CN116061824A

CN116061824A - Mechanical arm control method, device and equipment of vehicle-mounted screen and vehicle

Info

Publication number: CN116061824A
Application number: CN202210767362.8A
Authority: CN
Inventors: 王鹏瑞; 李猛
Original assignee: China Express Jiangsu Technology Co Ltd
Current assignee: China Express Jiangsu Technology Co Ltd
Priority date: 2021-11-01
Filing date: 2022-06-30
Publication date: 2023-05-05
Also published as: WO2024002276A1; WO2024002297A1; CN116061821A; CN116061168A; CN116061827A; CN116061820A; CN116061819A; CN116061826A; CN116061823A; WO2024002303A1; CN116061825A; CN116061828A; CN116061170A; CN116061167A; CN116061169A; CN116061822A; CN116061829A; WO2024002273A1

Abstract

The application provides a method, a device and equipment for controlling a mechanical arm of a vehicle-mounted screen and a vehicle, wherein the method for controlling the mechanical arm of the vehicle-mounted screen comprises the following steps: acquiring the position of a steering wheel under the condition that a vehicle-mounted screen needs to execute a target action; determining a target position of the vehicle-mounted screen according to the position of the steering wheel and the target action; and under the condition that the vehicle-mounted screen reaches the target position, controlling the mechanical arm to move so as to drive the vehicle-mounted screen to execute the target action. According to the mechanical arm control method of the vehicle-mounted screen, the vehicle-mounted screen can be adaptively adjusted along with the steering wheel, and therefore vehicle intelligence and user experience are improved.

Description

Mechanical arm control method, device and equipment of vehicle-mounted screen and vehicle

The present application claims priority from chinese patent office, application No. 202122647560. X, chinese patent application entitled "a screen adjustment mechanism and on-board center control screen", filed on 1, 11, 2021, the entire contents of which are incorporated herein by reference.

Technical Field

The application relates to the technical field of intelligent vehicles, in particular to a method, a device and equipment for controlling a mechanical arm of a vehicle-mounted screen and a vehicle.

Background

The vehicle-mounted screen of the vehicle is used as a highly integrated vehicle multimedia entertainment information center, and can meet various requirements of navigation, entertainment, daily things processing and the like. However, the functions of the vehicle-mounted screen in the related art are mainly realized by means of screen display and touch clicking, and the interaction functions with other vehicle-mounted components cannot be realized through actions of the vehicle-mounted screen, so that the use experience of a user needs to be improved.

Disclosure of Invention

The embodiment of the application provides a method, a device, equipment and a vehicle for controlling a mechanical arm of a vehicle-mounted screen, so as to solve the problems in the related art, and the technical scheme is as follows:

in a first aspect, an embodiment of the present application provides a method for controlling a mechanical arm of a vehicle-mounted screen, including:

acquiring the position of a steering wheel under the condition that a vehicle-mounted screen needs to execute a target action;

determining a target position of the vehicle-mounted screen according to the position of the steering wheel and the target action;

and under the condition that the vehicle-mounted screen reaches the target position, controlling the mechanical arm to move so as to drive the vehicle-mounted screen to execute the target action.

In a second aspect, an embodiment of the present application provides a mechanical arm control device of a vehicle-mounted screen, including:

the steering wheel position acquisition module is used for acquiring the position of the steering wheel under the condition that the vehicle-mounted screen needs to execute target actions;

The target position determining module is used for determining the target position of the vehicle-mounted screen according to the position of the steering wheel and the target action;

and the motion control module is used for controlling the mechanical arm to move under the condition that the vehicle-mounted screen reaches the target position so as to drive the vehicle-mounted screen to execute the target action.

In a third aspect, an embodiment of the present application provides an in-vehicle display device or a vehicle, including:

a mechanical arm control unit, configured to perform the mechanical arm control method of the vehicle-mounted screen according to any embodiment of the present application, or a mechanical arm control device including the vehicle-mounted screen according to any embodiment of the present application;

the mechanical arm is used for driving the vehicle-mounted screen to complete at least one target action;

and the vehicle-mounted screen is connected with the mechanical arm.

According to the mechanical arm control method of the vehicle-mounted screen, the vehicle-mounted screen can be adaptively adjusted along with the steering wheel, and therefore vehicle intelligence and user experience are improved.

The foregoing summary is for the purpose of the specification only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present application will become apparent by reference to the drawings and the following detailed description.

Drawings

In the drawings, the same reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily drawn to scale. It is appreciated that these drawings depict only some embodiments according to the disclosure and are not therefore to be considered limiting of its scope.

Fig. 1 shows a flowchart of a method for controlling a robotic arm of an in-vehicle screen according to an embodiment of the present application;

FIG. 2 shows a schematic diagram of an on-board screen motion coordinate system according to an embodiment of the present application;

FIG. 3 shows a block diagram of a vehicle control system according to an embodiment of the present application;

fig. 4 shows a flowchart of a method for controlling a robotic arm of an in-vehicle screen according to an embodiment of the present application;

FIG. 5 illustrates an example diagram of an application scenario according to an embodiment of the present application;

FIG. 6 shows an example diagram of an application according to an embodiment of the present application;

fig. 7 shows a block diagram of a robotic arm control device of an in-vehicle screen according to an embodiment of the present application;

FIG. 8 illustrates a block diagram of a target location determination module according to an embodiment of the present application;

fig. 9 shows a block diagram of a robotic arm control device of an in-vehicle screen according to an embodiment of the present application;

