in actual applications, more excellent
Selection of land, each finger is equipped with a motor, and each motor passes through multiple only equipped with an electric-motor drive unit, central processing module
Vertical GPIOA access ports control each electric-motor drive unit.Count on one's fingers and open up the motion referred to, the mainly rotating forward by controlled motor
Realized with reversion.Wherein, the transmission mechanism between the output shaft and finger structure of decelerator can using turbine and worm or
The structure of slide bolt nut, such structure has certain auto-lock function in itself, i.e., after motor stops power output, hand
Finger can maintain current posture, so as to realize the grasping to object.
Manipulator control system provided in an embodiment of the present invention, controls to be passed during finger movement by sensor for human detection
The electromyographic signal sent, the electromyographic signal detected according to sensor from central processing module sends motor control to electric-motor drive unit
Signal processed, and then operated by electric-motor drive unit according to motor control signal motor.The embodiment of the present invention can be according to people
Body controls the electromyographic signal control machinery hand action transmitted during finger movement, realizes the Automated condtrol of manipulator behavior, just
In to manipulator carry out use operation.
Embodiment two
As shown in Figures 2 and 3, Fig. 2 is embodiment two with respect to the increased element of institute of embodiment one and part in embodiment one
The principle schematic of unit connection, Fig. 3 is the structural representation of the control system of one finger of prosthetic hand.The present embodiment is with implementing
The difference of example one is that the manipulator control system of the present embodiment can also include being used to detect electric current in motor driving loop
It is worth detecting element, a certain degree of feedback control can be realized by such detecting element.
In actual applications, in the case of no feedback control, manipulator fully relies on the electromyographic signal of human arm
Control is acted accordingly, when crawl object, it is necessary to the crawl dynamics of manipulator user voluntarily anticipation manipulator, easily
Generation dynamics crosses senior general's object and grabs bad, or dynamics is too small causes object to slide in the robot.
In order to prevent the above-described problem from occurring, the embodiment of the present invention has made further improvement on the basis of embodiment one,
The manipulator control system of the present embodiment can also include detecting element, the input of motor and the output end of electric-motor drive unit
And the input of detecting element is electrically connected, the output end of detecting element is electrically connected with the second input of central processing module；
Detecting element, the current value for detecting input end of motor；Central processing module, for the electric current detected according to detecting element
Value and electromyographic signal, motor control signal is sent to electric-motor drive unit.Wherein, the 3rd input of premise central processing module
End can convert sorting unit access port for A/D.
Detecting element mentioned here is used for the current value for detecting input end of motor, refers to, in actual applications, motor exists
Under "on" position, when motor captures object from normal rotation state to manipulator and causes motor load state, the output of motor
Moment of torsion gradually increases, and the rotating speed of motor is gradually reduced, and the electric current of motor output end gradually increases.In order that the normal work of manipulator
Make, the output torque scope (maximum torque can be limited) of motor can be selected according to actual conditions, electricity is used as
Machine runs well and motor load operates and leveled off to the boundary stopped operating.It can be changed by changing the motor of high pulling torque
The torque range of motor, the output torque of motor and the electric current of input end of motor are directly proportional, and choose the critical torque model of motor
After enclosing, the critical current scope of input end of motor according to the relation being directly proportional between electric current and moment of torsion, can be calculated, can be with
A value is chosen in the range of the critical current calculated as pre-set current value.Motor output end is detected by detecting element
Current value, the current value detected and pre-set current value are compared, comparative result is drawn, electricity is sent to electric-motor drive unit
Machine control signal.
Above-mentioned detecting element can be current measuring element.Wherein, detecting element can be arranged on electric-motor drive unit
It is internal, naturally it is also possible to separately as a detection unit.
