CN106965190B - Manipulator control system - Google Patents
Manipulator control system Download PDFInfo
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- CN106965190B CN106965190B CN201710147070.3A CN201710147070A CN106965190B CN 106965190 B CN106965190 B CN 106965190B CN 201710147070 A CN201710147070 A CN 201710147070A CN 106965190 B CN106965190 B CN 106965190B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/16—Program controls
- B25J9/1602—Program controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/16—Program controls
- B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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Abstract
The present invention provides a manipulator control system, including: the device comprises a sensor, a central processing module, a motor driving unit, a finger mode change-over switch and a power supply, wherein the sensing end of the sensor is abutted against the limb of the human body and used for detecting the electromyographic signals generated when the limb of the human body moves by fingers; the finger mode control switch is used for inputting a mode switching signal for switching a preset finger mode to the central processing module; the central processing module is used for sending a motor control signal to the motor driving unit according to the electromyographic signal and the mode switching signal detected by the sensor; the motor driving unit is used for driving the motor to operate according to the motor control signal; the physical button of the finger mode switch is arranged on the outer surface of the manipulator. According to the embodiment of the invention, the action of the manipulator can be controlled according to the electromyographic signals transmitted when the human body controls the action of the fingers, so that the automatic control of the action of the manipulator is realized, and the use and operation of the manipulator are convenient.
Description
Technical Field
The invention relates to the field of mechanical electronics, in particular to a manipulator control system.
Background
In the current society, people with disabilities appear due to various accidents, natural disasters, diseases and the like, wherein many people with disabilities lose one arm or two arms, the arms play an important role in daily life, and if the arms do not exist, the people almost cannot take care of themselves in daily life. Although many prosthetic arms are available in the prior art, these prosthetic arms can only serve a simple function, or primarily an aesthetic function, and cannot be used in real life.
Disclosure of Invention
The invention provides a manipulator control system, which is used for controlling the actions of a manipulator through the muscle actions of a human body.
In order to achieve the above object, the present invention provides a robot control system including: the finger motion control system comprises at least one sensor, a central processing module, a plurality of motors for driving fingers to move, a motor driving unit corresponding to each motor, a finger mode selector switch and a power supply for supplying power to the control system, wherein the sensing end of the sensor is abutted against the limb of a human body, the sensor is electrically connected with a first input end of the central processing module, the output end of the central processing module is electrically connected with the input end of the motor driving unit, and the output end of the motor driving unit is electrically connected with the input end of the motor; the sensor is used for detecting myoelectric signals generated by the human body limb part during finger movement; the finger mode control switch is electrically connected with a third input end of the central processing module and is used for inputting a mode switching signal for switching a preset finger mode to the central processing module; the central processing module is used for sending a motor control signal to the motor driving unit according to the electromyographic signal detected by the sensor and the mode switching signal; the motor driving unit is used for driving the motor to operate according to the motor control signal; and the physical key of the finger mode switch is arranged on the outer surface of the manipulator.
According to the manipulator control system provided by the invention, the myoelectric signal transmitted when the human body controls the action of the finger is detected by the sensor, the motor control signal is sent to the motor driving unit by the central processing module according to the myoelectric signal detected by the sensor, and then the motor is driven to operate by the motor driving unit according to the motor control signal. According to the embodiment of the invention, the action of the manipulator can be controlled according to the electromyographic signals transmitted when the human body controls the action of the fingers, so that the automatic control of the action of the manipulator is realized, and the use and operation of the manipulator are convenient.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
Fig. 1 is a schematic structural diagram of a robot control system according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a robot control system according to a second embodiment of the present invention.
Fig. 3 is a second schematic structural diagram of a robot control system according to a second embodiment of the present invention.
Fig. 4 is a schematic view of a use state of the robot control system according to the third embodiment of the present invention.
Fig. 5 is a schematic structural diagram of a robot control system according to a fourth embodiment of the present invention.
Fig. 6 is a schematic view of a usage state of a robot control system according to a fourth embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The robot control system according to the embodiment of the present invention will be described in detail below with reference to the accompanying drawings.