FIG. 10 shows a block diagram of an electronic device according to an embodiment of the present application;

FIG. 11 illustrates an overall schematic of a robotic arm according to an embodiment of the application;

FIG. 12 illustrates a rail schematic of a robotic arm of an embodiment of the present application;

FIG. 13 illustrates a schematic view of a rotation mechanism of a robotic arm according to an embodiment of the present application;

FIG. 14 is a schematic view of another embodiment of an installation of a linear motion unit of a robotic arm according to an embodiment of the present application;

fig. 15 shows a schematic diagram of a vehicle-mounted screen overturning action of a mechanical arm according to an embodiment of the application;

fig. 16 shows a schematic diagram of a vehicle-mounted screen translation action of a mechanical arm according to an embodiment of the present application;

fig. 17 shows a schematic diagram of a vehicle-mounted screen rotation action of a mechanical arm according to an embodiment of the present application;

fig. 18 illustrates a schematic diagram of a back-and-forth movement action of a vehicle-mounted screen of a robotic arm according to an embodiment of the present application;

fig. 19 shows a schematic diagram of the action of a rotating member of a mechanical arm according to an embodiment of the present application.

Detailed Description

Hereinafter, only certain exemplary embodiments are briefly described. As will be recognized by those of skill in the pertinent art, the described embodiments may be modified in various different ways without departing from the spirit or scope of the present application. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive.

Fig. 1 shows a flowchart of a method for controlling a robotic arm of an in-vehicle screen according to an embodiment of the present application. As shown in fig. 1, the method for controlling the mechanical arm of the vehicle-mounted screen includes:

step S101: acquiring the position of a steering wheel under the condition that a vehicle-mounted screen needs to execute a target action;

step S102: determining a target position of the vehicle-mounted screen according to the position of the steering wheel and the target action;

step S103: and under the condition that the vehicle-mounted screen reaches the target position, controlling the mechanical arm to move so as to drive the vehicle-mounted screen to execute the target action.

The vehicle-mounted screen may be any Display screen provided on the vehicle, such as a center control screen (Center Informative Display, CID, also called a center information Display), a secondary driving screen, a Head Up Display (HUD), a rear-row screen, and the like. Preferably, the vehicle-mounted screen of the present embodiment is a center control screen.

The vehicle-mounted screen can realize at least one action under the drive of the mechanical arm, and the action can be telescopic action along an X axis or a Y axis or a Z axis or rotary action along the X axis, the Y axis and the Z axis. Wherein, the X axis is the length direction of the vehicle, and the positive direction of the X axis points to the tail direction, the Y axis is the width direction of the vehicle, and the Z axis is the height direction of the vehicle, as shown in FIG. 2. Further, based on the actions, more refined actions of the vehicle-mounted screen, such as personification actions of nodding, shaking head, swinging and the like, can be realized.

The mechanical arm can adopt a multi-degree-of-freedom vehicle-mounted digital robot, and further drives the vehicle-mounted screen to complete actions under multiple degrees of freedom.

In one example, the target motion includes at least one of a telescoping motion of the in-vehicle screen along an X-axis, a rotating motion along the X-axis, a rotating motion along a Y-axis, and a rotating motion along a Z-axis.

It should be noted that, in the embodiment of the present application, the contents such as the electrical performance and the mechanical structure of the mechanical arm are not specifically limited, so long as the mechanical arm can be controlled to move according to the movement track, and then the vehicle-mounted screen is driven to move.

For example, the position of the steering wheel may include a telescoping position and/or a tilt position. The telescopic position is a coordinate of the steering wheel stretching along the X axis, and the inclined position is a coordinate of the steering wheel inclining along the X axis. The location of the on-vehicle screen may be characterized by screen coordinates, for example, with the three-axis coordinates of one or more keypoints on the on-vehicle screen as the location of the on-vehicle screen.

The position of the vehicle-mounted screen can be acquired through a gyroscope sensor of the vehicle-mounted screen, so that the anti-clamping success rate in the movement process of the mechanical arm can be improved; the stability of the vehicle-mounted screen in the motion process is ensured, and the shaking caused by the motion or the action of the screen is reduced; the capability of enabling the display screen of the vehicle-mounted screen to be always kept in the rotating process is enhanced.

According to the method, after a user starts the steering wheel self-adaptive adjustment mode, the position of the steering wheel is monitored, the target position of the vehicle-mounted screen is determined according to the position of the steering wheel under the condition that the vehicle-mounted screen needs to execute target actions, and after the vehicle-mounted screen reaches the target position, the mechanical arm is triggered to drive the vehicle-mounted screen to execute the target actions, so that the self-adaptive adjustment of the vehicle-mounted screen along with the steering wheel is completed, and vehicle intelligence and user experience are further improved.

In one example, the target position of the vehicle-mounted screen may be a position where the vehicle-mounted screen can avoid the steering wheel when the vehicle-mounted screen performs the target action, so as to ensure that the vehicle-mounted screen is adaptively adjusted along with the steering wheel in the moving process, so as to avoid interference between the vehicle-mounted screen and the steering wheel.

In yet another example, the target position of the on-board screen may also be a position where the on-board screen maintains consistency with the steering wheel when performing the target action, such as being coplanar and spaced a preset distance, so as to implement an adaptive adjustment scenario in which the on-board screen moves following the movement of the steering wheel. For example: the direction is clockwise rotated around the X-axis, and the vehicle-mounted screen is also clockwise rotated around the X-axis.