Above-mentioned central processing module can include：Default electricity is provided with control unit and comparing unit, comparing unit
Flow valuve, comparing unit is used to compare the current value of input end of motor with the pre-set current value set in comparing unit, and will
Comparative result is sent to control unit, and control unit is used for the comparison of the electromyographic signal and comparing unit detected according to sensor
As a result, motor control signal is sent to electric-motor drive unit.Wherein, the quantity of sensor can be with least two, wherein at least
One sensor is counted on one's fingers the first sensor of electromyographic signal for detection, and at least one sensor refers to the of electromyographic signal for detection exhibition
Two sensors.The quantity of sensor in the embodiment of the present invention is preferably two, the two sensors one of them be arranged on it is in the wrong
Electromyographic signal more muscle sites are produced when finger is acted, another is arranged on when exhibition refers to motion and produces the more portion of electromyographic signal
Position, due to different disabled person may the position blocked of arm be different, therefore, the position of actual setting sensor can be because
People and it is different, user can be allowed to first attempt to count on one's fingers and exhibition refers to motion, which part flesh once is then tested by detecting instrument
The electromyographic signal that meat is produced is more, and sensor is then set again.As a kind of easy mode, user can be allowed to feel to exist
Count on one's fingers and during exhibition refers to, then sensor is arranged at the position dynamic by which part muscle, afterwards, can be in peace
Fill after manipulator, can be adjusted according to the service condition of manipulator.In actual use, first can typically be passed
Sensor is connected on the outside of the biceps position of correspondence arm, and second sensor is connected on the inside of the biceps position of correspondence arm.
In addition, in robot manipulator structure, could be arranged to drive the finger of manipulator to carry out count on one's fingers motion, motor when motor is rotated forward
Drive the finger of manipulator to carry out exhibition when rotating backward and refer to motion, specific motor positive and inverse design can be tied according to specific machinery
Depending on structure.
It is mentioned here to be less than or equal to for the current value of input end of motor when detecting electromyographic signal and comparative result
In the case of pre-set current value, the motor control signal that being sent to electric-motor drive unit rotates motor includes：It is in the wrong when detecting
Refer in the case that electromyographic signal and comparative result be less than or equal to pre-set current value for the current value of input end of motor, to motor
Driver element sends the motor control signal for rotating forward motor；It is electricity when the exhibition of detecting refers to electromyographic signal and comparative result
In the case that the current value of machine input is less than or equal to pre-set current value, being sent to electric-motor drive unit rotates backward motor
Motor control signal.
In addition, as shown in figure 3, the voltage of power supply can be 8V, can be by power supply switched circuit by the confession of power supply
Piezoelectric voltage is converted to 1.8V, 3.3V and 5V, and 1.8V and 3.3V supply voltage are passed through in central processing module, wherein, 1.8V
Supply voltage be used for be central processing module in control unit and comparing unit power；It can be set in central processing module
It is equipped with for making the A/D of the mutual phase inversion of analog signal and both data signals convert sorting unit, 3.3V supply voltage is for being
A/D conversion sorting units in central processing module are powered；5V supply voltage is used to power for electric-motor drive unit.
In addition, above-mentioned central processing module can also include being provided with display unit, the back of the hand of manipulator being used for
The mounting hole of display unit is installed, display unit is arranged on manipulator the back of the hand by mounting hole, and display unit can be provided with
Display screen, display screen exposes manipulator the back of the hand at mounting hole.Comparing unit can be calculated based on the galvanometer of input end of motor
The moment of torsion of current motor.Display unit can be electrically connected with comparing unit, and the motor that display unit calculates comparing unit is defeated
Go out moment of torsion and be shown to manipulator user.The motor output torque that manipulator user can show according to display unit, with reference to
Actually the bearing of object outer wall to be captured carries power, stops sending to arm nerve by human brain control and counts on one's fingers wish.
Each part in above-mentioned central processing module, can be made up of single chip, can by part or
The whole unit of person is completed by the microprocessor of plug-in, for example, the microprocessor such as single-chip microcomputer, DSP.
A kind of optional mode of structure is constituted as above-mentioned central processing module, can also be by above-mentioned central processing module
Realized by integrated circuits such as FPGA.
