CN116766212A - Bionic hand control method, bionic hand control device, bionic hand control equipment and storage medium - Google Patents
Bionic hand control method, bionic hand control device, bionic hand control equipment and storage medium Download PDFInfo
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Abstract
The invention relates to the technical field of bionic hand, in particular to a bionic hand control method, a bionic hand control device, bionic hand control equipment and a bionic hand control storage medium. Firstly, collecting the object gravity of a grabbed object; then determining the required grabbing force for grabbing the grabbed object according to the gravity of the object; finally, the bionic hand is controlled to grasp the grasped object with the required grasping force. According to the invention, the required grabbing force for grabbing the grabbed object is determined according to the object gravity of the grabbed object, namely the grabbing force used by the bionic hand is matched with the object gravity, so that the bionic hand can be ensured to grab the object, and the object is prevented from being damaged due to overlarge force of the bionic hand.
Description
Technical Field
The invention relates to the technical field of bionic hand, in particular to a bionic hand control method, a bionic hand control device, bionic hand control equipment and a bionic hand control storage medium.
Background
The bionic hand is a artificial hand similar to a human biological hand, and can be used for completing certain work. The existing force of the bionic hand for grabbing the object is fixed, for example, the bionic hand is used for grabbing the object, and if the fixed force is too large relative to the object to be grabbed, the object is grabbed; if the force of this fixation is too small for being grasped, it may result in an inability to grasp the object, which may result in the object falling during grasping, and thus in damage to the object.
In summary, the existing bionic hand is prone to damage to the gripped object.
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 bionic hand control method, a bionic hand control device, bionic hand control equipment and a bionic hand control storage medium, and solves the problem that an existing bionic hand is easy to damage a grabbed object.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
in a first aspect, the present invention provides a bionic hand control method, including:
collecting the object gravity of the grabbed object;
determining the required grabbing force for grabbing the grabbed object according to the gravity of the object;
and controlling the bionic hand to grasp the grasped object with the required grasping force.
In one implementation, the collecting the object gravity of the grabbed object includes:
transmitting light rays from all angles of the gripped object to the gripped object, collecting light rays reflected by the gripped object, and recording the light rays as reflected light rays;
transmitting sound waves to the gripped object, collecting the sound waves reflected by the gripped object, and recording the sound waves as reflected sound waves;
determining a three-dimensional model of the gripped object according to the reflected light rays;
determining an internal cavity of the gripped object according to the reflected sound wave;
determining the volume of the gripped object according to the three-dimensional model and the internal cavity;
and determining the gravity of the gripped object according to the volume and the density of the gripped object.
In one implementation, the determining, according to the gravity of the object, a required grabbing force for grabbing the grabbed object includes:
determining the strength grade corresponding to the gravity of the object;
and determining the required grabbing force for grabbing the grabbed object according to the strength grade.
In one implementation, the determining the required gripping force to grip the gripped object according to the force level includes:
determining a force value range corresponding to the force level;
collecting the object hardness of the grabbed object;
and determining the required grabbing force for grabbing the grabbed object from the force value range according to the object hardness.
In one implementation, the controlling the simulated hand to grasp the grasped object with the desired grasping force includes:
determining a target duty ratio of a motor corresponding to the required grabbing force, wherein the motor is a power source of the bionic hand;
and controlling the duty ratio of the motor to be the target duty ratio so as to control the bionic hand to grasp the grasped object with the required grasping force.
In one implementation, the determining the target duty cycle of the motor corresponding to the required grabbing force, where the motor is a power source of the bionic hand, includes:
when the required grabbing force belongs to a first strength level, determining that the duty ratio of the motor is a first target duty ratio;
or when the required grabbing force belongs to a second force level, determining that the duty ratio of the motor is a second target duty ratio, wherein the maximum force corresponding to the second force level is larger than the maximum force corresponding to the first force level, and the second target duty ratio is larger than the first target duty ratio;
or when the required grabbing force belongs to a third force level, determining that the duty ratio of the motor is a third target duty ratio, wherein the maximum force corresponding to the third force level is larger than the maximum force corresponding to the second force level, and the third target duty ratio is larger than the second target duty ratio.
In one implementation, the controlling the simulated hand to grasp the grasped object with the desired grasping force includes:
collecting the hardness of each position on the gripped object;
comparing the hardness at each location to determine a maximum hardness;
determining the position of the maximum hardness on the gripped object, and marking the position as a target position;
and controlling the bionic hand to apply the grabbing force to the target position to grab the grabbed object.