Example one
As shown in fig. 1, fig. 1 is a schematic structural diagram of a robot control system according to an embodiment of the present invention. The manipulator control system of the embodiment of the invention comprises: the device comprises at least one sensor, a central processing module, a motor for driving fingers to move, a motor driving unit and a power supply for supplying power to a control system, wherein the sensing end of the sensor is abutted against the limb of a human body, the sensor is electrically connected with a first input end of the central processing module, the output end of the central processing module is electrically connected with the input end of the motor driving unit, and the output end of the motor driving unit is electrically connected with the input end of the motor; the sensor is used for detecting electromyographic signals generated when the human body limb part performs finger movement; the central processing module is used for sending a motor control signal to the motor driving unit according to the electromyographic signal detected by the sensor; and the motor driving unit is used for driving the motor to operate according to the motor control signal.
The output terminal of the central processing module may be a GPIOA (general purpose input/output) channel port, and the first input terminal of the central processing module may be an a/D (analog/digital) conversion sequencer channel port. Further, the motor may be a micro dc motor.
The sensor may be an electromyographic signal sensor. When the human body limb part performs finger bending and finger stretching exercises, the electromyographic signals of the human body limb part respectively change correspondingly, the sensing end of the sensor can be abutted against the human body limb by utilizing the characteristic that the electromyographic signals change correspondingly, and the change of the electromyographic signals of the human body limb part is detected by the sensor, so that the action will of the human body limb part is obtained. The body limb may be a human arm, for example, the sensing end of the sensor may be abutted against a biceps portion corresponding to the human arm or an inflexion portion corresponding to the human arm. The body limb may be a leg of a human body, for example, the sensing end of the sensor may abut against a lateral femoral muscle portion of the corresponding leg or an anterior tibial muscle portion of the corresponding leg, that is, the manipulator may be controlled by another portion of the human body, and the manipulator is not limited to the muscle of the arm portion.
The following describes the mechanical structure controlled by the control system, the main actions of the manipulator are to bend and stretch fingers, and the main power sources of the bend and stretch fingers are from the motor, specifically, as an alternative mechanical structure, the overall structure of the mechanical structure may be designed as follows: the output shaft of the motor drives the input shaft of the speed reducer to operate, the speed is reduced through the speed reducer, the output shaft of the speed reducer drives the fingers to perform finger bending or finger spreading movement through the transmission mechanism, wherein each finger can be provided with a special motor, all the fingers can be driven through a certain motor, in practical application, preferably, each finger is provided with a motor, each motor is provided with a motor driving unit, and the central processing module controls each motor driving unit through a plurality of independent GPIOA channel ports. The movements of the flexion and extension fingers are mainly realized by controlling the positive rotation and the negative rotation of the motor. The transmission mechanism between the output shaft of the speed reducer and the finger structure can adopt a structure of a worm gear or a sliding bolt nut, and the structure has a certain self-locking function, namely after the motor stops power output, the fingers can keep the current posture, so that the object can be grasped.
According to the manipulator control system provided by the embodiment of the invention, the myoelectric signal transmitted when the human body controls the action of the finger is detected by the sensor, the motor control signal is sent to the motor driving unit by the central processing module according to the myoelectric signal detected by the sensor, and then the motor is driven to operate by the motor driving unit according to the motor control signal. According to the embodiment of the invention, the action of the manipulator can be controlled according to the electromyographic signals transmitted when the human body controls the action of the fingers, so that the automatic control of the action of the manipulator is realized, and the use and operation of the manipulator are convenient.
Example two
Fig. 2 is a schematic diagram showing the connection of the added elements of the two embodiments to the partial unit of the first embodiment, and fig. 3 is a structural diagram showing the control system of one finger of the prosthetic hand. The present embodiment is different from the first embodiment in that the manipulator control system of the present embodiment may further include a detection element for detecting a current value in the motor drive circuit, and a certain degree of feedback control may be implemented by such a detection element.
In practical application, under the condition of no feedback control, the manipulator completely depends on myoelectric signal control of human arms to perform corresponding actions, when an object is grabbed, a manipulator user needs to judge the grabbing force of the manipulator by himself/herself, the object is easily grabbed by the manipulator user with too large force, or the object slides down in the manipulator due to too small force.
In order to prevent the above problem, the embodiment of the present invention is further improved on the basis of the first embodiment, and the robot control system of the present embodiment may further include a detection element, an input end of the motor is electrically connected to an output end of the motor driving unit and an input end of the detection element, and an output end of the detection element is electrically connected to the second input end of the central processing module; the detection element is used for detecting the current value of the input end of the motor; and the central processing module is used for sending a motor control signal to the motor driving unit according to the current value and the electromyographic signal detected by the detection element. The third input end of the central processing module may be an a/D conversion sequencer channel port.
