WO2024002304A1

WO2024002304A1 - Robotic arm control methods and apparatuses for vehicle-mounted display, device, and vehicle

Info

Publication number: WO2024002304A1
Application number: PCT/CN2023/104215
Authority: WO
Inventors: 王鹏瑞; 李猛; 徐佳林; 左晨
Original assignee: 华人运通(江苏)技术有限公司
Priority date: 2022-06-30
Filing date: 2023-06-29
Publication date: 2024-01-04
Also published as: WO2024002306A1; WO2024002307A1; CN219351252U; WO2024002305A1

Abstract

Disclosed in the present application are robotic arm control methods and apparatuses for a vehicle-mounted display, a device, and a vehicle. A robotic arm control method for a vehicle-mounted display comprises: according to the current seat position of a target passenger, determining a target position of a vehicle-mounted display, the target position being a position matched with the sight line of the target passenger; and controlling a robotic arm to move, such that the robotic arm drives the vehicle-mounted display to move to the target position. The robotic arm control method for a vehicle-mounted display provided in the embodiments of the present application can achieve self-adaptive adjustment of the vehicle-mounted display, thus allowing the vehicle-mounted display to provide a better view angle for the target passenger at any time.

Description

Robot arm control method, device, equipment and vehicle for vehicle screen

This application claims priority to the Chinese patent application with application number 2022107687796, filed with the China Patent Office on June 30, 2022, the entire content of which is incorporated by reference into this application.

This application claims priority to the Chinese patent application with application number 2022114870368 filed with the China Patent Office on November 25, 2022, the entire content of which is incorporated into this application by reference.

This application claims priority to the Chinese patent application with application number 2022233144691 filed with the China Patent Office on December 9, 2022, the entire content of which is incorporated into this application by reference.

Technical field

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

Background technique

As a highly integrated vehicle multimedia entertainment information center, the vehicle's on-board screen can meet various needs such as navigation, entertainment, and daily affairs processing. However, the functions of the vehicle-mounted screen in related technologies are mainly realized through its screen display and touch and click methods. It cannot realize the interactive function with other vehicle-mounted components through its own actions, and the user experience needs to be improved.

Contents of the invention

Embodiments of the present application provide a method, device, equipment and vehicle for controlling a robotic arm of a vehicle-mounted screen to solve problems existing in related technologies. The technical solutions are as follows:

In the first aspect, embodiments of the present application provide a method for controlling a robotic arm of a vehicle-mounted screen, which includes: determining the target position of the vehicle-mounted screen based on the current seat position of the target passenger, and the target position is a position that matches the line of sight of the target passenger; Control the movement of the robotic arm so that the robotic arm drives the vehicle screen to move to the target position.

In the second aspect, embodiments of the present application provide a control method for a robot arm carrying a screen, which includes: determining the target position of the vehicle screen based on the line of sight of the target passenger, and the target position is a position that matches the line of sight of the target passenger; controlling the movement of the robot arm, So that the robotic arm drives the vehicle screen to move to the target position.

In a third aspect, embodiments of the present application provide a robot arm control device for a vehicle-mounted screen, including: a first target position determination module, configured to determine the target position of the vehicle-mounted screen based on the current seat position of the target passenger. The target position is equal to The position that matches the line of sight of the target passenger; the first motion control module is used to control the movement of the robotic arm so that the robotic arm drives the vehicle screen to the target position.

In the fourth aspect, embodiments of the present application provide a robot arm control device for a vehicle-mounted screen, including: a second target position determination module for determining the target position of the vehicle-mounted screen according to the line of sight of the target passenger, where the target position is the same as the line of sight of the target passenger. Matching position; the second motion control module is used to control the movement of the robotic arm so that the robotic arm drives the vehicle screen to move to the target position.

In a fifth aspect, embodiments of the present application provide a vehicle-mounted display device, including: a robot arm control unit for executing the robot arm control method of the vehicle-mounted screen according to any embodiment of the present application, or including any embodiment of the present application. A robotic arm control device for a vehicle-mounted screen; the robotic arm is used to drive the vehicle-mounted screen to complete at least one target action; the vehicle-mounted screen is connected to the robotic arm.

In a sixth aspect, embodiments of the present application also provide a screen wiring harness bracket, which is applied to the vehicle-mounted display device of the above embodiment of the application. The vehicle-mounted display device further includes a wiring harness, one end of the wiring harness is connected to the vehicle-mounted screen; wherein, the screen wiring harness bracket is connected to the vehicle-mounted screen. The vehicle-mounted robot arm is connected, and the screen harness bracket is used to support the wire harness; the screen harness bracket includes at least three wire harness brackets, each wire harness bracket is used to connect with the vehicle-mounted robot arm; each wire harness bracket is provided with a wire harness that is adapted to the direction of movement of the wire harness. The cable outlet trough is used to limit the movement trajectory of the wire harness when the vehicle screen moves.

In a seventh aspect, embodiments of the present application further provide a vehicle, including a vehicle-mounted display device and a screen harness bracket according to the above embodiments of the present application.

According to the robotic arm control method of the vehicle screen according to the embodiment of the present application, adaptive adjustment of the vehicle screen can be realized, so that the vehicle screen can provide the target passengers with a better viewing angle at any time, thereby improving vehicle intelligence and user experience.

The above summary is for illustration purposes 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 be readily apparent by reference to the drawings and the following detailed description.

Description of drawings

In the drawings, unless otherwise specified, the same reference numbers refer to the same or similar parts or elements throughout the several figures. The drawings are not necessarily to scale. It should be understood that these drawings depict only some embodiments disclosed in accordance with the present application and should not be considered as limiting the scope of the present application.

Figure 1 shows a flow chart of a robotic arm control method for a vehicle-mounted screen according to Embodiment 1 of the present application;

Figure 2 shows a schematic diagram of the vehicle screen motion coordinate system according to an embodiment of the present application;

Figure 3 shows an architecture diagram of a vehicle control system according to Embodiment 1 of the present application;

Figure 4 shows a flow chart of a robotic arm control method for a vehicle-mounted screen according to Embodiment 1 of the present application;

Figure 5 shows a schematic diagram of an application scenario according to Embodiment 1 of the present application;

Figure 6 shows an application example diagram according to Embodiment 1 of the present application;

Figure 7 shows a flow chart of a robotic arm control method for a vehicle screen according to Embodiment 2 of the present application;

Figure 8 shows a block diagram of a robotic arm control device for a vehicle-mounted screen according to Embodiment 3 of the present application;

Figure 9 shows a flow chart of a control method according to Embodiment 5 of the present application;

Figure 10 shows a block diagram of an electronic device according to Embodiment 6 of the present application;

Figure 11 shows an overall schematic diagram of a robotic arm according to Embodiment 7 of the present application;

Figure 12 shows a schematic diagram of the guide rail of the robotic arm according to Embodiment 7 of the present application;

Figure 13 shows a schematic diagram of the rotation mechanism of the robotic arm according to Embodiment 7 of the present application;

Figure 14 shows a schematic diagram of another installation method embodiment of the linear motion unit of the robotic arm in Embodiment 7 of the present application;

Figure 15 shows a schematic diagram of the vehicle screen flipping action of the robotic arm in Embodiment 7 of the present application;

Figure 16 shows a schematic diagram of the vehicle-mounted screen translation action of the robotic arm in Embodiment 7 of the present application;

Figure 17 shows a schematic diagram of the vehicle screen rotation action of the robotic arm in Embodiment 7 of the present application;

Figure 18 shows a schematic diagram of the forward and backward movement of the vehicle-mounted screen of the robotic arm according to Embodiment 7 of the present application;

Figure 19 shows a schematic diagram of the action of the rotating member of the robotic arm in Embodiment 7 of the present application;

Figure 20 shows a schematic diagram of the overall structure of the screen harness bracket according to Embodiment 7 of the present application;

Figure 21 shows a schematic diagram of the first wire harness bracket and the second wire harness bracket in Embodiment 7 of the present application;

Figure 22 shows a schematic diagram of the second wire harness bracket and the third wire harness bracket according to Embodiment 7 of the present application;

Figure 23 shows a schematic structural diagram of the first wire harness bracket according to Embodiment 7 of the present application;

Figure 24 shows a schematic structural diagram of the second wire harness bracket according to Embodiment 7 of the present application;

Figure 25 shows a schematic structural diagram of the third wire harness bracket according to Embodiment 7 of the present application;

Figure 26 shows another structural schematic diagram of the first wire harness bracket according to Embodiment 7 of the present application;

Figure 27 shows another structural schematic diagram of the second wire harness bracket according to Embodiment 7 of the present application;

Figure 28 shows another structural schematic diagram of the third wire harness bracket according to Embodiment 7 of the present application;

Figure 29 shows a schematic structural diagram of the rotating screen wire harness in Embodiment 7 of the present application;

Figure 30 shows a schematic structural diagram of another rotating screen wire harness according to Embodiment 7 of the present application;

Figure 31 shows a schematic structural diagram of the guide member in Embodiment 7 of the present application;

Figure 32 shows a schematic structural diagram of another rotating screen wire harness according to Embodiment 7 of the present application;

Figure 33 shows a schematic diagram of the wiring harness structure of Embodiment 7 of the present application.

Detailed ways

In the following, only certain exemplary embodiments are briefly described. As those skilled in the art would realize, the described embodiments may be modified in various different ways without departing from the spirit or scope of the application. Accordingly, the drawings and description are to be regarded as illustrative in nature and not restrictive. It should be noted that in the technical solution of this disclosure, the acquisition, storage and application of user personal information involved are in compliance with relevant laws and regulations and do not violate public order and good customs.

Embodiment 1

Figure 1 shows a flowchart of a method for controlling a robotic arm of a vehicle screen according to an embodiment of the present application. As shown in Figure 1, the robotic arm control method of the vehicle screen includes the following steps:

Step S101: Determine the target position of the on-board screen based on the current seat position of the target passenger. The target position is a position that matches the line of sight of the target passenger;

Step S102: Control the movement of the robotic arm so that the robotic arm drives the vehicle screen to move to the target position.

In this embodiment, the vehicle-mounted screen can implement at least one action driven by the mechanical arm. The action can be a telescopic action along the X-axis, Y-axis, or Z-axis, or it can also be a telescopic action along the rotation action. Among them, the X-axis is the length direction of the vehicle, and the positive direction of the X-axis points to the rear direction of the vehicle, the Y-axis is the width direction of the vehicle, and the Z-axis is the height direction of the vehicle, as shown in Figure 2. Furthermore, based on these actions, more detailed actions on the vehicle screen can be realized, such as nodding, shaking, shaking and other anthropomorphic actions.