In order to prevent other signals from being interfered to the human body electromyographic signal detected, the machinery of the embodiment of the present invention is manual
System processed can also include differential amplifier circuit and filter circuit is electrically connected, and the output end of sensor can be with differential amplification electricity
The input electrical connection on road, the output end of differential amplifier circuit can be electrically connected with the input of filter circuit, filter circuit
Output end can be electrically connected with the first input end of central processing module；Differential amplifier circuit, for detecting sensor
Electromyographic signal amplification；Filter circuit, for filtering the alternating component in electromyographic signal.
To be adapted the control signal of central processing module and electric-motor drive unit therebetween, central processing module
It can be electrically connected between output end and the input of electric-motor drive unit by level-conversion circuit, level-conversion circuit is used for
The motor control signal of the output end of central processing module is converted into the motor control signal being adapted with electric-motor drive unit,
For example, central processing module output is 0-3.3V motor control signals, driver element can only be when motor control signal be 5V
Controlled motor is rotated, and is at this moment accomplished by level-conversion circuit and the motor control signal in the range of 0-3.3V is converted into 5V, so as to
The motor control signal that central processing module is sent is received in driver element.In addition, when motor is stopped suddenly by rotary state, inspection
The induction end for surveying element is changed into off-position from "on" position so that self induction electromotive force, self induction electromotive force are produced in detecting element
Generation can cause detecting element scaling loss.In order to prevent detecting element scaling loss, the output end and central processing module of detecting element
The second input between can be electrically connected by resistance-capacitance network circuit, resistance-capacitance network circuit here is also capacitance-resistance bleed off electricity
Road, resistance-capacitance network circuit, the self induction electromotive force produced when being disconnected for absorption detecting element circuitry prevents that detecting element from being burnt
Damage.
The manipulator control system of the embodiment of the present invention, the moment of torsion of motor is detected by detecting element, tripartite is realized in real time
The beneficial effect in face：In a first aspect, can rational output torque, save power supply electric energy；Second aspect, can prevent motor from turning round
When square is excessive, motor damage is caused, motor is effectively protected；The third aspect, the moment of torsion of rational controlled motor, prevents manipulator
Object is grabbed bad, and prevents manipulator when capturing object, object is skidded off in the robot, causes object to be broken.Manipulator
It is that different objects can be captured to one suitable frictional force of object when capturing object, therefore in actual use
In, suitable electric current preset value can be selected, the crawl of object and the release of object are carried out by the control of comparing unit.
Embodiment three
As shown in figure 4, the use state schematic diagram for the manipulator control system that Fig. 4 is provided by the embodiment of the present invention three.
Control principle to the manipulator control system of the embodiment of the present invention is described in detail the present embodiment.In Fig. 4, manipulator
Palm is internally provided with cavity, and central processing module, motor, electric-motor drive unit and power supply can be arranged on manipulator palm
Cavity in.
Manipulator grasps object and the order of release object under exhibition finger-like state：Count on one's fingers-hold with a firm grip object-release object
And open up refer to-stretch finger.Human body is acted as follows after the manipulator of the embodiment of the present invention is worn：
(1) count on one's fingers：Sensor detects human body and sends the electromyographic signal counted on one's fingers, and the sensor electromyographic signal that will count on one's fingers is sent to
Central processing module, central processing module sends motor control signal of counting on one's fingers according to electromyographic signal of counting on one's fingers to electric-motor drive unit,
Electric-motor drive unit receives controlled motor after motor control signal of counting on one's fingers and carries out forward rotating movements, i.e. manipulator progress counts on one's fingers dynamic
Make.At the same time, detecting element detects the current value of input end of motor, and detecting element transmits the current value of input end of motor
To comparing unit, comparing unit is by the current value of input end of motor compared with the preset range of the electric current set in comparing unit
Compared with, and comparative result is sent to control unit, when detect electromyographic signal and comparative result be input end of motor electric current
Value be less than or equal to pre-set current value, sent to electric-motor drive unit make motor rotate forward motor control signal, motor continue into
Row forward rotating movements, manipulator proceeds action of counting on one's fingers；
(2) hold with a firm grip object：When detect the current value of electromyographic signal and comparative result for input end of motor be more than it is default
Current value, comparing unit sends the motor control signal for leaving the motor off rotation, motor stalls to electric-motor drive unit.This
When manipulator held object, and certain pressure is applied with to the outer wall of object.Because manipulator is double by bolt and nut
Layer turns back transmission mechanism transmission, and screw-and-nut mechanism has auto-lock function.Therefore, in motor stalls, manipulator
The state of current object of holding with a firm grip can be parked in.