As shown in fig. 3, an embodiment of the present application provides a vehicle control system including a shadow zone controller (Infotainment Domain Control Module, IDCM), a body zone controller (Body Domain Control Module, BDCM), a vehicle screen, and a robot arm control unit (RAC).

The above control method may be performed by the RAC, i.e., the method in steps S101 to S103 is performed by the RAC.

Specifically, the BDCM is communicatively coupled to the steering wheel module to obtain the position of the steering wheel from the steering wheel module, including a telescoping position and/or a tilt position. The BDCM is in communication connection with the IDCM, and the IDCM is in communication connection with the RAC, so that the position of the steering wheel is sent to the RAC.

The gyroscope is included in the vehicle-mounted screen, so that the position of the vehicle-mounted screen can be acquired. The vehicle-mounted screen is in communication connection with the IDCM, the IDCM is in communication connection with the RAC, and the position of the vehicle-mounted screen is further sent to the RAC.

In step S103, controlling the movement of the mechanical arm may specifically include: and the RAC generates a control instruction for a servo motor (a mechanical arm actuator) according to the target position of the vehicle-mounted screen, and the servo motor drives the mechanical arm to move according to the control instruction so as to drive the vehicle-mounted screen to move.

For example, the actuator of the mechanical arm may be a drive motor. The number of the driving motors is four, and the driving motors can be servo motors. The four servo motors respectively drive the mechanical arm to extend along the X direction and rotate along the X, Y, Z axis.

In one embodiment, in step S102, determining the target position of the on-vehicle screen according to the position of the steering wheel and the target action may include:

Judging whether the vehicle-mounted screen interferes with the steering wheel under the condition of executing the target action according to the position of the steering wheel and the target action;

and when the judgment result shows that interference can occur, determining the target position of the vehicle-mounted screen according to the position of the steering wheel and the target action, wherein the target position is used for enabling the vehicle-mounted screen to avoid interference with the steering wheel when the vehicle-mounted screen executes the target action.

According to the position of the steering wheel and the target action to be executed by the vehicle-mounted screen, whether the vehicle-mounted screen interferes with the steering wheel when executing the target action can be judged. And under the condition that interference occurs in the judgment result, determining the target position of the vehicle-mounted screen, so that the vehicle-mounted screen is prevented from interfering with the steering wheel when the vehicle-mounted screen performs the action. Under the condition that interference does not occur as a result of judgment, the current position of the vehicle-mounted screen can be used as a target position, namely, the vehicle-mounted screen does not need to avoid a steering wheel when executing target actions.

That is, the RAC may collect the relative position information with the steering wheel, limit the motion range of the vehicle-mounted screen by calculating the safe distance between the vehicle-mounted screen and the steering wheel, and control and keep the distance between the vehicle-mounted screen and the steering wheel to be always equal to or greater than the above safe distance.

Based on the method, the vehicle-mounted screen can be adaptively adjusted along with the steering wheel in the movement process, so that the vehicle-mounted screen and the steering wheel are prevented from interfering.

It should be noted that, there is a certain mapping relationship between the position of the vehicle-mounted screen and the position of the mechanical arm, so the position of the vehicle-mounted screen may be replaced by the position of the mechanical arm, and the vehicle-mounted screen may be specifically configured according to actual needs, which is not limited in this embodiment.

In one embodiment, as shown in fig. 4, in step S102, determining the target position of the on-vehicle screen according to the position of the steering wheel and the target motion may include:

step S401: determining the coordinates of the steering wheel on the X axis according to the position of the steering wheel;

step S402: in the case that the target motion of the vehicle-mounted screen rotates along the X axis and the coordinate of the vehicle-mounted screen on the X axis is the same as the coordinate of the steering wheel on the X axis, the target position of the vehicle-mounted screen is determined according to the expansion and contraction amount of the vehicle-mounted screen on the X axis.

For example, as shown in fig. 5, when the steering wheel and the vehicle-mounted screen are located in the same X-direction distance region, the vehicle-mounted screen may strike the right hand of the driver when performing a rotation motion along the X-axis, and to avoid this, it is required that the RAC automatically determine whether there is interference, if there is an interference risk, when the control screen rotates, the vehicle-mounted screen will move a certain amount of expansion and contraction along the X-axis to interfere with the region and then rotate.

In one implementation manner, the control method of the embodiment of the present application may further include: under the condition that the steering wheel is detected to be in a moving state, controlling the mechanical arm to stop moving; and/or controlling the mechanical arm to stop moving under the condition that the collision of the vehicle is detected; and/or controlling the mechanical arm to stop moving under the condition that the current vehicle speed exceeds the vehicle speed threshold value.

That is, there are constraints on the movement of the robotic arm, i.e., the steering wheel is in motion and/or the vehicle is crashed and/or the vehicle speed exceeds a vehicle speed threshold. And when the existence of the limiting condition is detected, controlling the mechanical arm to stop moving, so that the use safety of the mechanical arm is improved.

It should be noted that, in the case that the current vehicle speed is detected to exceed the vehicle speed threshold, controlling the mechanical arm to stop moving may be understood as controlling the mechanical arm to stop adaptive adjustment, but allowing the user to manually fine-tune the position of the mechanical arm. The amplitude of the fine tuning may be set according to practical situations, and is not limited herein.