The detection element is used for detecting the current value of the input end of the motor, and means that in practical application, when the motor is in a power-on state, the output torque of the motor is gradually increased when the motor is in a normal rotation state and a manipulator grabs an object and enables the motor to be in a load state, the rotating speed of the motor is gradually reduced, and the current of the output end of the motor is gradually increased. In order to ensure that the manipulator works normally, the output torque range of the motor (only one maximum torque value can be limited) can be selected according to actual conditions and is used as the limit that the motor runs normally and the motor runs under load and approaches to stop rotating. The torque range of the motor can be changed by replacing the motor with large torque, the output torque of the motor is in direct proportion to the current at the input end of the motor, after the critical torque range of the motor is selected, the critical current range at the input end of the motor can be calculated according to the direct proportion relation between the current and the torque, and a value can be selected in the calculated critical current range to serve as a preset current value. The current value of the output end of the motor is detected through the detection element, the detected current value is compared with a preset current value to obtain a comparison result, and a motor control signal is sent to the motor driving unit.
The detection element may be a current detection element. The detection element may be disposed inside the motor driving unit, or may be a single detection unit.
The central processing module may include: the motor driving device comprises a control unit and a comparison unit, wherein a preset current value is arranged in the comparison unit, the comparison unit is used for comparing the current value of the input end of the motor with the preset current value arranged in the comparison unit and sending the comparison result to the control unit, and the control unit is used for sending a motor control signal to the motor driving unit according to the myoelectric signal detected by the sensor and the comparison result of the comparison unit. The number of the sensors can be at least two, wherein at least one sensor is a first sensor for detecting the flexor electromyographic signals, and at least one sensor is a second sensor for detecting the abduction electromyographic signals. The number of the sensors in the embodiment of the invention is preferably two, one of the two sensors is arranged at a muscle part which generates more electromyographic signals during a finger bending action, and the other sensor is arranged at a part which generates more electromyographic signals during a finger stretching action. As a simple and convenient mode, the user can feel which part of muscle moves in the process of bending and stretching the fingers, then the sensor is arranged at the part, and then the user can adjust the position according to the use condition of the manipulator after installing the manipulator. In practical use, the first sensor may be abutted against the outside of the biceps portion of the corresponding arm, and the second sensor may be abutted against the inside of the biceps portion of the corresponding arm. In addition, in the manipulator structure, can set up to drive the finger of manipulator when the motor forward rotation and carry out the motion of bending to indicate, drive the finger of manipulator when the motor backward rotation and carry out the motion of exhibition finger, specific motor forward and backward rotation design can be decided according to specific mechanical structure.
The sending of the motor control signal for rotating the motor to the motor driving unit when the electromyographic signal is detected and the comparison result shows that the current value of the input end of the motor is less than or equal to the preset current value comprises: when the flexor electromyographic signal is detected and the comparison result shows that the current value of the input end of the motor is less than or equal to the preset current value, a motor control signal for enabling the motor to rotate in the forward direction is sent to the motor driving unit; and when the finger-extending electromyographic signal is detected and the comparison result shows that the current value of the input end of the motor is less than or equal to the preset current value, sending a motor control signal for enabling the motor to rotate reversely to the motor driving unit.
In addition, as shown in fig. 3, the voltage of the power supply may be 8V, and the power supply voltage of the power supply may be converted into 1.8V, 3.3V and 5V through the power switching circuit, and the power supply voltages of 1.8V and 3.3V are introduced into the central processing module, where the power supply voltage of 1.8V is used to supply power to the control unit and the comparison unit in the central processing module; the central processing module can be provided with an A/D conversion sequencer used for mutually converting the analog signal and the digital signal, and the 3.3V power supply voltage is used for supplying power to the A/D conversion sequencer in the central processing module; the supply voltage of 5V is used to power the motor drive unit.
In addition, the central processing module can further comprise a display unit, a mounting hole for mounting the display unit can be formed in the back of the hand of the manipulator, the display unit is mounted on the back of the hand of the manipulator through the mounting hole, a display screen can be arranged on the display unit, and the display screen is exposed out of the back of the hand of the manipulator from the mounting hole. The comparison unit may calculate the current torque of the motor based on the current at the input of the motor. The display unit can be electrically connected with the comparison unit, and the display unit displays the motor output torque calculated by the comparison unit to a manipulator user. The manipulator user can combine the actual bearing force of the outer wall of the object to be grabbed according to the motor output torque displayed by the display unit, and stop sending the finger bending desire to the arm nerve under the control of the brain of the human body.
