CN116766211B - Bionic flashlight control method, device, equipment and storage medium - Google Patents
Bionic flashlight control method, device, equipment and storage medium Download PDFInfo
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Abstract
The invention relates to the technical field of bionic hands, in particular to a bionic electric torch control method, a bionic electric torch control device, bionic electric torch control equipment and a bionic electric torch storage medium. Because the larger the rotating speed of the motor at the starting moment is, the larger the power applied to the bionic hand by the motor at the starting moment is, the power is enough to damage the object to be grabbed by the bionic hand, so that before the motor is started, if the bionic hand is already contacted with the object, the bionic hand is extremely easy to damage the grabbed object at the starting moment of the motor. The safety critical rotating speed is just the rotating speed when the bionic hand is driven by the motor to grab the object and damage the object, and the starting rotating speed of the motor is controlled below the safety critical rotating speed, so that the phenomenon that the bionic hand damages the object when the motor is started can be avoided.
Description
Technical Field
The invention relates to the technical field of bionic hands, in particular to a bionic electric torch control method, a bionic electric torch control device, bionic electric torch control equipment and a bionic electric torch storage medium.
Background
The bionic hand is a kind of artificial hand similar to human biological hand, and the bionic hand can accomplish certain work, and current bionic hand is through its snatchs the object of motor drive, and the motor easily produces the electric current peak effect at the starting moment, and the motor can produce very big electric current at the starting moment promptly, and this very big electric current can promote the rotational speed of motor increase in the twinkling of an eye, if the bionic hand that its driven when the motor is started has contacted the object that needs to snatch, then the rotational speed that the motor starts in the twinkling of an eye and can lead to the bionic hand to snatch the object with very big strength again to lead to the damage of snatched object.
In summary, the existing bionic hand is very easy to damage the object to be grabbed under the driving of the motor starting moment.
Accordingly, there is a need for improvement and advancement in the art.
Disclosure of Invention
In order to solve the technical problems, the invention provides a control method, a control device, control equipment and a storage medium of a bionic electric hand, which solve the problem that the existing bionic hand is extremely easy to damage a gripped object under the driving of a motor starting moment.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
in a first aspect, the present invention provides a control method of a bionic electric torch, including:
controlling the starting rotating speed of a motor, wherein the starting rotating speed is smaller than a safety critical rotating speed, and the safety critical rotating speed is matched with the rotating speed of the motor when the bionic hand is driven by the motor to grasp an object so as to damage the object;
controlling the motor to start at the starting rotating speed;
and controlling the bionic hand to grasp the object through the motor after starting.
In one implementation, the control motor has a start-up speed that is less than a safety threshold speed that matches a motor speed of the motor-driven biomimetic hand gripping an object that causes damage to the object, comprising:
determining a safety critical duty cycle of the motor corresponding to the safety critical rotation speed;
determining a start duty cycle of the motor according to the safety critical duty cycle;
and controlling the starting rotating speed of the motor according to the starting duty ratio.
In one implementation, the controlling the motor to start at the starting rotational speed further includes:
monitoring the current of the motor after start-up;
and if the current of the motor after starting is smaller than a threshold value, adjusting the starting rotating speed to the maximum rotating speed, wherein the threshold value is matched with the current of the motor when the motor drives the bionic hand to contact the object.
In one implementation, the controlling, by the motor after the starting, the bionic hand to grasp the object includes:
controlling the motor after starting to drive the finger of the bionic hand to move towards the object at the maximum rotating speed;
continuously monitoring the current of the motor in the process that the finger of the bionic hand moves towards the object;
when the current of the motor is greater than or equal to the threshold value, adjusting the rotating speed of the motor from the maximum rotating speed to a specified rotating speed, wherein the specified rotating speed is smaller than the safety critical rotating speed;
and controlling the motor to drive the fingers of the bionic hand to grasp the object at the specified rotating speed.
In one implementation, the controlling the motor to drive the finger of the simulated hand at the specified rotational speed to grasp the object includes:
determining a target area where the maximum hardness of the object is located;
determining a target position of the maximum static friction force in the target area;
and controlling the motor to drive the finger of the bionic hand to grasp the target position on the object at the specified rotating speed.
In one implementation, the setting manner of the specified rotation speed includes:
determining a strength level corresponding to the gravity of the object;
determining a target duty cycle of the motor corresponding to the strength level;
and setting the designated rotating speed according to the target duty ratio.