In the vehicle control system shown in fig. 3, the BDCM may detect whether the steering wheel is in a moving state through communication with the steering wheel module, and transmit the detection result to the RAC through the IDCM; detecting whether the vehicle collides or not by a vehicle collision detection module, and transmitting the detection result to the RAC through the BDCM and the IDCM; the vehicle speed is sent by a travel domain control module (Vehicle Domain Control Module, VDCM) to the RAC via the IDCM, which detects whether the current vehicle speed exceeds a vehicle speed threshold.

In one application example, as shown in fig. 6, after determining the target position of the vehicle-mounted screen according to the position of the steering wheel and the target action of the vehicle-mounted screen, the actuator of the control mechanical arm is adjusted based on proportional integral derivative (Proportional Integral Derivative, PID) to drive the vehicle-mounted screen to move toward the target position. During the movement, the actuator of the mechanical arm can feed back the position of the mechanical arm so that PID adjustment can be accurately performed.

Fig. 7 shows a robot arm control device of an on-vehicle screen according to an embodiment of the present application. As shown in fig. 7, the control device includes:

a steering wheel position obtaining module 701, configured to obtain a position of a steering wheel when the vehicle-mounted screen needs to perform a target action;

a target position determining module 702, configured to determine a target position of the vehicle-mounted screen according to a position of the steering wheel and a target action;

and the motion control module 703 is used for controlling the mechanical arm to move under the condition that the vehicle-mounted screen reaches the target position so as to drive the vehicle-mounted screen to execute the target action.

In one embodiment, as shown in fig. 8, the target location determination module 701 includes:

an interference determination unit 801, configured to determine, according to a position of a steering wheel and a target action, whether the vehicle-mounted screen will interfere with the steering wheel when the target action is performed;

The target position determining unit 802 is configured to determine, according to the position of the steering wheel and the target action, a target position of the vehicle-mounted screen when the determination result indicates that interference occurs, where the target position is used to prevent the vehicle-mounted screen from interfering with the steering wheel when the vehicle-mounted screen performs the target action.

In one embodiment, the target location determination module 701 is specifically configured to:

determining the coordinate of the steering wheel on an X axis according to the position of the steering wheel, wherein the X axis is the length direction of the vehicle;

in the case that the target motion of the vehicle-mounted screen rotates along the X axis and the coordinate of the vehicle-mounted screen on the X axis is the same as the coordinate of the steering wheel on the X axis, the target position of the vehicle-mounted screen is determined according to the expansion and contraction amount of the vehicle-mounted screen on the X axis.

In one embodiment, the position of the steering wheel includes coordinates that telescope and/or tilt along an X-axis, and the target motion includes at least one of a telescoping motion of the vehicle-mounted screen along the X-axis, a rotating motion along a Y-axis, and a rotating motion along a Z-axis, wherein the X-axis is a vehicle length direction, the Y-axis is a vehicle width direction, and the Z-axis is a vehicle height direction.

In one embodiment, as shown in fig. 9, the control device further includes:

A stop motion control module 901, configured to control the mechanical arm to stop moving when detecting that the steering wheel is in a motion state; and/or controlling the mechanical arm to stop moving under the condition that the collision of the vehicle is detected; and/or controlling the mechanical arm to stop moving under the condition that the current vehicle speed exceeds the vehicle speed threshold value.

The functions of each module in each apparatus of the embodiments of the present application may be referred to the corresponding descriptions in the methods of the foregoing embodiments, which are not repeated herein.

In the technical scheme of the disclosure, the acquisition, storage, application and the like of the related user personal information all conform to the regulations of related laws and regulations, and the public sequence is not violated.

Fig. 10 shows a block diagram of an electronic device according to an embodiment of the present application. As shown in fig. 10, the electronic device includes: memory 1001 and processor 1002, and instructions executable on processor 1002 are stored in memory 1001. The processor 1002 executes the instructions to implement the method for controlling the mechanical arm of the on-vehicle screen in the above embodiment. The number of memories 1001 and processors 1002 may be one or more. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the application described and/or claimed herein.

The electronic device may further include a communication interface 1003 for communicating with an external device for data interactive transmission. The various devices are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor 1002 may process instructions executing within the electronic device, including instructions stored in or on memory to display graphical information of a GUI on an external input/output device, such as a display device coupled to an interface. In other embodiments, multiple processors and/or multiple buses may be used, if desired, along with multiple memories and multiple memories. Also, multiple electronic devices may be connected, each providing a portion of the necessary operations (e.g., as a server array, a set of blade servers, or a multiprocessor system). The bus may be classified as an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in fig. 10, but not only one bus or one type of bus.

Alternatively, in a specific implementation, if the memory 1001, the processor 1002, and the communication interface 1003 are integrated on a single chip, the memory 1001, the processor 1002, and the communication interface 1003 may perform communication with each other through internal interfaces.

It should be appreciated that the processor may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processing, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or any conventional processor or the like. It is noted that the processor may be a processor supporting an advanced reduced instruction set machine (Advanced RISC Machines, ARM) architecture.

The present embodiment provides a computer-readable storage medium (such as the memory 1001 described above) storing computer instructions that when executed by a processor implement the method provided in the present embodiment.

Alternatively, the memory 1001 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, at least one application program required for functions; the storage data area may store data created according to the use of the electronic device, etc. In addition, memory 1001 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory 1001 optionally includes memory remotely located with respect to processor 1002, which may be connected to the electronic device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

A robot arm according to an embodiment of the present application is described below with reference to fig. 11 to 19. The robot arm can be used in the method or the apparatus or the electronics of the embodiments one to five.