Each component of the central processing module may be formed by a single chip, and some or all of the units may be implemented by a microprocessor with a built-in program, for example, a microprocessor such as a single chip or a DSP.
As an alternative to the above-mentioned central processing module composition structure, the central processing module may be implemented by an integrated circuit such as an FPGA.
In order to prevent other signals from interfering the detected human myoelectric signals, the manipulator control system of the embodiment of the invention may further include a differential amplifying circuit and a filter circuit, the output end of the sensor may be electrically connected to the input end of the differential amplifying circuit, the output end of the differential amplifying circuit may be electrically connected to the input end of the filter circuit, and the output end of the filter circuit may be electrically connected to the first input end of the central processing module; a differential amplification circuit for amplifying the detected electromyographic signals of the sensor; and the filter circuit is used for filtering alternating current components in the electromyographic signals.
In order to enable the control signals between the central processing module and the motor driving unit to be adaptive, the output end of the central processing module and the input end of the motor driving unit can be electrically connected through a level conversion circuit, and the level conversion circuit is used for converting the motor control signal at the output end of the central processing module into the motor control signal adaptive to the motor driving unit, for example, the central processing module outputs a 0-3.3V motor control signal, the driving unit can only control the motor to rotate when the motor control signal is 5V, and at the moment, the level conversion circuit is required to convert the motor control signal within the range of 0-3.3V into 5V, so that the driving unit can receive the motor control signal sent by the central processing module. In addition, when the motor stops suddenly from a rotating state, the induction end of the detection element is changed from a power-on state to a power-off state, so that self-induced electromotive force is generated in the detection element, and the self-induced electromotive force can cause burning loss of the detection element. In order to prevent the detection element from being burnt, the output end of the detection element and the second input end of the central processing module can be electrically connected through a resistance-capacitance network circuit, wherein the resistance-capacitance network circuit is also called a resistance-capacitance discharge circuit and is used for absorbing self-induced electromotive force generated when the detection element circuit is disconnected so as to prevent the detection element from being burnt.
The manipulator control system of the embodiment of the invention detects the torque of the motor in real time through the detection element, thereby realizing the following three beneficial effects: on the first hand, the torque can be reasonably output, and the electric energy of a power supply is saved; in the second aspect, the motor can be prevented from being damaged when the torque of the motor is too large, and the motor is effectively protected; the third aspect, the moment of torsion of reasonable control motor prevents that the manipulator from grabbing the object bad to and prevent that the manipulator when grabbing the object, the object roll-off in the manipulator leads to the object to break. When the manipulator grabs the object, different objects can be grabbed by giving the object a proper friction force, so that in actual use, a proper current preset value can be selected, and the object can be grabbed and released by the control of the comparison unit.
EXAMPLE III
As shown in fig. 4, fig. 4 is a schematic view of a use state of a robot control system according to a third embodiment of the present invention. The present embodiment will describe in detail the control principle of the robot control system of the embodiment of the present invention. In fig. 4, a cavity is provided inside the palm of the manipulator, and the central processing module, the motor driving unit and the power supply may be provided in the cavity of the palm of the manipulator.
The sequence of gripping and releasing the object by the manipulator in the spread finger state is: flex fingers-grip object-release object and spread fingers-straighten fingers. After the human body wears the manipulator according to the embodiment of the present invention, the following operations are performed:
(1) bending the fingers: the sensor detects the myoelectric signal of the bent finger sent by the human body, the sensor transmits the myoelectric signal of the bent finger to the central processing module, the central processing module sends a control signal of a bent finger motor to the motor driving unit according to the myoelectric signal of the bent finger, and the motor driving unit controls the motor to rotate forwards after receiving the control signal of the bent finger motor, namely, the manipulator performs the bending motion. Meanwhile, the detection element detects the current value of the input end of the motor, the detection element transmits the current value of the input end of the motor to the comparison unit, the comparison unit compares the current value of the input end of the motor with a preset range of current set in the comparison unit and sends a comparison result to the control unit, when the myoelectric signal is detected and the comparison result is that the current value of the input end of the motor is smaller than or equal to the preset current value, a motor control signal for enabling the motor to rotate forwards is sent to the motor driving unit, the motor continues to rotate forwards, and the manipulator continues to perform finger bending action;
(2) and (3) holding the object tightly: when the electromyographic signal is detected and the comparison result shows that the current value of the input end of the motor is larger than the preset current value, the comparison unit sends a motor control signal for stopping the motor to the motor driving unit, and the motor stops rotating. The robot has now gripped the object and exerted a certain pressure on the outer wall of the object. The manipulator is driven by the screw and nut double-layer folding transmission mechanism, and the screw and nut transmission mechanism has a self-locking function. Therefore, when the motor stops rotating, the manipulator can stop in the state of currently gripping the object.