In one implementation, the determining the target duty cycle of the motor corresponding to the force level includes:
when the force level is a first force level, the target duty cycle is a first duty cycle;
or, when the force level is a second force level, the target duty cycle is a second duty cycle;
alternatively, the target duty cycle is a third duty cycle when the force level is a third force level.
In a second aspect, an embodiment of the present invention further provides a control device for a bionic flashlight, where the device includes the following components:
the rotating speed control module is used for controlling the starting rotating speed of the motor, the starting rotating speed is smaller than a safety critical rotating speed, and the safety critical rotating speed is matched with the rotating speed of the motor when the bionic hand is driven by the motor to grasp an object so as to damage the object;
the starting module is used for controlling the motor to start at the starting rotating speed;
and the grabbing module is used for controlling the bionic hand to grab the object through the motor after the starting.
In a third aspect, an embodiment of the present invention further provides a terminal device, where the terminal device includes a memory, a processor, and a control program of a bionic electric torch stored in the memory and capable of running on the processor, and when the processor executes the control program of the bionic electric torch, the steps of the control method of the bionic electric torch are implemented.
In a fourth aspect, an embodiment of the present invention further provides a computer readable storage medium, where a control program of a bionic electric torch is stored on the computer readable storage medium, and when the control program of the bionic electric torch is executed by a processor, the steps of the control method of the bionic electric torch are implemented.
The beneficial effects are that: because the larger the rotating speed of the motor at the starting moment is, the larger the power applied to the bionic hand by the motor at the starting moment is, the power is enough to damage the object to be grabbed by the bionic hand, so that before the motor is started, if the bionic hand is already contacted with the object, the bionic hand is extremely easy to damage the grabbed object at the starting moment of the motor. The safety critical rotating speed is just the rotating speed when the bionic hand is driven by the motor to grab the object and damage the object, and the starting rotating speed of the motor is controlled below the safety critical rotating speed, so that the phenomenon that the bionic hand damages the object when the motor is started can be avoided.
Drawings
FIG. 1 is an overall flow chart of the present invention;
fig. 2 is a schematic block diagram of an internal structure of a terminal device according to an embodiment of the present invention.
Detailed Description
The technical scheme of the invention is clearly and completely described below with reference to the examples and the drawings. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
According to research, the bionic hand is a prosthetic hand similar to a human body biological hand, the bionic hand can finish certain work, the existing bionic hand is driven by a motor to grab an object, the motor is easy to generate a current peak effect at the moment of starting, namely, the motor can generate large current at the moment of starting, the large current can promote the rotation speed of the motor to be increased instantaneously, and if the bionic hand driven by the motor is already contacted with the object to be grabbed when the motor is started, the increased rotation speed at the moment of starting of the motor can lead the bionic hand to grab the object with large force, so that the grabbed object is damaged.
In order to solve the technical problems, the invention provides a control method, a control device, control equipment and a storage medium of a bionic electric hand, which solve the problem that the existing bionic hand is extremely easy to damage a gripped object under the driving of a motor starting moment. When the method is implemented, firstly, the starting rotating speed of the motor is controlled, wherein the starting rotating speed is smaller than the safety critical rotating speed, and the safety critical rotating speed is matched with the rotating speed of the motor when the bionic hand is driven to grasp the object to cause the object to be damaged; then controlling the motor to start at a starting rotation speed; finally, the bionic hand is controlled to grasp the object through the started motor. The invention can prevent the bionic hand from damaging the grabbed object at the moment of starting the motor.
For example, when the transmission mechanism is a ball screw, kinetic energy generated by rotation of the motor is transmitted to the ball screw, so that the ball screw is driven to move the connected bionic finger, and the greater the finger movement distance of the bionic hand is, the greater the degree of polymerization of the fingers is, so that the greater the force applied by the bionic hand to the object to be grabbed is. If the rotational speed of the motor at the moment of starting is great, the motor is sufficient to drive the bionic hand through the transmission mechanism to damage the gripped object. In order to prevent the occurrence of the above problems, the present embodiment adopts the following technical scheme:
the motor is started instantly, the rotating speed of the motor is controlled below a safety critical rotating speed, wherein the safety critical rotating speed is equal to the rotating speed of the motor, which can damage an object just by the bionic hand. No matter whether the bionic hand contacts the object or not when the motor is started, the bionic hand cannot damage the object. After the motor is started, the current of the motor is monitored, if the current of the motor is very small, the motor is started, and then the bionic hand does not contact an object, so that the rotating speed of the motor can be increased to accelerate the polymerization speed of each finger of the bionic hand, and the bionic hand can be in quick contact with the object to be grabbed. When the current of the motor becomes large, the motor load becomes large, namely the bionic hand contacts the object to be grabbed, the motor rotating speed needs to be reduced at the moment, so that the force applied to the object by the bionic hand driven by the motor is reduced, and the object damage caused by the bionic hand in the process of grabbing the object is prevented.