As shown in fig. 11, an alternative embodiment of a robotic arm is shown, comprising: a multiple degree of freedom adjusting mechanism fixed on the back of the vehicle-mounted screen 3, and a plurality of telescopic units mounted on the multiple degree of freedom adjusting mechanism; the mechanical arm is used for driving the vehicle-mounted screen 3 to complete any one or more of the following four actions, wherein the four actions comprise: the vehicle-mounted screen translation action, the vehicle-mounted screen overturning action, the vehicle-mounted screen rotation action and the vehicle-mounted screen forward and backward movement action. Further, taking the state that the vehicle-mounted screen 3 is in a state that no action occurs as an initial state, when the vehicle-mounted screen 3 is in the initial state, an initial axis is arranged in the space, and the initial axis is perpendicular to the plane of the vehicle-mounted screen 3 in the initial state; the following specific explanation is given for the four actions described above: and (3) vehicle-mounted screen translation action: as shown in fig. 16, the front surface of the in-vehicle screen 3 is translated, and the front surface of the in-vehicle screen 3 is translated at an arbitrary angle in a plane perpendicular to the initial axis; and (3) turning over the vehicle-mounted screen: as shown in fig. 15, the front surface of the vehicle-mounted screen 3 is turned over, and an included angle exists between the front surface of the vehicle-mounted screen 3 and the initial axis after the turning over is completed; vehicle-mounted screen rotation action: as shown in fig. 17, the front surface of the in-vehicle screen 3 rotates around the initial axis or an axis parallel to the initial axis; the vehicle-mounted screen moves back and forth to act: as shown in fig. 18, the front surface of the in-vehicle screen 3 is moved in the front-rear direction, and the movement direction of the front surface of the in-vehicle screen 3 is set in parallel with the initial axis. In other words, the multiple telescopic units are used for driving the vehicle-mounted screen 3 to turn up, down, left and right, and the multiple freedom degree adjusting mechanism is used for driving the vehicle-mounted screen 3 to rotate and translate, wherein the up, down, left and right refer to the actions of tilting the vehicle-mounted screen 3 to the rear side at the upper part, tilting to the rear side at the lower part, tilting to the rear side at the left part and tilting to the rear side at the right part relative to the initial position when the vehicle-mounted screen 3 is in a vertical state facing to the user.

Further, as an optional embodiment, the vehicle-mounted central control screen adjusting mechanism related to the application may not be provided with the multi-degree-of-freedom adjusting mechanism, so that the vehicle-mounted screen 3 is directly connected with the plurality of telescopic units 10, and only the control screen can swing up, down, left and right according to the use requirement.

Further, as an optional embodiment, the vehicle-mounted central control screen adjusting mechanism related to the application may not be provided with the plurality of telescopic units, so that the vehicle-mounted screen 3 is directly connected with the multi-degree-of-freedom adjusting mechanism, and thus the self-rotation and translational sliding of the control screen are realized.

In another alternative embodiment, the motion of each telescoping unit is coupled to a multiple degree of freedom adjustment mechanism, and the drive end of each telescoping unit is coupled to a drive section.

Further, as an alternative embodiment, the driving portion is a center console of an interior of the vehicle.

Further, as an alternative embodiment, a corresponding control system is arranged in the center console, and the control system is used for controlling the telescopic actions of the telescopic units and the movement of the multi-degree-of-freedom adjusting mechanism.

Further, as an alternative embodiment, the telescopic unit may also be a bendable rod member having a ball structure, and the telescopic rod member is installed by interference extrusion with a side of the multiple degree of freedom adjusting mechanism away from the vehicle screen 3 through the ball. Further, the user can manually apply force to the vehicle-mounted screen 3, so that the multiple-degree-of-freedom adjusting mechanism is applied to the ball head structure as a force transmitting part, and after the ball head structure swings to a certain angle, enough friction force is generated between the ball head structure and the multiple-degree-of-freedom adjusting mechanism, so that the vehicle-mounted screen 3 keeps the current position.

Further, as an alternative embodiment, the moving end of each telescopic unit includes: the linear motion unit 11 and the multi-freedom-degree connector, one end of the linear motion unit 11 is connected with the multi-freedom-degree connector, and the multi-freedom-degree connector is arranged on the multi-freedom-degree adjusting mechanism.

Further, as an alternative embodiment, the multiple degree of freedom connector is a ball joint structure or a universal joint structure.

Further, as shown in fig. 12, as an alternative embodiment, the ball joint structure includes: the ball joint 12 is fixedly connected with the linear motion unit 11, each ball joint 12 is arranged in one ball socket slide block 13, and each ball socket slide block 13 is arranged on the multi-degree-of-freedom adjusting mechanism.

Further, as an alternative embodiment, each ball and socket slider 13 has a spherical recess thereon that mates with the spherical joint 12.

Further, as an alternative embodiment, the universal joint structure includes: the device comprises a first rotating part, a second rotating part and a hinge part connected with the first rotating part and the second rotating part, wherein one end of the first rotating part is fixedly connected with a telescopic unit, the other end of the first rotating part is connected with one end of the hinge part, the other end of the hinge part is rotatably connected with one end of the second rotating part, and the other end of the second rotating part is fixedly connected with a multi-degree-of-freedom adjusting mechanism.