In a second aspect, an embodiment of the present invention further provides a bionic hand control apparatus, where the apparatus includes the following components:
the gravity acquisition module is used for acquiring the object gravity of the grabbed object;
the analysis module is used for determining the required grabbing force for grabbing the grabbed object according to the gravity of the object;
and the control module is used for controlling the bionic hand to grasp the grasped object with the required grasping force.
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 bionic hand control program stored in the memory and capable of running on the processor, and when the processor executes the bionic hand control program, the steps of the bionic hand control method are implemented.
In a fourth aspect, an embodiment of the present invention further provides a computer readable storage medium, where a bionic hand control program is stored on the computer readable storage medium, where the bionic hand control program, when executed by a processor, implements the steps of the bionic hand control method described above.
The beneficial effects are that: according to the invention, the required grabbing force for grabbing the grabbed object is determined according to the object gravity of the grabbed object, namely the grabbing force used by the bionic hand is matched with the object gravity, so that the bionic hand can be ensured to grab the object, and the object is prevented from being damaged due to overlarge force of the bionic hand.
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.
The bionic hand is a artificial hand similar to a human biological hand, and a certain work can be completed by using the bionic hand. The existing force of the bionic hand for grabbing the object is fixed, for example, the bionic hand is used for grabbing the object, and if the fixed force is too large relative to the object to be grabbed, the object is grabbed; if the force of this fixation is too small for being grasped, it may result in an inability to grasp the object, which may result in the object falling during grasping, and thus in damage to the object.
In order to solve the technical problems, the invention provides a bionic hand control method, a bionic hand control device, bionic hand control equipment and a bionic hand control storage medium, and solves the problem that an existing bionic hand is easy to damage a grabbed object. When the method is implemented, firstly, the object gravity of the grabbed object is collected; then determining the required grabbing force for grabbing the grabbed object according to the gravity of the object; finally, the bionic hand is controlled to grasp the grasped object with the required grasping force, and the invention can prevent the bionic hand from damaging the grasped object.
For example, there are two objects to be grabbed, namely an object a and an object b, wherein the gravity of the object a is 5N and the gravity of the object b is 20N, and when the bionic hand needs to grab the object a, the finger of the bionic hand is controlled to clamp the object a with a force (required grabbing force) greater than 5N, that is, the component force of the required grabbing force in the gravity direction is just greater than the gravity of the object to be grabbed. When the bionic hand needs to pick up the object B, fingers of the bionic hand are controlled to clamp the object B by using a force (required grabbing force) larger than 20N, so that the component force of the required grabbing force in the gravity direction is ensured to be just larger than the gravity of the object B.
Exemplary method
The bionic hand control method of the embodiment can be applied to terminal equipment, and the terminal equipment can be a terminal product with a data processing function, such as a microcontroller and the like. In this embodiment, as shown in fig. 1, the bionic hand control method specifically includes the following steps:
s100, collecting object gravity of the grabbed object.
S200, determining the required grabbing force for grabbing the grabbed object according to the gravity of the object.
S300, controlling the bionic hand to grasp the grasped object with the required grasping force.
In one embodiment, step S100 includes the following specific steps S101 to S106:
s101, emitting light rays from all angles of the gripped object to the gripped object, and collecting the light rays reflected by the gripped object, and recording the light rays as reflected light rays.
S102, emitting sound waves to the gripped object, and collecting the sound waves reflected by the gripped object, wherein the sound waves are recorded as reflected sound waves.
S103, determining a three-dimensional model of the gripped object according to the reflected light rays.
In this embodiment, the light rays are emitted to the object to be grabbed to collect the light rays reflected by the object to be grabbed, and the positions of the respective points on the object to be grabbed forming the reflected light rays are the positions of the respective points on the object to be grabbed, that is, the positions of the respective points on the object to be grabbed can be obtained by collecting the positions of the respective reflected light rays, and the three-dimensional model of the object is constructed by the positions of the respective points.
S104, determining the inner cavity of the gripped object according to the reflected sound wave.
And transmitting sound waves to the gripped object, wherein the gripped object transmits the sound waves to form reflected sound waves, and analyzing the internal cavity of the gripped object through the reflected sound waves.
S105, determining the volume of the gripped object according to the three-dimensional model and the internal cavity.
The volume of the three-dimensional model is subtracted from the volume of the internal cavity to obtain the real volume of the object to be grasped.
S106, determining the gravity of the grabbed object according to the volume and the density of the grabbed object.
The gravity of the gripped object is obtained by multiplying the volume of the gripped object by its density and by the gravitational constant g.