The vehicle screen can be any display screen installed on the vehicle, such as the central control screen (Center Informative Display, CID, also called the central information display), passenger screen, head-up display (Head Up Display, HUD), rear screen, etc. . Preferably, the vehicle screen in this embodiment is a central control screen.

The robotic arm can use a multi-degree-of-freedom vehicle-mounted digital robot to drive the vehicle-mounted screen to complete actions with multiple degrees of freedom.

It should be noted that the embodiments of the present application do not specifically limit the electrical performance, mechanical structure, etc. of the robotic arm, as long as the robotic arm can drive the motion of the vehicle screen.

In one example, the position of the vehicle screen can be characterized by screen coordinates, for example, the coordinates of one or more key points on the vehicle screen are used as the position of the vehicle screen.

The position of the vehicle screen can be collected through the gyro sensor of the vehicle screen, which can improve the anti-pinch success rate during the movement of the robotic arm; ensure the stability of the vehicle screen during movement and reduce shaking caused by the movement or movement of the screen; enhance The vehicle screen has the ability to always maintain the orientation of the vehicle screen display during rotation.

In one example, the seat position may include a seat fore and aft position and/or a seat height position and/or a seat back angle. The target passenger can be the driver or other passengers other than the driver.

After the target passenger is seated, the current seat height position and/or the front and rear position of the seat and/or the current seat back angle of the seat (target seat) on which the target passenger can sit is obtained, and then the target position of the vehicle screen is determined. That is to say, the target position of the vehicle screen corresponds to the current seat position and can match the line of sight of the target passenger, thereby ensuring that the vehicle screen faces the target passenger to achieve a better viewing angle.

For example, the target passenger's head position or eye position can be estimated based on the current seat position, and further based on the distance between the target seat and the vehicle screen, it is determined that the vehicle screen can face the target passenger's head or eyes The target position, even if the target position of the in-vehicle screen matches the line of sight of the target passenger.

In this embodiment, the position where the vehicle screen matches the line of sight of the target passenger can be used as the adaptive screen position.

According to the method of this embodiment, when the user turns on the seat adaptive adjustment mode, after determining the adaptive screen position corresponding to the current seat position, driven by the mechanical arm, the vehicle screen can move from the current position to The adaptive screen position (target position) completes adaptive adjustment, so that the vehicle screen can provide a better viewing angle to the target passengers at any time, thereby improving vehicle intelligence and user experience.

As shown in Figure 3, an embodiment of the present application provides a vehicle control system, including an information domain controller (Infotainment Domain Control Module, IDCM), a body domain controller (Body Domain Control Module, BDCM), Vehicle-mounted screen module and Robotic Arm Controller (RAC). The above control method can be executed by the RAC, that is, the RAC executes the methods in steps S101 to S103.

Specifically, the BDCM is communicatively connected with the seat module to obtain the seat position from the seat module, including the seat height position and/or the seat's front and rear position and/or the seat back angle. The BDCM communicates with the IDCM, and the IDCM communicates with the RAC, and then sends the seat position to the RAC.

The vehicle screen module includes a gyroscope, which allows the position of the vehicle screen to be collected. The vehicle screen module is communicated with the IDCM, and the IDCM is communicated with the RAC, and then sends the position of the vehicle screen to the RAC.

In step S102, controlling the movement of the robotic arm may specifically include: RAC generates control instructions for the servo motor (robot arm actuator) according to the target position of the vehicle-mounted screen, and the servo motor drives the movement of the robotic arm according to the control instructions, thereby driving the movement of the vehicle-mounted screen. .

For example, the actuator of the robotic arm may be a drive motor. There are four drive motors, and they can be servo motors. The four servo motors respectively drive the extension of the robotic arm in the X direction and the rotation along the X, Y, and Z axes.

In one implementation, as shown in Figure 4, in step S101, determining the target position of the vehicle screen based on the current seat position of the target passenger may include:

Step S401: Determine lighting parameters and the current position of the vehicle screen. The lighting parameters include lighting direction and lighting intensity;

Step S402: Determine the target position of the vehicle screen based on the current seat position of the target passenger, lighting parameters and the current position of the vehicle screen.

In this embodiment, the illumination parameters may include illumination direction and illumination intensity. In one example, the lighting parameter may be a lighting parameter of a forward light to characterize a forward light state. The current seat position can roughly reflect the head position of the target passenger after sitting down.

Figure 4 shows an application scenario of this embodiment. As shown in Figure 4, when the vehicle is driving, as the lighting conditions change, the position of the vehicle screen may cause dazzling to the target passengers. When the target passenger is the driver, it will also affect driving safety.

For example, based on the current illumination parameters, the current seat position and the current position of the vehicle screen, it can be determined whether the current position of the vehicle screen is in a position that dazzles the target passengers, and if the judgment result is yes, according to The current seat position and current lighting parameters determine the target position where glare can be avoided. When the judgment result is no, the current position of the vehicle screen is the target position, that is, there is no need for the vehicle screen to move and the robot arm does not need to move.

According to the method of this embodiment, when the vehicle-mounted screen is in a position that may be dazzling, the movement of the robotic arm can be automatically controlled to drive the vehicle-mounted screen to move to the target position to avoid dazzling.

In one example, as shown in Figure 6, after determining the target position of the vehicle screen based on the lighting parameters, the current position of the vehicle screen, and the current seat position, the execution of the robotic arm is controlled based on Proportional Integral Derivative (PID) adjustment. The driver drives the movement of the robotic arm. During the movement, the actuator of the robotic arm will feedback the position of the robotic arm so that PID adjustment can be performed accurately.

In one embodiment, in step S101, determining the target position of the on-board screen based on the current seat position of the target passenger includes: obtaining an adaptive relationship between multiple preset seat positions and multiple adaptive screen positions. Correspondence, in which the adaptive screen position matches the passenger's line of sight at the corresponding preset seat position; according to the adaptive correspondence and the current seat position, the adaptive screen position corresponding to the current seat corresponding parameters is determined is the target position of the car screen.

For example, an adaptive correspondence relationship between different position states of each seat and the position of the robot arm can be established in advance, such as a corresponding calibration algorithm or corresponding calibration parameters, and the adaptive correspondence relationship is provided when the vehicle leaves the factory. Further, the corresponding calibration algorithm or the corresponding calibration algorithm supports Over The Air (OTA) updates.

In one example, each seat on the vehicle is provided with an adaptive correspondence relationship with the vehicle screen. For example, there is a first adaptive correspondence between multiple seat positions of the main driver's seat and multiple adaptive screen positions. There is a second adaptive correspondence relationship between multiple seat positions of the passenger seat and multiple adaptive screen positions.

In yet another example, adaptive correspondence can be matched to users. For example: after the target passenger sits down, by identifying the user identity of the target passenger and the target seat where the target passenger sits, the adaptive correspondence relationship between the target seat corresponding to the target passenger is determined. After determining the adaptive correspondence, the corresponding adaptive screen position is determined based on the current seat position and used as the target position of the vehicle screen.

This improves the efficiency of determining the target position and allows the adaptive adjustment to be personalized for each user or each seat.

In one implementation, the control method of the embodiment of the present application may also include: when a position change operation on the vehicle screen is detected, sending a prompt to update the adaptive screen position; upon receiving a prompt to update the adaptive screen position; In the case of instructions, the current position of the vehicle screen is determined as the adaptive screen position corresponding to the current seat position.

When the seat adaptive adjustment mode is turned on, if it is detected that the user manually changes the position of the vehicle screen, after the robot arm movement is completed, a dialog box will pop up on the vehicle screen to confirm whether to update the adaptive screen position; after receiving After the user confirms the operation, in the adaptive correspondence relationship, the correspondence relationship between the current seat position and the adaptive screen position of the robotic arm is updated and stored in real time, and the next time it is executed according to the updated adaptive correspondence relationship.

In the vehicle control system shown in Figure 3, the user's manual position change operation of the vehicle screen can be detected by the RAC, and the detection result signal is sent to the IDCM, and the IDCM sends it to the vehicle screen module, so that the vehicle screen module can The detection result signal pops up a dialog box, and monitors the user's operation on the dialog box, and sends the operation result to RAC through IDCM, and RAC updates and stores the adaptive screen position and corresponding adaptive correspondence.

In one implementation, the control method of the embodiment of the present application may further include: when detecting that the steering wheel is in a moving state, controlling the robot arm to stop moving; and/or controlling the robot arm when detecting a collision with the vehicle. The robot arm stops moving; and/or, when it is detected that the current vehicle speed exceeds the vehicle speed threshold, the robot arm is controlled to stop moving.

That is, there are constraints on the movement of the robotic arm, i.e. the steering wheel is in motion and/or the vehicle collides and/or the vehicle speed exceeds the vehicle speed threshold. When a restriction condition is detected, the robot arm is controlled to stop moving, thereby improving the safety of the robot arm.

It should be noted that controlling the robotic arm to stop movement when it is detected that the current vehicle speed exceeds the vehicle speed threshold can be understood as controlling the robotic arm to stop adaptive movement, but allows the user to manually fine-tune the position of the robotic arm. The range of fine adjustment can be set according to the actual situation and is not limited here.

In the vehicle control system as shown in Figure 3, the control system of this embodiment may also include a vehicle collision detection module, which is connected to the IDCM and used to send vehicle collision detection information to the RAC through the IDCM; the RAC is also used to detect vehicle collisions when the vehicle collides. When the detection information is that the vehicle is about to collide or has already collided, the robot arm is controlled to stop driving the vehicle-mounted screen, or the robot arm is controlled to drive the vehicle-mounted screen to move away from the passengers.

Based on this, it is possible to prevent passengers from colliding with the vehicle screen under the action of inertia during a collision and causing injuries. For example, the vehicle collision system communicates with the IDCM through the BDCM.

In one implementation, as shown in Figure 3, the control system of this embodiment may also include a Vehicle Domain Control Module (VDCM), which is communicated with the IDCM and used to send vehicle speed information to the RAC through the IDCM; RAC is also used to control the robot arm to stop driving the vehicle screen when the vehicle speed information exceeds the vehicle speed threshold.

In one implementation, the BDCM communicates with the steering wheel module to detect whether the steering wheel is in motion, and sends the detection result to the RAC through the IDCM. When the detection result is that the steering wheel is in motion, the RAC stops driving the movement of the on-board screen.