Further, as an alternative embodiment, the linear motion unit 11 is an electric putter or a manual putter. Further, when the linear motion unit 11 is a manual push rod, the user can manually push the vehicle-mounted screen 3 to make the vehicle-mounted screen 3 perform a corresponding action; when the electric push rod of the mechanical arm is in a power-off state, the electric push rod should allow a user to drive the electric push rod to correspondingly stretch and retract in a manual mode so as to complete the action of the vehicle-mounted screen 3.

Further, as an alternative embodiment, the contact surfaces between the movable parts of the present mechanical arm such as the ball joint 12, the linear motion unit 11, the multi-degree-of-freedom adjusting mechanism, and the like, and the corresponding connection parts have a certain frictional resistance for maintaining the stability of the current posture during the vehicle form.

Further, as an alternative embodiment, a stress sensing portion is disposed in the electric putter or the vehicle-mounted screen 3, where the stress sensing portion is configured to obtain information of an external force applied to a corresponding position, and the stress sensing portion determines a target of the application of the force according to the information of the external force: when the force application target is a passenger, namely the passenger pushes the vehicle-mounted screen 3, the force sensing part analyzes the information of the external force into action information, and the mechanical arm performs corresponding action according to the action information so as to form power assistance in the process of pushing the vehicle-mounted screen by the passenger, so that the passenger can easily drive the vehicle-mounted screen 3 to complete corresponding action; when the force is applied to the vehicle, i.e. the vehicle encounters jolt or the passenger performs touch operation on the vehicle-mounted screen, the mechanical arm is not moved or drives the corresponding driving part to perform reverse driving so as to control the vehicle-mounted screen 3 to keep the current state.

Further, as an alternative embodiment, the method further includes: the vehicle collision detection system is arranged on a vehicle and is used for detecting running information of the vehicle in real time, and when the vehicle is about to happen or has crashed, the mechanical arm immediately drives the vehicle-mounted screen 3 to rapidly separate from passengers, so that the passengers are prevented from being crashed with the vehicle-mounted screen 3 under the action of inertia during the collision to cause injury.

Further, as an alternative embodiment, the linear motion unit 11 is an unpowered telescopic rod.

Further, as an alternative embodiment, the linear motion unit 11 is a hydraulic push rod.

Further, as an alternative embodiment, the method further includes: the guide rails 14 are arranged on the multi-degree-of-freedom adjusting mechanism, and each ball-and-socket sliding block 13 is slidably arranged on one guide rail 14.

The present application further has the following embodiments based on the above description:

in an alternative embodiment of the present application, the mechanical arm includes three telescopic units.

In an alternative embodiment of the present application, the number of the guide rail 14, the ball joint 12, the ball and socket slider 13 and the linear motion unit 11 is three.

In an alternative embodiment of the present application, three guide rails 14 are disposed at 120-degree angles apart. Further, the extension lines of the three guide rails 14 converge a little after intersecting, and the adjacent extension lines are spaced 120 degrees apart.

In an alternative embodiment of the present application, the multiple degree of freedom adjustment mechanism includes: a sliding mechanism 5 and a rotating mechanism 2, the rotating mechanism 2 is connected with the sliding mechanism 5, one of the rotating mechanism 2 and the sliding mechanism 5 is connected with the vehicle-mounted screen 3, and the other of the rotating mechanism 2 and the sliding mechanism 5 is connected with the telescopic unit.

As shown in fig. 13, in an alternative embodiment of the present application, the rotation mechanism 2 includes: the motor 21, the worm 22 and the turbine 23 are all installed on the supporting part, the motor 21 is connected with the worm 22, the worm 22 is in transmission connection with the turbine 23, the turbine 23 is in meshed connection with the turbine 24, and the turbine 24 is installed on the vehicle-mounted screen 3 or the sliding mechanism 5. Further, the support is connected with several telescopic units or with the sliding mechanism 5. The support portion has a shell structure, and the motor 21, the worm 22, the worm wheel 23 and the sector gear 24 are accommodated in the support portion. The outer edge of one end of the sector gear 24 protrudes radially outwards to form an arc-shaped part, an arc-shaped rack is arranged on the arc-shaped part, the tooth tip of the rack is radially inwards arranged, and the rack is in transmission connection with the turbine 23.

In an optional embodiment of the present application, further comprising: two rotation stoppers 25, the two rotation stoppers 25 are mounted on the supporting portion, and the two rotation stoppers 25 are respectively disposed against both ends of the sector gear 24.

In an alternative embodiment of the present application, the rotation mechanism 2 further includes: and a rotation shaft having one end fixedly mounted on the support portion and the other end rotatably mounted on the rear surface of the in-vehicle screen 3 or the slide mechanism 5 via a bearing or the like.

In an alternative embodiment of the present application, the sliding mechanism 5 includes: the sliding mechanism comprises a first sliding part, a second sliding part and a sliding driving device, wherein the first sliding part is slidably connected with the second sliding part, the sliding direction is perpendicular to the rotating shaft of the rotating mechanism 2, the sliding driving device is arranged between the first sliding part and the second sliding part, and the sliding driving device is used for driving the relative sliding between the first sliding part and the second sliding part.