Exemplary method
The control method of the bionic flashlight machine of the embodiment can be applied to terminal equipment, and the terminal equipment can be a terminal product with a control function, such as a microcontroller and the like. In this embodiment, as shown in fig. 1, the control method of the bionic electric torch specifically includes the following steps:
s100, controlling the starting rotating speed of the motor, wherein the starting rotating speed is smaller than a safety critical rotating speed, and the safety critical rotating speed is matched with the rotating speed of the motor when the bionic hand is driven to grab an object so as to damage the object.
And S200, controlling the motor to start at the starting rotating speed.
S300, controlling the bionic hand to grasp the object through the motor after starting.
The motor starts at the moment and can lead to the rapid increase of the motor starting at the moment because of the current peak effect, and the motor speed rapidly increases, so that the power transmitted to the bionic hand by the motor also rapidly increases, the power of the bionic hand rapidly increases, and the gripped object is extremely easy to damage. In order to prevent the above problem, the embodiment assumes that the bionic hand has contacted the object when the motor is started, and controls the rotation speed of the motor below a safety critical rotation speed, so as to prevent the bionic hand from damaging the object when the motor is started, wherein the safety critical rotation speed is the rotation speed of the motor corresponding to the time when the bionic hand just can grab the object.
In one embodiment, step S100 includes the following specific steps S101, S102, S103:
s101, determining a safety critical duty ratio of the motor corresponding to the safety critical rotation speed.
S102, determining the starting duty ratio of the motor according to the safety critical duty ratio.
And S103, controlling the starting rotating speed of the motor according to the starting duty ratio.
There is the one-to-one correspondence between the rotational speed and the duty cycle of motor, determines the safety critical duty cycle that the safety critical rotational speed corresponds to, sets the start-up duty cycle of motor to the duty cycle that is less than the safety critical duty cycle, just can guarantee that the start-up rotational speed of motor is less than the safety critical rotational speed, and then guarantees that the motor starts the moment can not drive the bionic hand and damage the object that is snatched because of exerting oneself too much.
In another embodiment, setting the start duty cycle of the motor includes the following specific steps:
collecting the gravity of an object; judging the strength grade corresponding to the gravity; the start duty cycle is determined based on the strength level.
In this embodiment, the force levels include a first force level, a second force level, and a third force level, the first force level corresponds to a range of [0N,7N ], the second force level corresponds to a range of [0N,11N ], and the third force level corresponds to a range of [0N,14N ]. First, whether the gravity of the object belongs to the first force level is judged, and if the gravity does not belong to the first force level, whether the gravity belongs to the second force level or the third force level is judged. The duty cycle also includes three levels, a first duty cycle, a second duty cycle, and a third duty cycle, respectively, the first force level corresponding to the first duty cycle, the second force level corresponding to the second duty cycle, and the third force level corresponding to the third duty cycle. The first duty cycle is (0,39% ], the second duty cycle is (0,69% ], and the third duty cycle is 100%. For example, when the gravity of the object belongs to the second strength level, the starting duty cycle of the motor is set to the second duty cycle, the motor is controlled to start by the duty cycle, even if the bionic hand is already contacted with the object when the motor is started, the motor driving force corresponding to the rotating speed is insufficient to damage the object.
In one embodiment, after the motor is started, the current of the motor is also monitored, whether the bionic hand driven by the motor contacts the object to be grabbed is judged according to the current, if the current is large, the fact that the bionic hand contacts the object is indicated, at the moment, the rotating speed of the motor is controlled to be the starting rotating speed to drive the bionic hand to grab the object, and the object can be grabbed and cannot be damaged; if the current is small, it indicates that the bionic hand does not contact the object, and at this time, the rotation speed of the motor should be increased so that the bionic hand is quickly polymerized to grasp the object. When the motor current is small, the specific procedure of this embodiment is as follows:
monitoring the current of the motor after start-up;
and if the current of the motor after starting is smaller than a threshold value, adjusting the starting rotating speed to the maximum rotating speed, wherein the threshold value is matched with the current of the motor when the motor drives the bionic hand to contact the object.
Based on the above embodiment, step S300 includes the following specific steps S301 to S306:
s301, controlling the motor after starting to drive the finger of the bionic hand to move towards the object at the maximum rotating speed.