In yet another example, the RAC can control the on-board screen to perform adaptive adjustments based on the steering wheel information. Specifically, the BDCM is communicatively connected with the steering wheel module to obtain the steering wheel position, including the tilt position and/or telescopic position, from the steering wheel module. The BDCM communicates with the IDCM, and the IDCM communicates with the RAC, and then sends the steering wheel position to the RAC. RAC determines whether the on-board screen will interfere with the steering wheel when performing the target action. When the judgment result is that interference will occur, the target position of the vehicle-mounted screen is determined so that the vehicle-mounted screen can avoid interference with the steering wheel when performing actions. In other words, RAC can collect relative position information to the steering wheel, limit the action range of the vehicle screen by calculating the safe distance between the vehicle screen and the steering wheel, and control to keep the distance between the vehicle screen and the steering wheel always greater than or equal to the above safety distance.

In an application example, when the user turns on the seat adaptive mode, the position of the car screen will be adaptively adjusted as the seat position is adjusted, so that the car screen is always placed at the most suitable position and angle for the target passengers to watch. That is, adaptive screen position. The adaptive correspondence between the adaptive screen position and the seat position can be self-learned and updated through OTA. If the user manually adjusts the position of the vehicle screen in the seat adaptive mode, the central control screen will ask whether to save the adaptive data. The user can choose to save or not save. After the user saves, the corresponding adaptive correspondence will be updated. The next adaptive adjustment executes a new adaptive correspondence.

Embodiment 2

Figure 7 illustrates a robotic arm control method for a vehicle-mounted screen according to an embodiment of the present application. As shown in Figure 7, the control method includes:

Step S701: Determine the target position of the vehicle-mounted screen according to the line of sight of the target passenger, and the target position is a position that matches the line of sight of the target passenger;

Step S702: Control the movement of the robotic arm so that the robotic arm drives the vehicle screen to move to the target position.

Among them, the sight line of the target passenger can be obtained based on eye tracking technology; it can also be obtained by collecting images of key points (such as face or eyes) of the target passenger.

In one embodiment, in step S701, determining the target position of the vehicle-mounted screen based on the line of sight of the target passenger includes: determining the line of sight of the target passenger based on the current seat position of the target passenger, where the seat position includes a seat Height position and/or seat fore and aft position and/or seat angle.

The head position or eye position of the target passenger can be estimated based on the current seat position to determine the implementation. And further based on the distance between the target seat and the vehicle screen, determine the target position where the vehicle screen can face the head or eyes of the target passenger, even if the target position of the vehicle screen matches the line of sight of the target passenger.

Step S702 can be implemented in a manner similar to step S102 in Embodiment 1, and can achieve similar technical effects, which will not be described again here.

In an application example, the method of this embodiment can be executed by RAC.

In one implementation, as shown in Figure 3, the IDCM is also used to obtain the visual collection information of the visual sensor and send it to the RAC; the RAC is also used to determine the target position of the vehicle screen based on the visual collection information and control the robotic arm. Drive the vehicle screen to move to the target position, and the visual sensor includes a camera or human body position sensor.

For example, the vision sensor is installed on the front of the vehicle screen, the vision sensor is used to detect the position of the user's eyes, and the vision sensor is communicatively connected to the IDCM. Further, through the visual sensor and the control system, with the help of the angle adjustment mechanism and the multi-degree-of-freedom adjustment mechanism, the front of the vehicle screen is set as far as possible toward the driver, where the visual sensor is a (smart) camera or a human body position sensor.

Embodiment 3

Figure 8 shows a robot arm control device for a vehicle-mounted screen according to an embodiment of the present application. As shown in Figure 8, the control device includes:

The first target position determination module 801 is used to determine the target position of the vehicle screen based on the current seat position of the target passenger, where the target position is a position that matches the line of sight of the target passenger;

The first motion trajectory determination module 802 is used to control the movement of the robotic arm so that the robotic arm drives the vehicle-mounted screen to move to the target position.

In one implementation, the first target position determination module 801 is used to:

Determine the illumination parameters and the current position of the vehicle screen. The illumination parameters include illumination direction and illumination intensity;

Determine the vehicle screen based on the current seat position of the target passenger, lighting parameters and the current position of the vehicle screen. target position of the screen.

Obtaining adaptive correspondences between multiple preset seat positions and multiple adaptive screen positions, wherein the adaptive screen positions match the passenger's line of sight at the corresponding preset seat positions;

According to the adaptive correspondence relationship and the current seat position, the adaptive screen position corresponding to the current seat position is determined as the target position of the vehicle screen.

In one embodiment, the control device may also include:

A prompt sending module, used to send a prompt to update the position of the adaptive screen when a position change operation on the vehicle screen is detected;

An update module, configured to determine the current position of the vehicle screen as the adaptive screen position corresponding to the current seat position upon receiving an instruction to update the adaptive screen position.

In one embodiment, the control device may also include:

A detection module, used to control the robot arm to stop moving when the steering wheel is detected to be in motion; and/or, to control the robot arm to stop moving when a collision with the vehicle is detected; and/or, to detect that the current When the vehicle speed exceeds the vehicle speed threshold, the robot arm is controlled to stop moving.

For the functions of each module in each device in the embodiment of this application, please refer to the corresponding description in the method of the first embodiment above, and will not be described again here.

Embodiment 4

An embodiment of the present application also provides a robot arm control device for a vehicle-mounted screen. The control device includes:

The second target position determination module is used to determine the target position of the vehicle screen according to the line of sight of the target passenger, and the target position is a position that matches the line of sight of the target passenger;

The second motion trajectory determination module is used to control the movement of the robotic arm so that the robotic arm drives the vehicle-mounted screen to move to the target position.

In one embodiment, the control device may also include:

The line of sight determination module is used to determine the line of sight of the target passenger based on the current seat position of the target passenger, where the seat position includes a seat height position and/or a seat front and back position and/or a seat angle.

For the functions of each module in each device in the embodiment of this application, please refer to the corresponding description in the method of the second embodiment above, and will not be described again here.

Embodiment 5

Currently, display devices are used in more and more situations. For example, the vehicle display screen is installed in the middle position in front of the main driver's seat and the front passenger seat through a support mechanism. Since different drivers have different seat positions and different sight positions when driving, they need to adjust the position of the display screen during use to facilitate viewing of the display screen. However, when adjusting the display screen, the driver needs to manually adjust the support mechanism of the display screen, which is inconvenient and results in a poor user experience.

The embodiment of the present application aims to provide a vehicle-mounted display screen control method. First, the vehicle's seat position data is obtained, and then based on the mapping relationship between the pre-configured seat position and the screen target position and the seat position data, the vehicle's seat position data is obtained. The screen target position data corresponding to the seat position data is used, and finally the position of the vehicle display screen is adjusted according to the screen target position data. After the vehicle seat (such as the main driver's seat) is adjusted, the embodiment of the present application can control the display screen to automatically turn to the main driver by obtaining the seat position data, and realize the linkage between the vehicle display screen and the seat, that is, the automatic adjustment of the vehicle display screen. Adjustment allows users to use the screen in a comfortable state and improves user experience.

Referring to Figure 9, an embodiment of the present application provides a vehicle display screen control method, which includes the following steps:

S11, obtain the seat position data of the vehicle;

S12, obtain the screen target position data corresponding to the seat position data according to the preconfigured mapping relationship between the seat position and the screen target position and the seat position data;

S13: Adjust the position of the vehicle display screen according to the screen target position data.

For example, in step S101, determining the target position of the vehicle-mounted screen according to the current seat position of the target passenger may include steps S11 and S12; in step S102, control the movement of the robotic arm so that the robotic arm drives the movement of the vehicle-mounted screen. To the target position may include: controlling the movement of the robotic arm according to the screen target position data, so that the robotic arm drives the vehicle-mounted screen to move to the target position.

It should be noted that the vehicle display screen in the embodiment of the present application is equipped with a corresponding screen adjustment mechanism (such as a mechanical arm), and the screen adjustment mechanism can adjust the front and rear position, rotation angle and other positions of the screen. After the vehicle seat (such as the main driver's seat) is adjusted, the embodiment of the present application obtains the seat position data, and then determines the position of the driver's eyes based on the seat position data, and then controls the display screen to turn to the main driver, realizing vehicle-mounted The linkage between the display screen and the seat means the automatic adjustment of the on-board display screen, allowing users to use the screen in a comfortable state and improving the user experience.

In step S11, it is necessary to obtain the seat position data of the vehicle. Wherein, the seat position data includes front and rear position data, up and down position data and front and rear rotation angle data of the seat. Further, the method further includes: initiating a seat position adjustment function in response to a seat adjustment instruction triggered by the user; and obtaining the seat position data of the vehicle after the seat position adjustment is completed. In the specific implementation, the user adjusts the seat position through the seat switch, and the seat position data is obtained by the sensor and sent to the body domain controller, and then forwarded to the robot arm controller. Among them, the vehicle display control system includes controllers such as body domain controller and robotic arm controller.

Further, when a user-triggered instruction to start screen adjustment is received, it is determined that the seat position adjustment is completed; or, when a user-triggered instruction to turn off the seat adjustment is received, it is determined that the seat position adjustment is completed. After the seat position adjustment is completed, obtain the vehicle's seat position data, and then start adjusting the screen position.

In step S12, screen target position data corresponding to the seat position data is obtained based on the preconfigured mapping relationship between the seat position and the screen target position and the seat position data. The robot arm controller first receives the seat position data, then obtains the screen target position data corresponding to the seat position data, and finally adjusts the screen position.

In step S13, the position adjustment of the vehicle display screen is performed according to the screen target position data, which specifically includes: calculating the movement direction and movement distance of the screen according to the screen target position data and the pre-acquired screen initial position data; The position of the vehicle display screen is adjusted according to the movement direction and the movement distance.

It should be noted that after the system installation is completed, the robot arm controller will calibrate the screen position so that Get screen initial position data. After each screen movement, the robot arm controller records the screen position data. According to the screen target position data and the screen initial position data, the direction in which the screen needs to move and the distance required to move in each direction of movement can be obtained after calculation, thereby controlling the screen to move to the screen target position.

Preferably, the method further includes: normalizing the seat position data to obtain standard seat position data; and mapping the seat position to the screen target position according to the standard seat position data. to configure.