In an optional embodiment of the present application, further comprising: and the visual sensor is arranged on the front surface of the vehicle-mounted screen 3, is used for detecting the position of eyes of a user and is connected with the control system. Further, the front surface of the in-vehicle screen 3 is set toward the driver as much as possible with the aid of the angle adjusting mechanism and the multiple degree of freedom adjusting mechanism by a visual sensor, which is an intelligent camera or a human body position sensor, and a control system. In another alternative embodiment, the visual sensing means comprises several visual sensors arranged on the front side of the on-board screen 3 and/or at any position of the cab of the vehicle. In a specific application of the vision sensing device, as a use method of the vision sensing device, the vision sensor is used for identifying specified gesture movements of passengers of a vehicle, and the mechanical arm controls the vehicle-mounted screen 3 to perform actions matched with the gesture movements according to the gesture movements obtained by the vision sensor. For example, the gesture controls the vehicle-mounted screen to move back and forth, or triggers the vehicle-mounted screen to face the user along with a certain application scene.

In an optional embodiment of the present application, further comprising: the mechanism controller is used for controlling the mechanical arm, the mechanism controller can be used for collecting information of passengers in the vehicle, the information comprises, but is not limited to, personal information such as height information, weight information or sex information of the corresponding passengers, the mechanism controller is also used for collecting posture information of seats of the corresponding members, and the mechanical arm or the seat posture adjusting mechanism is automatically controlled by processing the personal information of the passengers and the posture information of the seats so that the front face of the vehicle-mounted screen 3 faces the passengers.

The mechanism controller may be at least one of BDCM, IDCM, RAC, ADCM, VDCM.

In an optional embodiment of the present application, further comprising: the sound sensing device comprises a plurality of sound receivers which are arranged at the outer edge of the vehicle-mounted screen 3 or in the cab of the vehicle, and the sound sensing device is connected with the control system. Further, the position of the user speaking is detected by the sound sensing device, so that the orientation position of the in-vehicle screen 3 is adjusted.

As shown in fig. 14 and 19, in an alternative embodiment of the present application, unlike the above-mentioned technical solution that uses matching of the ball socket slider 13 and the sliding rail to adapt to the displacement of the end portion of the telescopic unit, the present application further provides another technical solution that provides the above-mentioned displacement, specifically as follows: the driving end of each telescopic unit is further provided with a rotating piece 4, each rotating piece 4 is installed on the driving part, and the moving end of each telescopic unit is rotatably connected with one rotating piece 4. I.e. the adaptive displacement that would otherwise occur on the guide rail 14 is transferred to the rotation of the telescopic unit itself to match the displacement of the spherical joint 12 of the telescopic unit.

In an alternative embodiment of the present application, for the above embodiment using the rotary member 4, the multi-degree of freedom connector of the telescopic unit is no longer connected to the guide rail 14, but is directly connected to the multi-degree of freedom adjustment mechanism.

In an alternative embodiment of the present application, the ball and socket slider 13 is directly fixed to the multiple degree of freedom adjustment mechanism, and the ball joint 12 is rotatably mounted to the ball and socket slider 13.

In an alternative embodiment of the present application, the rotary member 4 is rotatably connected to the middle portion of the linear motion unit 11.

In an alternative embodiment of the present application, the rotary member 4 is provided in a shaft-like structure.

In an alternative embodiment of the present application, the driving part is a shell structure, and the three rotating members 4 are fixedly mounted on the shell.

In an alternative embodiment of the present application, the axes of the three rotary members 4 intersect at 120 degree angular intervals.

The vehicle-mounted central control screen as an alternative embodiment comprises the vehicle-mounted screen 3 and any mechanical arm, namely the corresponding vehicle-mounted screen 3 is the central control screen, the central control screen is arranged at a console of a front cabin of a vehicle, and a plurality of telescopic units and a multi-degree-of-freedom adjusting mechanism jointly participate in driving the central control screen to finish translational motion of the vehicle-mounted screen 3, overturning motion of the vehicle-mounted screen 3, rotating motion of the vehicle-mounted screen 3 and forward and backward movement motion of the vehicle-mounted screen 3 in a narrow space in the vehicle. In addition to the above-mentioned examples of application scenarios, individual or combined implementations based on the above actions may also form the presentation of various other application scenarios, such as, for example, calling a user (driver or in-vehicle passenger) by flipping and/or rotating, a specific flip action under certain vehicle-to-vehicle interaction scenarios (exhibiting a rocking or tilting effect or a tilting effect), a specific flip action upon success of an over-the-air (OTA), a triggering of a certain vehicle-to-vehicle interaction scenario to a user (e.g., using a vehicle screen as a cosmetic mirror), triggering of a vehicle screen to move back and forth with a gesture or other action capture, triggering of a vehicle screen rotation with specific content or action capture, adjusting the amount of motion of each single action or combination of actions described above with speech, etc.

The embodiment of the application also provides a vehicle-mounted display device which can comprise the electronic device, the mechanical arm and the vehicle-mounted screen.

The embodiment of the application also provides a vehicle-mounted display device, which may include a mechanical arm control unit, and the mechanical arm and the vehicle-mounted screen of any embodiment of the application, where the mechanical arm control unit is configured to execute the control method of any embodiment of the application, or the mechanical arm control unit may include the control device of any embodiment of the application.

The embodiment of the application also provides a vehicle which can comprise the electronic equipment, the mechanical arm and the vehicle-mounted screen.

The embodiment of the application also provides a vehicle, which may include a mechanical arm control unit, and the mechanical arm and the vehicle-mounted screen of any embodiment of the application, where the mechanical arm control unit is configured to execute the control method of any embodiment of the application, or the mechanical arm control unit may include the control device of any embodiment of the application.