In one embodiment, step S200 includes the following specific steps:
s201, determining the strength level corresponding to the gravity of the object.
S202, determining a force value range corresponding to the force level.
S203, collecting the hardness of the object to be grabbed.
S201, determining the required grabbing force for grabbing the grabbed object from the force value range according to the object hardness.
The force level in this embodiment includes a plurality of force levels, and the force range corresponding to each force level has the same length. For example, the force values corresponding to the first force level, the second force level, the third force level, and the nth force level are respectively [1,5], (5, 9], (9, 13], (4 (N-1) +1,4n+1], and the units are newton N.
If the hardness of the object to be grasped is great, a required grasping force far greater than 6N, namely, the required grasping force is 9N in the range (5, 9), so that the bionic hand can grasp the object to be grasped to prevent the object to be grasped from falling in the grasping process.
In another embodiment, the required gripping force in step S200 is equal to the gravitational force of the gripped object multiplied by a maximum coefficient of static friction, the maximum coefficient of static friction being the maximum coefficient of static friction between the simulated hand and the gripped object.
In one embodiment, the specific procedure of step S300 is as follows:
when the required grabbing force belongs to a first strength level, determining that the duty ratio of the motor is a first target duty ratio; and controlling the duty ratio of the motor to be the first target duty ratio so as to control the bionic hand to grasp the grasped object with the required grasping force.
The range of values corresponding to the first force level is [0n,8n ], and if the required grabbing force calculated in step S200 is within the range of [0n,8n ], the required grabbing force belongs to the first force level, and at this time, the duty ratio of the motor is set to 40%, that is, 40% is the first target duty ratio. The motor is controlled to run at a duty cycle (0,40%) within a set period of time, the duty cycle controls the rotational speed of the motor, the motor is connected with the ball screw, and the ball screw is connected with the finger of the bionic hand.
In another embodiment, the specific procedure of step S300 is as follows:
when the required grabbing force belongs to a second force level, determining that the duty ratio of the motor is a second target duty ratio, wherein the maximum force corresponding to the second force level is larger than the maximum force corresponding to the first force level; and controlling the duty ratio of the motor to be the first target duty ratio so as to control the bionic hand to grasp the grasped object with the required grasping force.
The second force level corresponds to a value range of [0n,12n ], and if the required gripping force calculated in step S200 is not within the range of [0n,8n ] but within the range of [0n,12n ], the required gripping force belongs to the second force level, and at this time, the duty cycle of the motor is set to 70%, that is, 70% is the second target duty cycle. The principle of forcing a bionic hand to apply a force to an object under the action of a motor is similar to the case of the duty cycle of 40% described above.
In another embodiment, the specific procedure of step S300 is as follows:
and when the required grabbing force belongs to a third force level, determining that the duty ratio of the motor is a third target duty ratio, wherein the maximum force corresponding to the third force level is larger than the maximum force corresponding to the second force level. And controlling the duty ratio of the motor to be the first target duty ratio so as to control the bionic hand to grasp the grasped object with the required grasping force.
The third force level corresponds to a value range of [0n,15n ], and if the required gripping force calculated in step S200 is within the range of [0n,8n ] or [0n,12n ] but within the range of [0n,15n ], the required gripping force belongs to the third force level, and the duty cycle of the motor is set to 100%, that is, 100% is the third target duty cycle. The principle of forcing a bionic hand to apply a force to an object under the action of a motor is similar to the case of the duty cycle of 40% described above.
In another embodiment, if the required gripping force calculated in step S200 is not within the range of [0n,15n ], then the gripped object is not gripped with the biomimetic hand.
In another embodiment, step S300 includes the following specific steps S301, S302, S303, S304:
s301, collecting the hardness of each position on the gripped object.
S302, comparing the hardness at each position, and determining the maximum hardness.
And S303, determining the position of the maximum hardness on the gripped object, and marking the position as a target position.
S304, controlling the bionic hand to apply the grabbing force to the target position to grab the grabbed object.
The embodiment controls the bionic hand to apply the required grabbing force calculated in the step S200 to the position with the maximum hardness of the object, so that the bionic hand can be prevented from acting on the position with the smaller hardness of the object to damage the object.
In summary, the invention determines the required grabbing force for grabbing the grabbed object according to the object gravity of the grabbed object, namely the grabbing force used by the bionic hand is matched with the object gravity, so that the bionic hand can grab the object and can prevent the object from being damaged due to overlarge force of the bionic hand.