(3) discharge object and open up and refer to：Sensor detects human body and sends release object and open up the electromyographic signal referred to, sensor
Object will be discharged and the electromyographic signal referred to is opened up and send central processing module to, central processing module is according to release object and exhibition refers to flesh
Electric signal send release object to electric-motor drive unit and open up the motor control signal that refers to, electric-motor drive unit receives release
Object simultaneously opens up controlled motor progress return motion after the motor control signal referred to, i.e. manipulator progress exhibition action.At the same time, examine
The current value of element testing input end of motor is surveyed, detecting element sends the current value of input end of motor to comparing unit, compared
The preset range of electric current of the unit by the current value of input end of motor with being set in comparing unit is compared, and comparative result is sent out
Give control unit, when detect release object and open up the electromyographic signal that refers to and comparative result be input end of motor current value
Less than or equal to pre-set current value, being sent to electric-motor drive unit makes the motor control signal of motor reversal, and motor proceeds
Return motion, manipulator proceeds exhibition and refers to action.
(4) finger is stretched：When detect the current value of electromyographic signal and comparative result for input end of motor be more than it is default
Current value, comparing unit sends the motor control signal for leaving the motor off rotation, motor stalls to electric-motor drive unit.This
When manipulator finger be in straight configuration.Due to manipulator by bolt and nut bilayer turn back transmission mechanism be driven, spiral shell
Screw-and-nut mechanism has auto-lock function.Therefore, in motor stalls, manipulator, which can be parked in, currently stretches finger
State.
Example IV
As shown in figure 5, the present embodiment is on the basis of the various embodiments described above, finger mode switching switch is added.Specifically
In ground, the manipulator control system of the present embodiment, the quantity of motor is multiple, and correspondingly, electric-motor drive unit is also to be multiple, often
Individual motor corresponds to an electric-motor drive unit respectively.3rd input of finger mode controlling switch and central processing module is electrically connected
Connect, for inputting the mode switching signal for switching default finger mode to central processing module, finger mode switching is opened
The physical button of pass is arranged on the outer surface of manipulator, and user carries out the switching control of finger mode, phase by manual mode
Ying Di, electromyographic signal and mode switching signal that central processing module is detected according to sensor, sends to electric-motor drive unit
Motor control signal.Here mode switching signal can be with the signal of high level, low level or default impulse form
The no signal condition that one or more combination or finger mode switching switch are off (does not that is have
It can also be a kind of mode switching signal in itself to have signal input), in a word, in specific circuit realiration, it can distinguish not
Same mode switching signal.Finger mode switching switch is also not necessarily limited on and off two states, can be various states
Selection, just thinks that the gear of automobile is the same.In programming, it can use and specific finger mould is selected according to mode switching signal
The mode of formula, it would however also be possible to employ a currently used finger mode is recorded in central processing module, then in each manipulator
Refer to after mode selector switch, trigger the conversion of currently used finger mode.
Further, the action of finger is final or by motor-driven, therefore, and finger mode is main or specific motor
Pattern, the multiple finger modes that be formed of various combination and/or the torsion of each motor of the rotating speed of each motor can be included
Multiple finger modes that the various combination of square is formed, or each motor are turned on or off the combination of state, here institute
The unlatching said, which refers to that motor is in, can receive instruction drive signal and the state that can be operated in other words, and closes and refer to electricity
Machine is regardless of whether receiving instruction or drive signal will not operate.For example, can be by the way that the rotating speed of each motor be set
For difference, can counted on one's fingers or opened up refer to motion when, be presented different finger forms, and stopping being counted on one's fingers or
Exhibition refers to after motion, corresponding form can also be maintained, so that expanding finger uses function, to adapt to different application scenarios.