In this embodiment, in order to facilitate calculation, the seat position data is normalized to obtain standard seat position data. Wherein, the seat position data includes the front and rear position data, the up and down position data and the front and rear rotation angle data. The front and rear position data and the up and down position data are used to indicate the front and rear, up and down positions of the seat base, and the front and rear rotation angle data are used to indicate the position of the seat back. For example, if the total movable stroke of the seat base back and forth, the total movable stroke up and down, and the total movable stroke of the seat back front and back are all regarded as 1, then the front and rear position data, the up and down position data and the front and rear rotation angle data are The value range is [0, 1]. In the specific implementation, the seat position data is evaluated according to the position ratio of the seat. For example, assuming that the total movable stroke of the seat is 100mm, the farthest point from the front of the car is the starting point on the total movable stroke of the seat. When the front-to-back position data of the seat is 0.2, it means that the seat is at this time. The front and rear travel is 20mm, and the same applies to other directions, so I won’t go into details here.

In one implementation, the mapping relationship between the seat position and the screen target position is configured as:
x＝-30*u-10*w+40
Ry＝-5*v-2.5*w
Rz＝-5*u-5*v-5

Among them, x is the front and rear position data of the screen, the unit is mm; Ry is the pitch angle data of the screen, the unit is °; Rz is the left and right angle data of the screen, the unit is °; the screen target position data includes the front and rear position data , the pitch angle data and the left and right angle data; u is the front and rear position data of the seat; v is the up and down position data of the seat; w is the front and rear rotation angle data of the seat, and the seat position data includes the The front and rear position data, the up and down position data and the front and rear rotation angle data.

At this time, the mapping relationship between the seat position and the screen target position includes: the front and rear position data, pitch angle data and left and right angle data of the screen determined by the seat's front and rear position data, up and down position data and front and rear rotation angle data, mapping The relationship is expressed by the above formula.

Referring to Figure 2, it should be noted that the principle of the screen adaptive seat is to ensure that the screen corresponds to the human eye and is equidistant and vertical as much as possible. If the seat moves forward, the screen moves forward and deflects to the left, that is, x decreases, and Rz decreases; when the seat moves upward, the screen deflects upward and to the left, that is, Ry decreases, and Rz decreases; the seat Forward tilt movement, the screen moves forward and deflects upward, that is, x decreases and Ry decreases. If the seat moves in the opposite direction, the screen movement direction is also reversed.

In this embodiment, calculation is performed based on the above formula and seat position data to obtain screen target position data. By mapping the values of the three degrees of freedom of the seat into the above formula in real time, the screen can be calculated in real time. position, and control the movement of the screen through dynamic trajectories.

In another embodiment, the configuration process of the mapping relationship between the seat position and the screen target position includes: obtaining the front and rear travel range, the up and down travel range and the front and rear rotation angle range of the vehicle seat; according to the front and rear travel range . The up and down stroke range and the front and rear rotation angle range are divided into multiple seat position intervals; wherein the seat position interval is composed of a front and rear position interval, an up and down position interval and a front and rear rotation angle interval;

Based on the principle that the screen corresponds to the equidistant vertical direction of the human eye, the screen position data corresponding to each of the seat position intervals is determined.

Among them, after normalization processing, the front and rear travel range, up and down travel range, and front and rear rotation angle range of the vehicle seat are all [0, 1]. When dividing the seat position intervals, they can be divided into equal parts or divided according to a certain proportion. At this time, the mapping relationship between the seat position and the screen target position includes multiple seat position intervals and screen position data corresponding to each seat position interval. The mapping relationship can be carried out in the form of tables, graphics, text, etc. Record and save. In this embodiment, the movement of the three degrees of freedom of the seat is divided into several intervals. When the movement range of a certain degree of freedom exceeds the length of the interval, the adaptive movement of the screen is triggered.

In order to facilitate the understanding of this embodiment, the embodiment of the present application will be further described below in conjunction with the examples in Tables 1-4.

For example, the front and rear travel ranges are equally divided into four intervals, namely [0,0.25], [0.26,0.5], [0.51,0.75] and [0.76,1]; the upper and lower travel ranges are equally divided into three intervals , namely [0,0.33], [0.34,0.66] and [0.67,1]; divide the front and rear rotation angle range into three intervals, namely [0,0.33], [0.34,0.66] and [0.67,1] . Then, after combining the above sections, 4*3*3=36 seat position sections are generated. Finally, based on the principle that the screen corresponds to the equidistant vertical direction of the human eye, the screen position data corresponding to each of the seat position intervals is determined.

It should be noted that in other embodiments, the division of intervals may be more detailed, such as 5*3*3, 4*4*4, etc., which is not limited in the embodiments of the present application. When the intervals are divided too much, the position of the screen needs to be adjusted every time the seat is moved, but at this time the difference in the position of the screen perceived by the human eye is very small. Therefore, the 36 location intervals provided in the embodiment of this application are relatively typical and reasonable, and can meet the needs of users.

In this embodiment, all seat position intervals are first queried according to the seat position data to obtain a target seat position interval that matches the seat position data; wherein, the seat position data It includes front and rear position data, up and down position data and front and rear rotation angle data of the seat; and then the screen position data corresponding to the target seat position interval is determined as the screen target position data.

Table 1 Mapping relationship between seat position and screen target position (1)

Table 2 Mapping relationship between seat position and screen target position (2)

Table 3 Mapping relationship between seat position and screen target position (3)

Table 4 Mapping relationship between seat position and screen target position (4)

The vehicle display screen control method provided by the embodiment of the present application first obtains the seat position data of the vehicle, and then obtains the seat position data based on the mapping relationship between the pre-configured seat position and the screen target position and the seat position data. The screen target position data corresponding to the position data, and finally the position of the vehicle display screen is adjusted according to the screen target position data. After the vehicle seat (such as the main driver's seat) is adjusted, the embodiment of the present application can control the display screen to turn to the main driver by obtaining the seat position data, and realize the linkage between the vehicle display screen and the seat, that is, the automatic adjustment of the vehicle display screen , thereby allowing users to use the screen in a comfortable state and improving the user experience.

Embodiments of the present application provide a vehicle-mounted display screen control system, including: a data acquisition module, used to obtain the seat position data of the vehicle; a position calculation module, used to calculate the mapping relationship between the pre-configured seat position and the screen target position. and the seat position data to obtain screen target position data corresponding to the seat position data; a position adjustment module used to position the vehicle display screen according to the screen target position data.

It should be noted that the vehicle-mounted display screen control system provided by the embodiment of the present application is used to execute all the process steps of the vehicle-mounted display screen control method of the above-mentioned embodiment. The working principles and beneficial effects of the two correspond one to one. Therefore no further details will be given.

An embodiment of the present application also provides a vehicle, including a display screen, a screen adjustment mechanism, and a vehicle-mounted display screen control system.

It should be noted that the vehicle in the embodiment of the present application is equipped with a vehicle-mounted display screen and a screen adjustment mechanism (such as a mechanical arm). The screen adjustment mechanism can adjust the front and rear position, rotation angle and other positions of the screen. After the vehicle seat (such as the main driver's seat) is adjusted, the embodiment of the present application obtains the seat position data, and then determines the position of the driver's eyes based on the seat position data, and then controls the display screen to turn to the main driver, realizing vehicle-mounted The linkage between the display screen and the seat means the automatic adjustment of the on-board display screen, allowing users to use the screen in a comfortable state and improving the user experience.

An embodiment of the present application also provides a terminal device. The terminal device includes: a processor, a memory, and a computer program stored in the memory and executable on the processor, such as a vehicle display screen control program. When the processor executes the computer program, it implements the steps in each of the above vehicle display screen control method embodiments, such as step S11 shown in FIG. 9 . Alternatively, when the processor executes the computer program, it implements the functions of each module/unit in each of the above device embodiments, such as a position adjustment module.

Exemplarily, the computer program can be divided into one or more modules/units, and the one or more modules/units are stored in the memory and executed by the processor to complete the implementation of the present application. example. The one or more modules/units may be a series of computer program instruction segments capable of completing specific functions. The instruction segments are used to describe the execution process of the computer program in the terminal device.

The terminal device may be a computing device such as a desktop computer, a notebook, a PDA, a smart tablet, etc. The terminal device may include, but is not limited to, a processor and a memory. Those skilled in the art can understand that the above-mentioned components are only examples of terminal equipment and do not constitute a limitation on the terminal equipment. It may include more or less components than the above-mentioned, or combine certain components, or different components, such as The terminal device may also include input and output devices, network access devices, buses, etc.

The so-called processor can be a central processing unit (Central Processing Unit, CPU), or other general-purpose processor, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), off-the-shelf Programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general processor may be a microprocessor or the processor may be any conventional processor, etc. The processor is the control center of the terminal device and uses various interfaces and lines to connect various parts of the entire terminal device.

The memory may be used to store the computer program and/or module. The processor implements the terminal by running or executing the computer program and/or module stored in the memory and calling data stored in the memory. various functions of the device. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the storage data area may store Data created based on the use of mobile phones (such as audio data, phone books, etc.), etc. In addition, the memory may include high-speed random access memory and may also include non-volatile memory, such as Such as hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card (Flash Card), at least one disk storage device, flash memory device, or other easy-to-use Non-volatile solid-state memory devices.

Wherein, if the modules/units integrated with the terminal device are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the embodiments of the present application implement all or part of the processes in the methods of the above embodiments, and can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When executed by the processor, the computer program can implement the steps of each of the above method embodiments. Wherein, the computer program includes computer program code, which may be in the form of source code, object code, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording media, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory) , Random Access Memory (RAM, Random Access Memory), electrical carrier signals, telecommunications signals, and software distribution media, etc. It should be noted that the content contained in the computer-readable medium can be appropriately added or deleted according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium Excludes electrical carrier signals and telecommunications signals.

It should be noted that the device embodiments described above are only illustrative. The units described as separate components may or may not be physically separated. The components shown as units may or may not be physically separate. The unit can be located in one place, or it can be distributed across multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, in the drawings of the device embodiments provided in the embodiments of this application, the connection relationship between modules indicates that there are communication connections between them, which can be specifically implemented as one or more communication buses or signal lines. Persons of ordinary skill in the art can understand and implement the method without any creative effort.

Embodiment 6

Figure 10 shows a structural block diagram of an electronic device according to an embodiment of the present application. As shown in Figure 10, the electronic device includes: a memory 1001 and a processor 1002. The memory 1001 stores instructions that can be run on the processor 1002. When the processor 1002 executes the instruction, the robot arm control method of the vehicle screen in the above embodiment is implemented. The number of memory 1001 and processor 1002 may be one or more. This electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic devices may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are examples only and are not intended to limit the implementation of the present application as described and/or claimed herein.