Exemplary apparatus
The embodiment also provides a bionic hand control device, which comprises the following components:
the gravity acquisition module is used for acquiring the object gravity of the grabbed object;
the analysis module is used for determining the required grabbing force for grabbing the grabbed object according to the gravity of the object;
and the control module is used for controlling the bionic hand to grasp the grasped object with the required grasping force.
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 a processor implements a biomimetic hand 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 hand control program stored in the memory and capable of running on the processor, and when the processor executes the bionic hand control program, the following operation instructions are implemented:
collecting the object gravity of the grabbed object;
determining the required grabbing force for grabbing the grabbed object according to the gravity of the object;
and controlling the bionic hand to grasp the grasped object with the required grasping force.
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. A bionic hand control method, comprising:
collecting the object gravity of the grabbed object;
determining the required grabbing force for grabbing the grabbed object according to the gravity of the object;
and controlling the bionic hand to grasp the grasped object with the required grasping force.
2. The biomimetic hand control method of claim 1, wherein the capturing of the object gravity of the object being grasped comprises:
transmitting light rays from all angles of the gripped object to the gripped object, collecting light rays reflected by the gripped object, and recording the light rays as reflected light rays;
transmitting sound waves to the gripped object, collecting the sound waves reflected by the gripped object, and recording the sound waves as reflected sound waves;
determining a three-dimensional model of the gripped object according to the reflected light rays;
determining an internal cavity of the gripped object according to the reflected sound wave;
determining the volume of the gripped object according to the three-dimensional model and the internal cavity;
and determining the gravity of the gripped object according to the volume and the density of the gripped object.
3. The biomimetic hand control method of claim 1, wherein said determining a required gripping force to grip said gripped object based on said object gravity comprises:
determining the strength grade corresponding to the gravity of the object;
and determining the required grabbing force for grabbing the grabbed object according to the strength grade.
4. A biomimetic hand control method as in claim 3, wherein said determining a required gripping force to grip said gripped object based on said force level comprises:
determining a force value range corresponding to the force level;
collecting the object hardness of the grabbed object;
and determining the required grabbing force for grabbing the grabbed object from the force value range according to the object hardness.
5. The biomimetic hand control method of claim 1, wherein the controlling the biomimetic hand to grasp the grasped object with the desired grasping force comprises:
determining a target duty ratio of a motor corresponding to the required grabbing force, wherein the motor is a power source of the bionic hand;
and controlling the duty ratio of the motor to be the target duty ratio so as to control the bionic hand to grasp the grasped object with the required grasping force.
6. The biomimetic hand control method of claim 5, wherein the determining the target duty cycle of the motor corresponding to the required gripping force, the motor being a power source of the biomimetic hand, comprises:
when the required grabbing force belongs to a first strength level, determining that the duty ratio of the motor is a first target duty ratio;
or when the required grabbing force belongs to a second force level, determining that the duty ratio of the motor is a second target duty ratio, wherein the maximum force corresponding to the second force level is larger than the maximum force corresponding to the first force level, and the second target duty ratio is larger than the first target duty ratio;
or when the required grabbing force belongs to a third force level, determining that the duty ratio of the motor is a third target duty ratio, wherein the maximum force corresponding to the third force level is larger than the maximum force corresponding to the second force level, and the third target duty ratio is larger than the second target duty ratio.
7. The biomimetic hand control method of claim 1, wherein the controlling the biomimetic hand to grasp the grasped object with the desired grasping force comprises:
collecting the hardness of each position on the gripped object;
comparing the hardness at each location to determine a maximum hardness;
determining the position of the maximum hardness on the gripped object, and marking the position as a target position;
and controlling the bionic hand to apply the grabbing force to the target position to grab the grabbed object.
8. A bionic hand control device, characterized in that the device comprises the following components:
the gravity acquisition module is used for acquiring the object gravity of the grabbed object;
the analysis module is used for determining the required grabbing force for grabbing the grabbed object according to the gravity of the object;
and the control module is used for controlling the bionic hand to grasp the grasped object with the required grasping force.
9. A terminal device, characterized in that the terminal device comprises a memory, a processor and a bionic hand control program stored in the memory and operable on the processor, the processor implementing the steps of the bionic hand control method according to any one of claims 1-7 when executing the bionic hand control program.
10. A computer readable storage medium, wherein a bionic hand control program is stored on the computer readable storage medium, which when executed by a processor, implements the steps of the bionic hand control method according to any one of claims 1-7.
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| CN117773952A (en) * | 2024-02-23 | 2024-03-29 | 浙江强脑科技有限公司 | Bionic hand control method, storage medium, control device and bionic hand |
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