For another example by the way that the moment of torsion of each motor is set into difference, can also be realized when being grasped to object to different parts different
Grip, so that the use function of finger can be also expanded, to adapt to different application scenarios.For another example by setting each
The different of motor are turned on or off state, only allow indivedual finger motions, can equally realize different finger forms.
It in central processing module, specifically can in the following way realize, be provided with central processing module default
The mode control information of multiple finger modes, mode control information includes the rotating speed and/or moment of torsion of each motor, or each electricity
The state of closing and/or the startup of machine,
Electromyographic signal and mode switching signal that above-mentioned central processing module is detected according to sensor, drive to motor
Unit sends motor control signal and can specifically included：Central processing module first controls to believe according to mode switching signal selection mode
Breath, and the electromyographic signal and mode control information that are detected according to sensor send motor control signal to electric-motor drive unit.
Specifically, the physical button of finger mode controlling switch is arranged on the outer surface of manipulator, as shown in fig. 6, specifically
The wrist of manipulator can be arranged on, thus will not opponent refer to motion and impact.The above-mentioned physical button referred to can be by
Button form can also be the forms such as toggle switch, as long as it will be appreciated by those skilled in the art that being that by switch control
Physical arrangement belongs to the category of the physical button mentioned in the embodiment of the present invention.Specifically, as a general machinery
Hand, the quantity of motor is 5, and the action of 5 mechanical fingers of driving is corresponded to respectively.
In addition, in the realization of specific switching control, a variety of finger modes can also classify or perhaps divided
Group, finger mode switching switch is only to be switched in each classification, then aids in other control conditions to carry out again specific
Finger mode switching.For example, finger mode is divided into thumb, (finger beyond thumb, thumb can with general finger
To carry out permutation and combination with each finger respectively, such as including thumb and other four fingers linkages, and other three fingers linkages ...)
Linkage and each finger independently moving (five fingers for example being had altogether, altogether comprising finger mode in 5) this two class, then again by it
His control condition, is selected in specific category.Other conditions mentioned here can be, for example, carry out exhibition refers to action and arrived
At utmost (finger is fully deployed), finger motor is stopped due to reaching the limit of state motor (in conjunction with the embodiments in two
Detecting element), if in such a state, opening up the electromyographic signal referred to and being still continued above preset time, then trigger and once exist
Finger mode switching in specific category.
In addition, the finger mode switching switch of the present embodiment can be fused to the circuit modular structure of the various embodiments described above
Integrally it is operated.Specifically, with reference to the circuit modular structure of the various embodiments described above, above-mentioned inspection is included in manipulator control system
In the case of surveying element, as illustrated by embodiment two, the input of motor and the output end of electric-motor drive unit and detection
The input electrical connection of element, the output end of detecting element is electrically connected with the second input of central processing module, detecting element,
Current value for detecting input end of motor.
Under such circuit structure, central processing module is specifically for the current value, the myoelectricity that are detected according to detecting element
Signal and mode switching signal, motor control signal is sent to electric-motor drive unit.
Further, central processing module can include：Control unit, comparing unit and pattern select unit,
Pre-set current value is provided with comparing unit, comparing unit is used for the current value and comparing unit of input end of motor
The pre-set current value of middle setting is compared, and comparative result is sent into control unit,
Pattern selectes the mode control information that default multiple finger modes are provided with unit, and pattern, which selectes unit, to be used for
Control unit, mode control information are sent to according to mode switching signal selection mode control information, and by mode control information
Rotating speed and/or moment of torsion including each motor, or closing and/or the startup of each motor state,
Control unit is used for electromyographic signal, the comparative result and Schema control of comparing unit detected according to sensor
Information, motor control signal is sent to electric-motor drive unit.
Further, electromyographic signal and the comparative result of comparing unit and the Schema control letter detected according to sensor
Breath, sending motor control signal to electric-motor drive unit can include：
It is less than or equal to pre-set current value when detecting electromyographic signal and comparative result for the current value of input end of motor
In the case of, the motor control signal for rotating motor is sent to electric-motor drive unit according to mode control information；
When the situation for detecting the current value of electromyographic signal and comparative result for input end of motor and being more than pre-set current value
Under, the motor control signal for leaving the motor off rotation is sent to electric-motor drive unit.