The electronic device may also include a communication interface 1003 for communicating with external devices for interactive data transmission. Each device is connected to each other using different buses and can be installed on a common motherboard or as needed. To install in other ways. The processor 1002 may process instructions executed 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 with multiple memories and multiple memories, if desired. Likewise, multiple electronic devices can be connected, each device providing part of the necessary operation (eg, as a server array, a set of blade servers, or a multi-processor system). The bus can be divided into address bus, data bus, control bus, etc. For ease of presentation, only one thick line is used in Figure 10, but it does not mean that there is only one bus or one type of bus.

Optionally, in terms of specific implementation, if the memory 1001, the processor 1002 and the communication interface 1003 are integrated on one chip, the memory 1001, the processor 1002 and the communication interface 1003 can communicate with each other through the internal interface.

It should be understood that the above-mentioned processor can be a central processing unit (Central Processing Unit, CPU), or other general-purpose processor, digital signal processor (Digital Signal Processing, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), Field Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor, etc. It is worth noting that the processor may be a processor that supports Advanced RISC Machines (ARM) architecture.

Embodiments of the present application provide a computer-readable storage medium (such as the above-mentioned memory 1001), which stores computer instructions. When the program is executed by a processor, the method provided in the embodiment of the present application is implemented.

Optionally, the memory 1001 may include a stored program area and a stored data area, wherein the stored program area may store an operating system and an application program required for at least one function; the stored data area may store data created based on the use of the electronic device, etc. . In addition, the 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, the memory 1001 optionally includes memory located remotely relative to the processor 1002, and these remote memories can be connected to the electronic device through a network. Examples of the above-mentioned networks include but are not limited to the Internet, intranets, local area networks, mobile communication networks and combinations thereof.

Embodiment 7

The following describes a robotic arm according to an embodiment of the present application with reference to FIGS. 11 to 19 . The robotic arm can be used in the methods or devices or electronic equipment in Embodiments 1 to 6.

As shown in Figure 11, an optional embodiment of a robotic arm is shown, including: a multi-degree-of-freedom adjustment mechanism fixed on the back of the vehicle screen 3, and a plurality of telescopic units installed on the multi-degree-of-freedom adjustment mechanism; wherein , the robotic arm is used to drive the vehicle screen 3 to complete any one or more of the following four actions. The four actions include: vehicle screen translation action, vehicle screen flip action, vehicle screen rotation action, and vehicle screen forward and backward movement. Further, assuming that the vehicle-mounted screen 3 is in a state where no action is taking place as the initial state, when the vehicle-mounted screen 3 is in the initial state, it has an initial axis in space, and the initial axis is perpendicular to the plane where the vehicle-mounted screen 3 is located in the initial state. ; then the above four actions have the following specific explanations: vehicle screen panning action: as shown in Figure 16 As shown in Figure 15, the front of the vehicle screen 3 is translated, and the front of the vehicle screen 3 is translated at any angle in a plane perpendicular to the initial axis; the vehicle screen flip action: As shown in Figure 15, the front of the vehicle screen 3 is flipped, and the vehicle screen 3 is flipped. There is an angle between the front of the screen 3 and the initial axis after the flip is completed; the vehicle screen rotation action: as shown in Figure 17, the front of the vehicle screen 3 rotates around the initial axis or an axis parallel to the initial axis; the vehicle screen Back and forth movement: As shown in Figure 18, the front of the vehicle screen 3 moves in the front and rear directions, and the moving direction of the front of the vehicle screen 3 is set parallel to the initial axis. In other words, multiple telescopic units are used to drive the vehicle-mounted screen 3 to flip up, down, left, and right, and a multi-degree-of-freedom adjustment mechanism is used to drive the vehicle-mounted screen 3 to rotate and translate. Up, down, left, and right refer to when the above-mentioned vehicle-mounted screen 3 is facing the user. In the vertical state of the vehicle, relative to the initial position, the vehicle-mounted screen 3 performs movements such as the upper part tilting to the rear, the lower part tilting to the rear, the left part tilting to the rear, and the right part tilting to the rear.

Furthermore, as an optional embodiment, the vehicle-mounted central control screen adjustment mechanism involved in this application may not be provided with the above-mentioned multi-degree-of-freedom adjustment mechanism, and directly connect the vehicle-mounted screen 3 with several telescopic units 10, thereby realizing that the control screen can It only swings up, down, left and right according to the usage requirements.

Furthermore, as an optional embodiment, the vehicle-mounted central control screen adjustment mechanism involved in this application can also directly connect the vehicle-mounted screen 3 with the multi-degree-of-freedom adjustment mechanism without providing the above-mentioned telescopic units, thereby realizing the control screen itself. Rotational and translational sliding.

In another optional embodiment, the movement of each telescopic unit is connected to a multi-degree-of-freedom adjustment mechanism, and the driving end of each telescopic unit is connected to a driving part.

Further, as an optional embodiment, the driving part is a center console inside the car.

Furthermore, as an optional embodiment, a corresponding control system is provided in the center console, and the control system is used to control the telescopic actions of several telescopic units and the movement of the multi-degree-of-freedom adjustment mechanism.

Furthermore, as an optional embodiment, the telescopic unit can also be a bendable rod with a ball head structure, and the telescopic rod interferes with the side of the ball head and the multi-degree-of-freedom adjustment mechanism away from the vehicle screen 3 Extruded installation. Furthermore, the user can manually apply force on the vehicle-mounted screen 3, so that the multi-degree-of-freedom adjustment mechanism exerts force on the ball head structure as part of the force transmission, and when the ball head structure is made to swing to a certain angle, the ball head structure and the multi-degree-of-freedom adjustment mechanism are Sufficient friction is generated between the adjustment mechanisms so that the vehicle screen 3 maintains its current position.

Further, as an optional embodiment, the moving end of each telescopic unit includes: a linear motion unit 11 and a multi-degree of freedom connector. One end of the linear motion unit 11 is connected to the multi-degree of freedom connector, and the multi-degree of freedom connector is connected. The device is installed on a multi-degree-of-freedom adjustment mechanism.

Further, as an optional embodiment, the multi-degree-of-freedom connector is a ball joint structure or a universal joint structure.

Further, as shown in Figure 12, as an optional embodiment, the ball joint structure includes: a ball joint 12 and a ball socket slider 13. The ball joint 12 is fixedly connected to the linear motion unit 11, and each ball joint 12 is It is installed in a ball socket slide block 13, and each ball socket slide block 13 is installed on a multi-degree-of-freedom adjustment mechanism.

Further, as an optional embodiment, each ball socket slider 13 has a ball joint 12 connected to it. Matching spherical depressions.

Further, as an optional embodiment, the universal joint joint structure includes: a first rotating part, a second rotating part and a hinge part connecting the first and second rotating parts. One end of the first rotating part is connected to the telescopic The unit is fixedly connected, the other end of the first rotating part is connected to one end of the hinge part, the other end of the hinge part is rotatably connected to one end of the second rotating part, and the other end of the second rotating part is fixedly connected to the multi-degree-of-freedom adjustment mechanism.

Further, as an optional embodiment, the linear motion unit 11 is an electric push rod or a manual push rod. Furthermore, 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 make corresponding actions; when the electric push rod of the robotic arm is in a power-off state, the electric push rod should The user is allowed to manually drive the electric push rod to expand and contract accordingly to complete the movement of the vehicle screen 3.

Furthermore, as an optional embodiment, the contact surfaces between the ball joint 12, the linear motion unit 11, the multi-degree-of-freedom adjustment mechanism and other movable parts of the mechanical arm and the corresponding connection parts have a certain frictional resistance. , the friction resistance is used to maintain the stability of the current posture during the vehicle form.

Further, as an optional embodiment, the electric push rod or the vehicle-mounted screen 3 is provided with a force sensing part. The force sensing part is used to obtain information about the external force at the corresponding position. The force sensing part passes The information of the external force determines the target of the force: when the target of the force is a passenger, that is, when the passenger pushes the vehicle screen 3, the force sensing part analyzes the information of the external force into action information, and causes the machine to The arm performs corresponding actions according to the action information to provide assistance to the passengers in the process of pushing the vehicle-mounted screen, so that the passengers can easily drive the vehicle-mounted screen 3 to complete the corresponding actions; when the target of the force is an external force that is not the passenger's intention to push, That is, when the vehicle encounters a bump or a passenger performs a touch operation on the vehicle screen, the robotic arm does not move or drives the corresponding driving part to drive in reverse to control the vehicle screen 3 to maintain the current state.

Further, as an optional embodiment, it also includes: a vehicle collision detection system. The vehicle collision detection system is installed on the car. The vehicle collision system is used to detect the driving information of the vehicle in real time. When the vehicle is about to collide or has already collided, The robotic arm immediately drives the vehicle-mounted screen 3 to quickly move away from the passengers to prevent the passengers from colliding with the vehicle-mounted screen 3 due to the inertia of the collision and causing injury.

Furthermore, as an optional embodiment, the linear motion unit 11 is an unpowered telescopic rod.

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

Furthermore, as an optional embodiment, it also includes: a plurality of guide rails 14, each guide rail 14 is installed on a multi-degree-of-freedom adjustment mechanism, and each ball socket slider 13 is slidably installed on a guide rail 14.

Based on the above, this application also has the following implementation modes:

In an optional embodiment of the present application, the robotic arm includes three telescopic units.

In an optional embodiment of the present application, the number of guide rails 14 , ball joints 12 , ball socket sliders 13 and linear motion units 11 are each three.

In an optional embodiment of the present application, the three guide rails 14 are arranged at intervals of 120 degrees in pairs. Furthermore, that is, the extension lines of the three guide rails 14 converge at a point after intersecting, and two adjacent extension lines are spaced 120 degrees apart.

In an optional embodiment of the present application, the multi-degree-of-freedom adjustment mechanism includes: a sliding mechanism 5 and a rotating mechanism 2. The rotating mechanism 2 is connected to the sliding mechanism 5, one of the rotating mechanism 2 and the sliding mechanism 5 is connected to the vehicle screen 3, and the other of the rotating mechanism 2 and the sliding mechanism 5 is connected to the telescopic unit.

As shown in Figure 13, in the optional embodiment of the present application, the rotating mechanism 2 includes: a support part, a motor 21, a worm 22, a turbine 23 and a sector gear 24. The motor 21, the worm 22 and the turbine 23 are all installed on the support part. On the vehicle, the motor 21 is connected to the worm 22, the worm 22 is drivingly connected to the turbine 23, the turbine 23 is meshed with the sector gear 24, and the sector gear 24 is installed on the vehicle screen 3 or the sliding mechanism 5. Further, the support part is connected with several telescopic units or connected with the sliding mechanism 5 . The support part has a shell-type structure, and the above-mentioned shell-type structure accommodates the motor 21, the worm 22, the turbine 23 and the sector gear 24 in the support part. The outer edge of one end of the sector gear 24 protrudes radially outward to form an arcuate portion. An arcuate rack is provided on the arcuate portion. The tooth tips of the rack are arranged radially inward. The rack is drivingly connected to the turbine 23 .