The movement of the fingers of the simulated hand towards the object includes two cases, the first: the bionic hand integrally moves to gradually approach the object, and when the bionic hand reaches the position of the object, the finger aggregation of the bionic hand is controlled so that the finger contacts the object positioned in the bionic hand. Second case: when the motor is started, the bionic hand is positioned at the position where the object to be grabbed is positioned, and only the finger of the bionic hand is not contacted with the object to be grabbed, and after the motor is started, the finger of the bionic hand is controlled to be polymerized to the object to be grabbed.
S302, continuously monitoring the current of the motor in the process that the finger of the bionic hand moves towards the object.
And S303, when the current of the motor is greater than or equal to the threshold value, adjusting the rotating speed of the motor from the maximum rotating speed to a specified rotating speed, wherein the specified rotating speed is smaller than the safety critical rotating speed.
When the current of the motor is greater than or equal to a threshold value, the fact that the bionic hand is in contact with the object at the moment is indicated, and the rotating speed of the motor needs to be reduced from the maximum rotating speed to the appointed rotating speed, so that the phenomenon that the object is damaged due to the fact that the strength of the bionic hand is too large due to the fact that the rotating speed of the motor is too large is avoided.
In this embodiment, the specific procedure for determining the specified rotational speed is as follows:
and determining the strength grade corresponding to the gravity of the object.
And determining the target duty ratio of the motor corresponding to the strength level.
And setting the designated rotating speed according to the target duty ratio.
In this embodiment, the strength level may also be a level of strength that the user can bear to determine from the appearance of the object being viewed, which strength level is capable of both gripping the object and not damaging the object.
In one embodiment, the specified rotational speed is equal to the starting rotational speed of the motor.
S304, determining a target area where the maximum hardness of the object is located.
Partitioning the object to obtain each subarea, transmitting ultrasonic waves to each subarea, acquiring the ultrasonic waves reflected by each subarea, and judging whether the hardness of each subarea is maximum according to the intensity of the ultrasonic waves reflected by each subarea.
S305, determining the target position of the maximum static friction force in the target area.
S306, controlling the motor to drive the finger of the bionic hand to grasp the target position on the object at the specified rotating speed.
I.e. the position where the simulated hands are held at the hardest on the object, it is possible to prevent the object from being damaged.
In summary, since the larger the rotation speed of the motor at the starting moment is, the larger the power applied to the bionic hand by the motor at the starting moment is, the power is enough to damage the object to be grabbed by the bionic hand, so that before the motor is started, if the bionic hand is already contacted with the object, the bionic hand is extremely easy to damage the grabbed object at the starting moment of the motor. The safety critical rotating speed is just the rotating speed when the bionic hand is driven by the motor to grab the object and damage the object, and the starting rotating speed of the motor is controlled below the safety critical rotating speed, so that the phenomenon that the bionic hand damages the object when the motor is started can be avoided.
Exemplary apparatus
The embodiment also provides a control device of the bionic flashlight machine, which comprises the following components:
the rotating speed control module is used for controlling the starting rotating speed of the motor, the starting rotating speed is smaller than a safety critical rotating speed, and the safety critical rotating speed is matched with the rotating speed of the motor when the bionic hand is driven by the motor to grasp an object so as to damage the object;
the starting module is used for controlling the motor to start at the starting rotating speed;
and the grabbing module is used for controlling the bionic hand to grab the object through the motor after the starting.
Based on the above embodiment, the present invention also provides a terminal device, and a functional block diagram thereof may be shown in fig. 2. The terminal equipment comprises a processor, a memory, a network interface, a display screen and a temperature sensor which are connected through a system bus. Wherein the processor of the terminal device is adapted to provide computing and control capabilities. The memory of the terminal device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface of the terminal device is used for communicating with an external terminal through a network connection. The computer program when executed by the processor is used for realizing a bionic electric torch control method. The display screen of the terminal equipment can be a liquid crystal display screen or an electronic ink display screen, and the temperature sensor of the terminal equipment is preset in the terminal equipment and is used for detecting the running temperature of the internal equipment.
It will be appreciated by persons skilled in the art that the functional block diagram shown in fig. 2 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the terminal device to which the present inventive arrangements are applied, and that a particular terminal device may include more or fewer components than shown, or may combine some of the components, or may have a different arrangement of components.