Further, sensor at least two, wherein at least one sensor counts on one's fingers the of electromyographic signal for detection
One sensor, at least one sensor refers to the second sensor of electromyographic signal for detection exhibition, and finger is driven when motor is rotated forward
Progress is counted on one's fingers motion, is driven finger to carry out exhibition when motor is rotated backward and is referred to motion,
It is less than or equal to pre-set current value when detecting electromyographic signal and comparative result for the current value of input end of motor
In the case of, the motor control signal that being sent according to mode control information to electric-motor drive unit rotates motor includes：
It is less than or equal to default electricity when detecting count on one's fingers electromyographic signal and comparative result for the current value of input end of motor
In the case of flow valuve, the motor control signal for rotating forward motor is sent to electric-motor drive unit according to mode control information；
It is less than or equal to default electricity when the exhibition that detects refers to electromyographic signal and comparative result for the current value of input end of motor
In the case of flow valuve, being sent according to mode control information to electric-motor drive unit makes the counter-rotational motor control signal of motor.
One of ordinary skill in the art will appreciate that：Realizing all or part of step of above-mentioned each method embodiment can be referred to by program
Related hardware is made to complete.Foregoing program can be stored in a computer read/write memory medium.The program is being performed
When, the step of execution includes above-mentioned each method embodiment；And foregoing storage medium includes：ROM, RAM, magnetic disc or CD etc.
It is various can be with the medium of store program codes.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (10)
1. a kind of manipulator control system, it is characterised in that including：At least one sensor, central processing module, multiple it is used for
The motor of finger motion, each motor is driven to correspond to an electric-motor drive unit, finger mode switching switch respectively, for institute
The power supply that control system is powered is stated, wherein,
The induction end of the sensor is connected on human body limb, the first input of the sensor and the central processing module
End electrical connection, the output end of the central processing module is electrically connected with the input of the electric-motor drive unit, and the motor drives
The output end of moving cell is electrically connected with the input of the motor；
The sensor, the electromyographic signal produced when carrying out finger motion for detecting human body limb position；
The finger mode controlling switch is electrically connected with the 3rd input of the central processing module, for the centre
Reason module inputs the mode switching signal for switching default finger mode；
The central processing module, for the electromyographic signal detected according to the sensor and the mode switching signal, to
The electric-motor drive unit sends motor control signal；
The electric-motor drive unit, for driving the motor to operate according to the motor control signal；
The physical button of the finger mode switching switch is arranged on the outer surface of the manipulator.
2. manipulator control system according to claim 1, it is characterised in that the finger mode includes each described electricity
The multiple finger modes and/or the various combination of the moment of torsion of each motor that the various combination of the rotating speed of machine is formed are formed
Multiple finger modes, or each described motor is turned on or off the combination of state.
3. manipulator control system according to claim 1, it is characterised in that be provided with the central processing module pre-
If multiple finger modes mode control information, the rotating speed of the mode control information including each motor and/or torsion
Square, or closing and/or the startup of each motor state,
The electromyographic signal detected according to the sensor and the mode switching signal, send out to the electric-motor drive unit
Going out motor control signal includes：
The mode control information, and the electromyographic signal detected according to the sensor are selected according to the mode switching signal
With the mode control information motor control signal is sent to the electric-motor drive unit.
4. manipulator control system according to claim 1, it is characterised in that also including detecting element, the motor
Input is electrically connected with the output end of the electric-motor drive unit and the input of the detecting element, the detecting element
Output end is electrically connected with the second input of the central processing module；
The detecting element, the current value for detecting the input end of motor；
The central processing module, for the current value detected according to the detecting element, the electromyographic signal and described
Mode switching signal, motor control signal is sent to the electric-motor drive unit.