By way of example, the electronic device may be at least one of a body domain control module (Body Domain Control Module, BDCM), an infotainment domain control module (Infotainment Domain Control Module, IDCM), a travel domain control module (Vehicle Domain Control Module, VDCM), an autopilot domain control module (Automated-driving Domain Control Module, ADCM), a robotic arm control unit (Robotic Arm Controller, RAC).

The vehicle in the present embodiment may be exemplified by any power-driven vehicle such as a fuel vehicle, an electric vehicle, a solar vehicle, or the like. The vehicle in the present embodiment may be an autonomous vehicle, for example.

Other structures of the vehicle of the present embodiment, such as the specific structures of the frame and the wheels, the connection fastening members, etc., may be applied to various technical solutions that are known to those skilled in the art now and in the future, and will not be described in detail herein.

In the present embodiment, "car" may be called a vehicle, and "mechanical arm" may be called a screen adjustment mechanism, and "2/5" in the drawing indicates the rotation mechanism 2 and/or the slide mechanism 5.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

Any process or method description in a flowchart or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more (two or more) executable instructions for implementing specific logical functions or steps of the process. And the scope of the preferred embodiments of the present application includes additional implementations in which functions may be performed in a substantially simultaneous manner or in an opposite order from that shown or discussed, including in accordance with the functions that are involved.

Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions.

It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. All or part of the steps of the methods of the embodiments described above may be performed by a program that, when executed, comprises one or a combination of the steps of the method embodiments, instructs the associated hardware to perform the method.

In addition, each functional unit in each embodiment of the present application may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules described above, if implemented in the form of software functional modules and sold or used as a stand-alone product, may also be stored in a computer-readable storage medium. The storage medium may be a read-only memory, a magnetic or optical disk, or the like.

The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think of various changes or substitutions within the technical scope of the present application, and these should be covered in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. The mechanical arm control method of the vehicle-mounted screen is characterized by comprising the following steps of:

2. The control method according to claim 1, characterized in that determining a target position of the in-vehicle screen according to the position of the steering wheel and the target action includes:

judging whether the vehicle-mounted screen interferes with the steering wheel or not under the condition of executing the target action according to the position of the steering wheel and the target action;

And under the condition that interference occurs as a result of judgment, determining a target position of the vehicle-mounted screen according to the position of the steering wheel and the target action, wherein the target position is used for enabling the vehicle-mounted screen to avoid interference with the steering wheel under the condition that the target action is executed.

3. The control method according to claim 1, characterized in that determining a target position of the in-vehicle screen according to the position of the steering wheel and the target action includes:

and under the condition that the target action of the vehicle-mounted screen rotates along the X axis and the coordinate of the vehicle-mounted screen on the X axis is the same as the coordinate of the steering wheel on the X axis, determining the target position of the vehicle-mounted screen according to the expansion and contraction amount of the vehicle-mounted screen on the X axis.

4. A control method according to any one of claims 1 to 3, wherein the position of the steering wheel includes coordinates of telescoping and/or tilting along an X-axis, and the target motion includes at least one of telescoping motion of the in-vehicle screen along the X-axis, rotating motion along a Y-axis, and rotating motion along a Z-axis, wherein the X-axis is a vehicle length direction, the Y-axis is a vehicle width direction, and the Z-axis is a vehicle height direction.

5. A control method according to any one of claims 1 to 3, characterized by further comprising:

controlling the mechanical arm to stop moving under the condition that the steering wheel is detected to be in a moving state; and/or the number of the groups of groups,

controlling the mechanical arm to stop moving under the condition that the collision of the vehicle is detected; and/or the number of the groups of groups,

and controlling the mechanical arm to stop moving under the condition that the current vehicle speed exceeds the vehicle speed threshold value.

6. An on-vehicle screen's arm controlling means, characterized by comprising:

7. The control device of claim 6, wherein the target position determination module comprises:

an interference determination unit configured to determine, according to a position of the steering wheel and the target action, whether the vehicle-mounted screen will interfere with the steering wheel when the target action is performed;

And the target position determining unit is used for determining the target position of the vehicle-mounted screen according to the position of the steering wheel and the target action when the judgment result shows that interference can occur, wherein the target position is used for enabling the vehicle-mounted screen to avoid interference with the steering wheel when the target action is executed.

8. The control device of claim 6, wherein the target position determination module is specifically configured to:

9. The control device according to any one of claims 6 to 8, wherein the position of the steering wheel includes coordinates that telescope and/or tilt along an X-axis, and the target motion includes at least one of a telescopic motion of the in-vehicle screen along the X-axis, a rotational motion along a Y-axis, and a rotational motion along a Z-axis, wherein the X-axis is a vehicle length direction, the Y-axis is a vehicle width direction, and the Z-axis is a vehicle height direction.

10. The control device according to any one of claims 6 to 8, characterized by further comprising:

the motion stopping control module is used for controlling the mechanical arm to stop moving under the condition that the steering wheel is detected to be in a motion state; and/or controlling the mechanical arm to stop moving under the condition that the collision of the vehicle is detected; and/or controlling the mechanical arm to stop moving under the condition that the current vehicle speed exceeds the vehicle speed threshold value.

11. A vehicle-mounted display apparatus, characterized by comprising:

a robot arm control unit for performing the control method according to any one of claims 1 to 5, or comprising the control device according to any one of claims 6 to 10;

and the vehicle-mounted screen is connected with the mechanical arm.

12. A vehicle, characterized by comprising:

and the vehicle-mounted screen is connected with the mechanical arm.