The optional embodiment of the present application also includes: two rotation stop blocks 25, the two rotation stop blocks 25 are installed on the support part, and the two rotation stop blocks 25 are respectively operable with both ends of the sector gear 24. Offset settings.

In an optional embodiment of the present application, the rotating mechanism 2 also includes: a rotating shaft, one end of the rotating shaft is fixedly installed on the support part, and the other end of the rotating shaft is rotatably installed on the back of the vehicle screen 3 or slides through a bearing or the like. Agency 5 on.

In an optional embodiment of the present application, the sliding mechanism 5 includes: a first sliding part, a second sliding part and a sliding driving device. The first sliding part is slidably connected to the second sliding part, and the sliding direction is consistent with the rotation mechanism. The rotation axis of 2 is arranged vertically, and the sliding driving device is installed between the first sliding part and the second sliding part, and the sliding driving device is used to drive the relative sliding between the first sliding part and the second sliding part.

Optional embodiments of the present application also include: a visual sensing device, the visual sensor is installed on the front of the vehicle screen 3, the visual sensor is used to detect the position of the user's eyes, and the visual sensor is connected to the control system. Furthermore, with the help of the angle adjustment mechanism and the multi-degree-of-freedom adjustment mechanism, the front of the vehicle screen 3 is set as far as possible toward the driver through the visual sensor and the control system, where the visual sensor is a smart camera or a human body position sensor. In another optional embodiment, the visual sensing device includes a plurality of visual sensors, and the plurality of visual sensors are arranged on the front of the vehicle screen 3 and/or at any position in the cab of the automobile. In a specific application of the visual sensing device, as a method of using the visual sensing device, the visual sensor is used to identify designated gestures of the passengers of the car, and based on the recognized gestures, the mechanical The arm controls the vehicle screen 3 to perform matching actions based on the gesture action information obtained by the visual sensor. For example, gestures can control the car screen to move forward and backward, or trigger the car screen to face the user according to a certain application scenario.

Optional embodiments of the present application also include: a mechanism controller, which is used to control the robotic arm. The mechanism controller can be used to collect information about passengers in the vehicle. The information includes but is not limited to The corresponding passenger's height information, weight information or gender information and other personal information, at the same time, the mechanism controller is also used to collect the seat posture information of the corresponding member, and automatically processes the passenger's personal information and seat posture information. Control the mechanical arm or the seat posture adjustment mechanism to make the front of the vehicle screen 3 face the passenger. At the same time, the mechanism controller also collects relative position information with the car's steering wheel at all times, and calculates the distance between the vehicle screen 3 and the steering wheel. A safe distance limits the range of motion of the vehicle screen 3, that is, the mechanism controller controls the mechanical arm to keep the distance between the vehicle screen 3 and the steering wheel always greater than or equal to the above-mentioned safety distance.

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

Optional embodiments of the present application also include: a sound sensing device. The sound sensing device includes several sound receivers. The plurality of sound receivers are arranged on the outer edge of the vehicle screen 3 or in the cab of the car. The sound sensing device The device is connected to the control system. Furthermore, the sound sensing device is used to detect the user's speaking position, thereby adjusting the orientation position of the vehicle-mounted screen 3 .

As shown in Figures 14 and 19, in an optional embodiment of the present application, unlike the above-mentioned technical solution that uses the matching of the ball and socket slider 13 and the slide rail to adapt to the displacement of the end of the telescopic unit, the present application Another technical solution for providing the above-mentioned displacement is also provided, specifically as follows: the driving end of each telescopic unit of the present application also has a rotating member 4, and each rotating member 4 is installed on the driving part. The moving ends are rotatably connected to a rotating member 4. That is, the adaptive displacement that originally occurs on the guide rail 14 is transferred to the rotation of the telescopic unit itself to match the displacement of the ball joint 12 of the telescopic unit.

In an optional embodiment of the present application, corresponding to the above-mentioned embodiment using the rotating 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 optional embodiment of the present application, the ball socket slider 13 is directly fixed on the multi-degree-of-freedom adjustment mechanism, and the ball joint 12 is rotatably installed on the ball socket slider 13 .

In an optional embodiment of the present application, the rotating member 4 is rotatably connected to the middle part of the linear motion unit 11 .

In an optional embodiment of the present application, the rotating member 4 is arranged in a shaft-shaped structure.

In an optional embodiment of the present application, the driving part has a shell structure, and the three rotating parts 4 are all fixedly installed on the shell.

In an optional embodiment of the present application, the axes of the three rotating members 4 intersect and are arranged at intervals of 120 degrees.

As an optional embodiment, the vehicle-mounted central control screen includes a vehicle-mounted screen 3 and a mechanical arm of any one of the above, that is, the corresponding vehicle-mounted screen 3 is a central control screen, and the central control screen is arranged in the front cabin of the car. At the platform, several telescopic units and multi-degree-of-freedom adjustment mechanisms work together to drive the central control screen to complete the vehicle-mounted screen 3 translation movement, vehicle-mounted screen 3 flipping movement, vehicle-mounted screen 3 rotation movement, and vehicle-mounted screen 3 forward and backward movement in the small space inside the car. . In addition to the application scenario examples mentioned above, the individual implementation or combined implementation based on the above actions can also form the presentation of various other application scenarios, such as turning and/or rotating to the user (driver or passenger in the car) Say hello, specific flipping actions in certain car-machine interaction scenarios (showing rocking effect or shaking head effect or head-tilt effect), specific flipping actions when over-the-air upgrade (OTA) is successful, and facing users when triggered by a certain car-machine interaction scene (such as using the car screen as a makeup mirror), triggering the car screen to move forward and backward with gesture operations or other motion capture, triggering the car screen rotation with specific content or motion capture, adjusting the amount of movement of each of the above single actions or action combinations with voice, etc.

Embodiments of the present application also provide a vehicle-mounted display device, which may include a robotic arm control unit and the robotic arm and vehicle-mounted screen of any embodiment of the present application, wherein the robotic arm control unit is used to execute the control method of any embodiment of the present application. , or, the robot arm control unit may include the control device of any embodiment of the present application.

An embodiment of the present application also provides a vehicle, which may include the above-mentioned electronic device, the robotic arm and the vehicle-mounted screen of any embodiment of the present application.

An embodiment of the present application also provides a vehicle, which may include a robotic arm control unit and the robotic arm and vehicle-mounted screen of any embodiment of the present application, wherein the robotic arm control unit is used to execute the control method of any embodiment of the present application, or , the robot arm control unit may include the control device of any embodiment of the present application.

For example, the electronic device may be a body domain control module (Body Domain Control Module, BDCM), an infotainment domain control module (Infotainment Domain Control Module, IDCM), a driving domain control module (Vehicle Domain Control Module, VDCM), or automatic driving At least one of the Domain Control Module (Automated-driving Domain Control Module, ADCM) and the Robotic Arm Control Unit (Robotic Arm Controller, RAC).

For example, the vehicle in this embodiment can be a vehicle driven by any power such as a fuel vehicle, an electric vehicle, a solar vehicle, etc. For example, the vehicle in this embodiment may be an autonomous vehicle.

Other components of the vehicle in this embodiment, such as the specific structures of the frame and wheels, as well as connection and fastening components, can be adopted from various technical solutions known to those of ordinary skill in the art now and in the future, and will not be described in detail here.

It should be noted that in this embodiment, the "car" can also be called a vehicle, and the "robotic arm" can also be called a screen adjustment mechanism. "2/5" in the figure represents the rotating mechanism 2 and/or the sliding mechanism 5 .

The following describes a screen harness bracket according to an embodiment of the present application with reference to FIGS. 20 to 28 . The screen harness bracket of the embodiment of the present application can be used in the vehicle-mounted display device of the above embodiment of the present application. Among them, the vehicle-mounted display device also includes a wire harness, one end of the wire harness is connected to the vehicle-mounted screen 6A.

As shown in Figures 20 to 22, the screen wire harness bracket provided by the embodiment of the present application includes at least three wire harness brackets, each wire harness bracket is used to connect with the vehicle-mounted robotic arm; each wire harness bracket is provided with a movement direction of the wire harness 7A The matching outlet trough is used to limit the movement trajectory of the wire harness 7A when the vehicle screen 6A moves. When the screen rotates, at least three wire harness brackets divide the wire harness 7A into at least three motion segments, and each motion segment bears a different motion trajectory. This ensures that the motion trajectory of the wire harness 7A of each motion segment is unified and improves the efficiency of the wire harness 7A. Excellent bending resistance and durability, thereby extending the service life of the wire harness 7A.

In the embodiment of the present application, each wire harness bracket is provided with a mounting hole 5A on one side close to the wire outlet. The mounting hole 5A is used to connect to a fixing piece, and the wire harness 7A is connected to the wire harness bracket through the fixing piece.

Referring to Figures 23 to 25, for example, the wire harness bracket is fixed on the vehicle-mounted robotic arm through bolts, the fixing component is a tie, and the mounting hole 5A is provided at the entrance and exit of the wire outlet. Among them, every two mounting holes 5A can be used for a cable tie to pass through, and the cable ties tighten and fix the wire harness 7A after passing through the mounting holes 5A. It is worth mentioning that in order to further improve the bending resistance of the wire harness 7A and protect the wire harness 7A, the outer layer of the wire harness 7A can be covered with a sheath such as a silicone tube and then fixed with a tie.

Further, in order to facilitate the installation of the wire harness 7A, a side cover is provided on one side of the outlet trough, and the side cover is detachably connected to the outlet trough. For example, the side cover is snap-fitted with the cable outlet trough, so that the cable outlet trough can be opened and closed, making it convenient for the wire harness 7A to pass through and beautifying the appearance.

It should be noted that the embodiments of the present application can be applied to multi-directional motion rotating screens in vehicle passenger compartments, and the screens can realize forward and backward movements, left and right movements, pitching movements, rotational movements, etc. When the screen moves, the wire harness 7A moves with the screen, and at least three wire harness brackets serve as fixed points, respectively responsible for the forward and backward movement, left and right swing, pitch movement, rotation movement, etc. of the wire harness 7A. For ease of understanding, this embodiment takes three wire harness brackets as an example for description.