5. manipulator control system according to claim 4, it is characterised in that
The central processing module includes：Control unit, comparing unit and pattern select unit,
Be provided with pre-set current value in the comparing unit, the comparing unit be used for by the current value of the input end of motor with
The pre-set current value set in the comparing unit is compared, and comparative result is sent into described control unit,
The pattern selectes the mode control information that default multiple finger modes are provided with unit, and the pattern selectes unit
For being sent to the control list according to the mode switching signal selection mode control information, and by the mode control information
Member, the mode control information includes the rotating speed and/or moment of torsion of each motor, or each motor closing and/
Or the state started,
Described control unit be used for detected according to the sensor electromyographic signal, the comparative result of the comparing unit and
The mode control information, motor control signal is sent to the electric-motor drive unit.
6. manipulator control system according to claim 5, it is characterised in that the flesh detected according to the sensor
The comparative result and the mode control information of electric signal and the comparing unit, motor is sent to the electric-motor drive unit
Control signal includes：
When detect the current value of electromyographic signal and the comparative result for the input end of motor be less than or equal to it is described pre-
If in the case of current value, the electricity for rotating the motor is sent to the electric-motor drive unit according to the mode control information
Machine control signal；
It is more than the predetermined current when detecting electromyographic signal and the comparative result for the current value of the input end of motor
In the case of value, being sent to the electric-motor drive unit makes the motor control signal of the motor stalls.
7. manipulator control system according to claim 6, it is characterised in that the sensor at least two, wherein
At least one sensor is detects the first sensor for electromyographic signal of counting on one's fingers, and at least one sensor is that detection exhibition refers to electromyographic signal
Second sensor, the motor drives the finger to carry out motion of counting on one's fingers when rotating forward, the motor drives when rotating backward
The dynamic finger carries out exhibition and refers to motion,
It is described when detect electromyographic signal and the comparative result for the input end of motor current value less than or equal to institute
In the case of stating pre-set current value, being sent according to the mode control information to the electric-motor drive unit rotates the motor
Motor control signal include：
Described electromyographic signal is counted on one's fingers when detecting and the comparative result is less than or waited for the current value of the input end of motor
In the case of the pre-set current value, being sent according to the mode control information to the electric-motor drive unit makes the motor
The motor control signal rotated forward；
When detecting, the exhibition refers to electromyographic signal and the comparative result is less than or waited for the current value of the input end of motor
In the case of the pre-set current value, being sent according to the mode control information to the electric-motor drive unit makes the motor
Counter-rotational motor control signal.
8. manipulator control system according to claim 1, it is characterised in that
Also include differential amplifier circuit and filter circuit is electrically connected, the output end of the sensor and the differential amplifier circuit
Input electrical connection, the output end of the differential amplifier circuit electrically connects with the input of the filter circuit, the filtering
The output end of circuit is electrically connected with the first input end of the central processing module；
The differential amplifier circuit, for the electromyographic signal detected of the sensor to be amplified；
The filter circuit, for filtering the alternating component in the electromyographic signal.
9. manipulator control system according to claim 1, it is characterised in that
Pass through level-conversion circuit electricity between the input of the output end of the central processing module and the electric-motor drive unit
Connection, passes through resistance-capacitance network circuit electricity between the output end of the detecting element and the second input of the central processing module
Connection,
The level-conversion circuit, for by the motor control signal of the output end of the central processing module be converted into it is described
The motor control signal that electric-motor drive unit is adapted；
The resistance-capacitance network circuit, for the self induction electromotive force in absorption detecting element circuitry.
10. manipulator control system according to claim 1, it is characterised in that the quantity of the motor is 5, respectively
The action of correspondence 5 mechanical fingers of driving.
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| CN111761045A (en) * | 2019-04-01 | 2020-10-13 | 达详自动化股份有限公司 | Automatic casting detection method capable of detecting die breakage |
| CN112304967A (en) * | 2020-10-14 | 2021-02-02 | 华电电力科学研究院有限公司 | Method for automatic coloring and penetration detection in power station pipeline pre-inspection stage |
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| CN113199496A (en) * | 2021-04-09 | 2021-08-03 | 杭州胖力科技有限公司 | Bionic hand control device and method and electronic equipment |
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