In one embodiment, a terminal device is provided, where the terminal device includes a memory, a processor, and a bionic flashlight control program stored in the memory and capable of running on the processor, and when the processor executes the bionic flashlight control program, the processor implements the following operation instructions:
controlling the starting rotating speed of a motor, wherein the starting rotating speed is smaller than a safety critical rotating speed, and the safety critical rotating speed is matched with the rotating speed of the motor when the bionic hand is driven by the motor to grasp an object so as to damage the object;
controlling the motor to start at the starting rotating speed;
and controlling the bionic hand to grasp the object through the motor after starting.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The control method of the bionic flashlight machine is characterized by comprising the following steps of:
controlling the starting rotating speed of a motor, wherein the starting rotating speed is smaller than a safety critical rotating speed, and the safety critical rotating speed is matched with the rotating speed of the motor when the bionic hand is driven by the motor to grasp an object so as to damage the object;
controlling the motor to start at the starting rotating speed;
and controlling the bionic hand to grasp the object through the motor after starting.
2. The control method of the bionic electric torch according to claim 1, wherein the controlling the starting rotation speed of the motor is less than a safety critical rotation speed, the safety critical rotation speed is matched with a rotation speed of the motor when the bionic hand grabs an object to damage the object, and the control method comprises:
determining a safety critical duty cycle of the motor corresponding to the safety critical rotation speed;
determining a start duty cycle of the motor according to the safety critical duty cycle;
and controlling the starting rotating speed of the motor according to the starting duty ratio.
3. The method of claim 1, wherein the controlling the motor to start at the starting rotational speed further comprises:
monitoring the current of the motor after start-up;
and if the current of the motor after starting is smaller than a threshold value, adjusting the starting rotating speed to the maximum rotating speed, wherein the threshold value is matched with the current of the motor when the motor drives the bionic hand to contact the object.
4. The control method of the bionic electric torch according to claim 3, wherein the controlling the bionic hand to grasp the object by the motor after the starting comprises:
controlling the motor after starting to drive the finger of the bionic hand to move towards the object at the maximum rotating speed;
continuously monitoring the current of the motor in the process that the finger of the bionic hand moves towards the object;
when the current of the motor is greater than or equal to the threshold value, adjusting the rotating speed of the motor from the maximum rotating speed to a specified rotating speed, wherein the specified rotating speed is smaller than the safety critical rotating speed;
and controlling the motor to drive the fingers of the bionic hand to grasp the object at the specified rotating speed.
5. The method of claim 4, wherein controlling the motor to drive the finger of the simulated hand at the specified rotational speed to grasp the object comprises:
determining a target area where the maximum hardness of the object is located;
determining a target position of the maximum static friction force in the target area;
and controlling the motor to drive the finger of the bionic hand to grasp the target position on the object at the specified rotating speed.
6. The control method of the bionic electric torch according to claim 4, wherein the setting mode of the specified rotation speed comprises:
determining a strength level corresponding to the gravity of the object;
determining a target duty cycle of the motor corresponding to the strength level;
and setting the designated rotating speed according to the target duty ratio.
7. The method of claim 6, wherein determining the target duty cycle of the motor corresponding to the force level comprises:
when the force level is a first force level, the target duty cycle is a first duty cycle;
or, when the force level is a second force level, the target duty cycle is a second duty cycle;
alternatively, the target duty cycle is a third duty cycle when the force level is a third force level.
8. The bionic flashlight machine control device is characterized by comprising the following components:
the rotating speed control module is used for controlling the starting rotating speed of the motor, the starting rotating speed is smaller than a safety critical rotating speed, and the safety critical rotating speed is matched with the rotating speed of the motor when the bionic hand is driven by the motor to grasp an object so as to damage the object;
the starting module is used for controlling the motor to start at the starting rotating speed;
and the grabbing module is used for controlling the bionic hand to grab the object through the motor after the starting.
9. A terminal device comprising a memory, a processor and a bionic flashlight control program stored in the memory and operable on the processor, wherein the processor, when executing the bionic flashlight control program, performs the steps of the bionic flashlight control method according to any one of claims 1-7.
10. A computer readable storage medium, wherein a bionic electric torch control program is stored on the computer readable storage medium, and when the bionic electric torch control program is executed by a processor, the steps of the bionic electric torch control method according to any one of claims 1-7 are implemented.
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| CN111791233A (en) * | 2020-07-06 | 2020-10-20 | 北京海益同展信息科技有限公司 | Bionic hand control method and device, storage medium and electronic equipment |
| CN219504770U (en) * | 2023-03-01 | 2023-08-11 | 泾阳御图雄工贸有限公司 | Multifunctional manipulator for assembling heavy truck |
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| CN116766211A (en) | 2023-09-19 |
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