Referring to Figures 26 to 28, in one embodiment, the screen wire harness bracket includes three wire harness brackets. The three wire harness brackets are a first wire harness bracket 1A, a second wire harness bracket 2A, and a third wire harness bracket 3A. The three wire harness brackets Fixedly connected to the vehicle-mounted robotic arm respectively. For example, three wire harness brackets are provided with bolt fixing holes 4A, and the three wire harness brackets are fixed to the vehicle-mounted robotic arm through bolts and bolt fixing holes 4A.

Specifically, the first wire harness bracket 1A, the second wire harness bracket 2A and the third wire harness bracket 3A are respectively provided with a first wire outlet trough 11A, a second wire outlet trough 21A and a third wire outlet trough 31A. The first wire outlet trough 11A and the second wire outlet trough 31A are respectively provided with The first end of the wire outlet 21A corresponds to the second end of the second wire outlet 21A and the one end of the third wire outlet 31A; the first wire outlet 11A and the second wire outlet 21A are used to coordinate with the first movement of the wire harness 7A The second wire outlet trough 21A and the third wire outlet trough 31A are used to adapt to the second moving section of the wire harness 7A.

Referring to FIG. 28 , a guide portion 32A is provided in the third wire outlet slot 31A, and the guide portion 32A is used to adapt to the third moving section of the wire harness 7A. The guide portion 32A includes smoothly connected arcs. The diameter and length of each arc are calculated according to the outer diameter and direction of the wire harness 7A, which is beneficial to the movement of the wire harness 7A.

In a specific implementation, the first moving section of the wire harness 7A passes through the first wire outlet trough 11A, and then penetrates into the first end of the second wire outlet trough 21A. Then, the second moving section of the wire harness 7A passes out from the second end of the second cable outlet trough 21A, then penetrates into the third cable outlet trough 31A, and finally passes out through the guide portion 32A in the third cable outlet trough 31A. Among them, the entrance and exit of each wire outlet duct is provided with a mounting hole 5A and a fixing piece, which can fix the wire harness 7A on the wire outlet trough, which is beneficial to limiting the movement trajectory of the wire harness 7A.

In the embodiment of the present application, the first movement section of the wire harness 7A corresponds to the front-to-back movement of the screen, and the first wire outlet trough 11A and the second wire outlet trough 21A serve as fulcrums to bear the front-to-back movement of the wire harness 7A; the second movement section of the wire harness 7A Corresponding to the left and right swing and pitch movements of the screen, the second wire outlet 21A and the third wire outlet 31A serve as fulcrums to bear the left and right swing and pitch movements of the wire harness 7A; the end section of the wire harness 7A corresponds to the rotational movement of the screen, and the end section of the wire harness 7A is designed to Within the guide portion 32A, the guide portion 32A bears the rotational motion of the wire harness 7A.

Further, a first side cover 12A is provided on one side of the first wire outlet trough 11A, and the first side cover 12A snap-fits with the first wire outlet trough 11A; a second side cover 22A is provided on one side of the second wire outlet trough 21A. The second side cover 22A snap-fits with the second outlet slot 21A. During installation, the side cover is snap-fitted with the outlet trough so that the outlet trough can be opened and closed to facilitate the insertion of the wire harness 7A and to beautify the appearance.

In summary, the screen wire harness bracket provided by the embodiment of the present application divides the wire harness 7A into three motion segments through three wire harness brackets. Each motion segment bears a different motion trajectory, thereby ensuring the motion trajectory of the wire harness 7A for each motion segment. Simplification can improve the bending resistance and durability of the wire harness 7A, thereby extending the service life of the wire harness 7A. At the same time, the screen harness bracket provided by the embodiment of the present application has a small structure and is easy to install.

It should be noted that, in addition to being applied to the vehicle-mounted display device of the above-mentioned embodiments of the present application, the screen harness bracket of the embodiment of the present application can also be applied to the multi-directional motion rotating screen in the vehicle passenger compartment. The multi-directional motion rotating screen can realize Back and forth movement, left and right movement, pitching movement, rotation movement, etc. For example, the vehicle-mounted robotic arm adopts mechanisms such as industrial robotic arms. It can be understood that the vehicle-mounted robotic arm only needs to provide the corresponding bolt mounting structure to be adapted to install the screen harness bracket. The embodiment of the present application does not limit the vehicle-mounted screen 6A, the vehicle-mounted robotic arm, and the wiring harness.

The following describes the rotating screen wire harness structure according to the embodiment of the present application with reference to FIGS. 29 to 33 . The rotating screen wire harness structure of the embodiment of the present application can be used in the vehicle-mounted display device of the above embodiment of the present application.

Referring to Figures 29 and 30, the rotating screen wire harness structure provided by the embodiment of the present application includes a rotating mechanism 1B and a wire harness 3B. The rotating mechanism 1B is rotationally connected to the vehicle screen 2B of the vehicle-mounted display device, and one end of the wire harness 3B is connected to the rotating mechanism 1B. The other end of the wire harness 3B is connected to the vehicle-mounted screen 2B. A guide 4B is provided on the side of the vehicle-mounted screen 2B close to the wire harness 3B. The guide 4B is used to limit the movement trajectory of the wire harness 3B when the vehicle-mounted screen 2B rotates. When the vehicle screen 2B rotates, the guide 4B can limit the movement range of the wire harness 3B within a certain range, allowing the wire harness 3B to slide along a fixed trajectory, thereby protecting the wire harness 3B, avoiding damage to the wire harness 3B, and extending the service life of the wire harness 3B.

Referring to FIG. 31 , the guide member 4B includes irregular arc-shaped protrusions, and the guide member 4B is provided on the housing of the vehicle screen 2B. In this embodiment, the guide 4B is a rib-like structure formed by smoothly connecting four arcs with different diameters. The diameter and length of each arc are calculated according to the outer diameter and direction of the wire harness 3B. In other embodiments, the guide member 4B may also be composed of three or five arc segments. Of course, the guide 4B can also be a discontinuous arc-shaped protrusion, for example, multiple arc sections are arranged according to a certain direction and are not connected to each other, as long as it can limit the movement trajectory of the wire harness 3B.

Referring to FIGS. 32 and 33 , one end of the wire harness 3B is connected to the rotating mechanism 1B through the mounting member 5B, and the other end of the wire harness 3B is connected to the vehicle-mounted screen 2B through the connector 6B. The mounting part 5B can be a bracket, and one end of the wire harness 3B is fixed on the housing of the rotating mechanism 1B through the bracket. The other end of the wire harness 3B is connected to the connector 6B, which can increase the convenience of plugging and unplugging the wire harness 3B.

In this embodiment, the wire harness 3B is provided with a fixing member 7B. The wire harness 3B includes a first sub-wire harness 31B and a second sub-wire harness 32B. One end of the first sub-wire harness 31B is connected to the rotating mechanism 1B through the mounting member 5B. The other end of the wire harness 31B is connected to the vehicle-mounted screen 2B through the fixing member 7B, and the guide member 4B is used to limit the movement trajectory of the first sub-wire harness 31B when the vehicle-mounted screen 2B rotates. One end of the second sub-wire harness 32B is connected to the vehicle-mounted screen 2B through the fixing member 7B, and the other end of the second sub-wire harness 32B is connected to the vehicle-mounted screen 2B through the connector 6B.

Specifically, with the fixing member 7B as the dividing line, the wire harness 3B can be divided into a first sub-wire harness 31B and a second sub-wire harness 32B. Of course, the first sub-wire harness 31B and the second sub-wire harness 32B may be the same cable. During the rotation process, the first sub-wire harness 31B rotates together with the vehicle screen 2B, and the guide 4B allows the first sub-wire harness 31B to slide along the fixed trajectory. Both ends of the second sub-wire harness 32B are connected to the vehicle-mounted screen 2B, so that the second sub-wire harness 32B and the vehicle-mounted screen 2B are in a relatively static state, thus ensuring the performance of the connector 6B and further improving the performance of the connector 6B. Extend the service life of the rotating screen harness 3B. At the same time, the connector 6B is provided on one edge of the vehicle screen 2B, which can prevent the end of the connector 6B from exerting pulling force on the wire harness 3B, further protecting the wire harness 3B.

Referring to Figure 33, the fixing part 7B is sleeved on the outside of the wire harness 3B, and the fixing part 7B is an interference fit with the wire harness 3B. Specifically, the fixing part 7B includes a first fixing part 71B, a second fixing part 72B and a third fixing part 73B. The second fixing part 72B is provided between the first fixing part 71B and the third fixing part 73B. On the vehicle screen 2B A snap-in slot may be provided, and the second fixing part 72B snap-fits with the snap-in slot on the vehicle screen 2B. The diameters of the first fixing part 71B and the third fixing part 73B are larger than the diameter of the second fixing part 72B, which can increase the stability of the fixing part 7B after being connected to the vehicle screen 2B. For example, the fixing member 7B can be integrally formed using a rubber sleeve. Of course, other elastic materials can also be used, which is not limited in the embodiment of the present application.

The rotating screen wire harness structure provided by the embodiment of the present application includes a rotating mechanism 1B and a wire harness 3B. The vehicle-mounted screen 2B is rotationally connected to the rotating mechanism 1B. One end of the wire harness 3B is connected to the rotating mechanism 1B, and the other end of the wire harness 3B is connected to the vehicle-mounted screen 2B. A guide 4B is provided on the side of the vehicle-mounted screen 2B close to the wire harness 3B. The guide 4B is used to limit the movement trajectory of the wire harness 3B when the vehicle-mounted screen 2B rotates. When the vehicle screen 2B rotates, the guide 4B can limit the movement range of the wire harness 3B within a certain range, allowing the wire harness 3B to slide along a fixed trajectory, thereby protecting the wire harness 3B, avoiding damage to the wire harness 3B, and extending the service life of the wire harness 3B. At the same time, the embodiment of the present application is provided with a fixing member 7B to ensure that the second sub-wire harness 32B and the vehicle-mounted screen 2B are in a relatively static state, further ensuring the performance of the connector 6B and increasing the service life of the rotating screen wire harness 3B. In addition, the rotating screen wire harness structure provided by the embodiment of the present application is small in size and easy to install.

An embodiment of the present application also provides a vehicle, including at least one of the vehicle-mounted display device, the screen harness bracket, and the rotating screen harness structure according to the above embodiments of the present application.

In the description of this specification, reference to the terms "one embodiment," "some embodiments," "an example," "specific examples," or "some examples" or the like means that specific features are described in connection with the embodiment or example. , structures, materials or features are included in at least one embodiment or example of the present application. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and combine different embodiments or examples and features of different embodiments or examples described in this specification unless they are inconsistent with each other.

In addition, the terms “first” and “second” are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Thus, features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In the description of this application, "plurality" means two or more than two, unless otherwise explicitly and specifically limited.

Any process or method description in a flowchart or otherwise described herein may be understood to represent a representation that includes one or more (two or more) executable instructions for implementing the specified logical functions or steps of the process. A module, fragment, or portion of code. And the scope of the preferred embodiments of the present application includes additional implementations in which functions may be performed out of the order shown or discussed, including in a substantially concurrent manner or in the reverse order, depending on the functionality involved.

The logic and/or steps represented in the flowcharts or otherwise described herein, for example, may be considered a sequenced list of executable instructions for implementing the logical functions, and may be embodied in any computer-readable medium, For use by, or in combination with, instruction execution systems, devices or devices (such as computer-based systems, systems including processors or other systems that can fetch instructions from and execute instructions from the instruction execution system, device or device) or equipment.

It should be understood that various parts of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, 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 method in the above embodiment can be completed by instructing relevant hardware through a program. The program can be stored in a computer-readable storage medium. When executed, the program includes one of the steps of the method embodiment or other steps. combination.

In addition, each functional unit in various embodiments of the present application can be integrated into a processing module, or each unit can exist physically alone, or two or more units can be integrated into one module. The above integrated modules can be implemented in the form of hardware or software function modules. If the above integrated modules are implemented in the form of software function modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. The storage medium can be a read-only memory, a magnetic disk or an optical disk, etc.

The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person familiar with the technical field can easily think of various changes or modifications within the technical scope disclosed in the present application. Replacements, these should all be covered by the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

A method for controlling a robotic arm of a vehicle-mounted screen, which is characterized by including:

Determine the target position of the vehicle-mounted screen according to the current seat position of the target passenger, and the target position is a position that matches the line of sight of the target passenger;

Control the movement of the robotic arm so that the robotic arm drives the vehicle-mounted screen to move to the target position.
The control method according to claim 1, characterized in that determining the target position of the vehicle screen according to the current seat position of the target passenger includes:

Determine illumination parameters and the current position of the vehicle-mounted screen, where the illumination parameters include illumination direction and illumination intensity;

The target position of the vehicle-mounted screen is determined based on the current seat position of the target passenger, the illumination parameter, and the current location of the vehicle-mounted screen.
The control method according to claim 1, characterized in that determining the target position of the vehicle screen according to the current seat position of the target passenger includes:

Obtaining adaptive correspondences between multiple preset seat positions and multiple adaptive screen positions, wherein the adaptive screen positions match the passenger's line of sight at the corresponding preset seat position;

According to the adaptive correspondence relationship and the current seat position, the adaptive screen position corresponding to the current seat position is determined as the target position of the vehicle-mounted screen.
The control method according to claim 3, further comprising:

When a position change operation on the vehicle-mounted screen is detected, send a prompt to update the adaptive screen position;

When an instruction to update the adaptive screen position is received, the current position of the vehicle-mounted screen is determined as the adaptive screen position corresponding to the current seat position.
The control method according to any one of claims 1 to 4, further comprising:

When it is detected that the steering wheel is in motion, control the mechanical arm to stop moving; and/or,

When a vehicle collision is detected, control the robotic arm to stop moving; and/or,

When it is detected that the current vehicle speed exceeds the vehicle speed threshold, the robotic arm is controlled to stop moving.
The control method according to claim 1, characterized in that, according to the current seat position of the target passenger, determining the target position of the vehicle screen includes: obtaining the seat position data of the vehicle; according to the preconfigured seat position and screen target The mapping relationship between the positions and the seat position data is used to obtain the screen target position data corresponding to the seat position data;

Controlling the movement of the robotic arm so that the robotic arm drives the vehicle-mounted screen to move to the target position includes: controlling the movement of the robotic arm according to the screen target position data so that the robotic arm drives the The vehicle screen moves to the target position.
The control method according to claim 6, characterized in that the configuration process of the mapping relationship between the seat position and the screen target position includes:

Obtain the front and rear travel range, up and down travel range, and front and rear rotation angle range of the vehicle seat;

According to the front and rear travel range, the up and down travel range and the front and rear rotation angle range, a plurality of seat position intervals are divided; wherein the seat position interval is composed of a front and rear position interval, an up and down position interval and a front and rear rotation angle interval. ;

Based on the principle that the screen corresponds to the equidistant vertical direction of the human eye, the screen position data corresponding to each of the seat position intervals is determined.
The control method according to claim 7, characterized in that obtaining the screen target position data corresponding to the seat position data includes:

Query all the seat position intervals according to the seat position data to obtain the target seat position interval that matches the seat position data; wherein the seat position data includes the front and rear position data of the seat , up and down position data and front and rear rotation angle data;

Screen position data corresponding to the target seat position interval is determined as screen target position data.
The control method according to claim 6, characterized in that the mapping relationship between the seat position and the screen target position is configured as:
x＝-30*u-10*w+40
Ry＝-5*v-2.5*w
Rz＝-5*u-5*v-5

Wherein, x is the front and rear position data of the screen; Ry is the pitch angle data of the screen; Rz is the left and right angle data of the screen, and the screen target position data includes the front and rear position data, the pitch angle data and the left and right angle data. ;

u is the front and rear position data of the seat; v is the up and down position data of the seat; w is the front and rear rotation angle data of the seat, and the seat position data includes the front and rear position data, the up and down position data and the front and rear position data. Rotation angle data.
The control method according to claim 7 or 9, further comprising:

Normalize the seat position data to obtain standard seat position data;

The mapping relationship between the seat position and the screen target position is configured according to the standard seat position data.
The control method according to claim 6, characterized in that controlling the movement of the robotic arm according to the screen target position data so that the robotic arm drives the vehicle-mounted screen to move to the target position includes:

Calculate the movement direction and movement distance of the screen based on the screen target position data and the pre-obtained screen initial position data;

The movement of the robotic arm is controlled according to the movement direction and the movement distance, so that the robotic arm drives the vehicle-mounted screen to move to the target position.
The vehicle display screen control method according to claim 6, characterized in that the method further includes: activating the seat position adjustment function in response to the seat adjustment instruction triggered by the user;

After the seat position adjustment is completed, the vehicle's seat position data is obtained.
A method for controlling a robotic arm of a vehicle-mounted screen, which is characterized by including:

Determine the target position of the vehicle-mounted screen according to the line of sight of the target passenger, and the target position is a position that matches the line of sight of the target passenger;

Control the movement of the robotic arm so that the robotic arm drives the vehicle-mounted screen to move to the target position.
The control method according to claim 13, characterized in that determining the target position of the vehicle screen according to the line of sight of the target passenger includes:

The line of sight of the target passenger is determined according to the current seat position of the target passenger, wherein the seat position includes a seat height position and/or a seat front and back position and/or a seat angle.
A robotic arm control device for a vehicle screen, which is characterized by including:

The first target position determination module is used to determine the target position of the vehicle-mounted screen based on the current seat position of the target passenger, where the target position is a position that matches the line of sight of the target passenger;

The first motion control module is used to control the movement of the robotic arm so that the robotic arm drives the vehicle-mounted screen to move to the target position.
A robotic arm control device for a vehicle screen, which is characterized by including:

The second target position determination module is used to determine the target position of the vehicle-mounted screen according to the line of sight of the target passenger, where the target position is a position that matches the line of sight of the target passenger;

The second motion control module is used to control the movement of the robotic arm so that the robotic arm drives the vehicle-mounted screen to move to the target position.
A vehicle-mounted display device, characterized by including:

A robot arm control unit, used to execute the control method described in any one of claims 1 to 14, or including the control device described in claim 15 or 16;

A mechanical arm used to drive the vehicle-mounted screen to complete at least one target action;

The vehicle-mounted screen is connected to the robotic arm.
A screen wire harness bracket, characterized in that it is applied to the vehicle-mounted display device as claimed in claim 17, the vehicle-mounted display device further includes a wire harness, one end of the wire harness is connected to the vehicle-mounted screen;

Wherein, the screen wire harness bracket is connected to a vehicle-mounted mechanical arm, and the screen wire harness bracket is used to support the wire harness; the screen wire harness bracket includes at least three wire harness brackets, and each of the wire harness brackets is used to connect to a vehicle-mounted mechanical arm. ; Each wire harness bracket is provided with a wire outlet slot that matches the movement direction of the wire harness, and the wire outlet slot is used to limit the movement trajectory of the wire harness when the vehicle-mounted screen moves.
The screen wire harness bracket according to claim 18, wherein a side cover is provided on one side of the wire outlet trough, and the side cover is detachably connected to the wire outlet trough.
The screen wire harness bracket according to claim 18, characterized in that, each wire harness bracket is provided with a mounting hole on a side close to the wire outlet trough, and the mounting hole is used to connect with a fixing member, and the wire harness passes through The fixing piece is connected to the wire harness bracket.
The screen wiring harness bracket according to claim 18, characterized in that the screen wiring harness bracket includes three wiring harness brackets, the three wiring harness brackets are a first wiring harness bracket, a second wiring harness bracket and a third wiring harness bracket, and the three wiring harness brackets are Fixedly connected to the vehicle-mounted robotic arm respectively.
The screen wire harness bracket according to claim 18, wherein the first wire harness bracket, the second wire harness bracket and the third wire harness bracket are respectively provided with a first wire outlet slot, a second wire outlet slot and a third wire harness bracket. A wire outlet, the first wire outlet corresponds to the first end of the second wire outlet, and the second end of the second wire outlet corresponds to one end of the third wire outlet; the first wire outlet The slot and the second wire outlet slot are used to adapt to the first moving section of the wire harness, and the second wire outlet slot and the third wire outlet slot are used to adapt to the second moving section of the wire harness.
The screen wire harness bracket according to claim 22, wherein a guide portion is provided in the third wire outlet slot, and the guide portion is used to adapt to the third moving section of the wire harness.
The screen wiring harness bracket according to claim 22, characterized in that a first side cover is provided on one side of the first wire outlet trough, and the first side cover snap-fits with the first wire outlet trough; A second side cover is provided on one side of the second wire outlet trough, and the second side cover snap-fits with the second wire outlet trough.
The screen harness bracket according to claim 23, wherein the guide portion includes smoothly connected arcs.
A vehicle, characterized by comprising the vehicle-mounted display device according to claim 17 and the screen harness bracket according to any one of claims 18 to 25.