(3) Releasing the object and unfolding the fingers: the sensor detects that a human body sends out an electromyographic signal for releasing an object and unfolding a finger, the sensor transmits the electromyographic signal for releasing the object and unfolding the finger to the central processing module, the central processing module sends a motor control signal for releasing the object and unfolding the finger to the motor driving unit according to the electric signal for releasing the object and unfolding the finger, and the motor driving unit controls the motor to perform reverse motion after receiving the motor control signal for releasing the object and unfolding the finger, namely the manipulator performs unfolding action. Meanwhile, the detection element detects the current value of the input end of the motor, the detection element transmits the current value of the input end of the motor to the comparison unit, the comparison unit compares the current value of the input end of the motor with a preset range of current set in the comparison unit and sends a comparison result to the control unit, when the myoelectric signal of the released object and the stretched fingers is detected and the comparison result shows that the current value of the input end of the motor is smaller than or equal to the preset current value, a motor control signal for reversing the motor is sent to the motor driving unit, the motor continues to perform reversing movement, and the manipulator continues to perform finger stretching movement.
(4) Straightening fingers: when the electromyographic signal is detected and the comparison result shows that the current value of the input end of the motor is larger than the preset current value, the comparison unit sends a motor control signal for stopping the motor to the motor driving unit, and the motor stops rotating. The fingers of the manipulator are already in a straightened state at this time. The manipulator is driven by the screw and nut double-layer folding transmission mechanism, and the screw and nut transmission mechanism has a self-locking function. Therefore, when the motor stops rotating, the manipulator can stop in the current state of straightening the finger.
Example four
As shown in fig. 5, in the present embodiment, a finger mode switch is added to the above embodiments. Specifically, in the manipulator control system of this embodiment, the number of motors is multiple, and correspondingly, the number of motor driving units is also multiple, and each motor corresponds to one motor driving unit. The finger mode control switch is electrically connected with a third input end of the central processing module and used for inputting a mode switching signal for switching a preset finger mode to the central processing module, a physical key of the finger mode switching switch is arranged on the outer surface of the manipulator, a user performs switching control on the finger mode in a manual mode, and correspondingly, the central processing module sends a motor control signal to the motor driving unit according to the electromyographic signal and the mode switching signal detected by the sensor. The mode switching signal may be one or a combination of a high level, a low level or a preset pulse signal, or may be a no-signal state in which the finger mode switch is in an off state (that is, no signal input itself may be a mode switching signal). The finger mode switch is not limited to on and off states, and can be selected from multiple states, just like the gear of the automobile. In the programming, a mode of selecting a specific finger mode according to the mode switching signal can be adopted, or a currently used finger mode can be recorded in the central processing module, and then the currently used finger mode is triggered to be changed after the finger mode switching switch is operated each time.
Further, the finger movement is finally driven by the motor, so that the finger mode or the specific motor mode may include a plurality of finger modes formed by different combinations of the rotating speeds of the motors and/or a plurality of finger modes formed by different combinations of the torques of the motors, or a combination of the on or off states of the motors, wherein the on state refers to a state in which the motors can receive commands or driving signals and can operate, and the off state refers to a state in which the motors cannot operate whether the commands or the driving signals are received or not. For example, the rotation speeds of the motors can be set to be different, different finger shapes can be presented when the finger bending or finger stretching movement is performed, and the corresponding shapes can be kept after the finger bending or finger stretching movement is stopped, so that the finger using function is expanded to adapt to different application scenes. For another example, the torque of each motor is set to be different, so that different grasping forces can be realized on different parts when an object is grasped, and the use functions of fingers can be expanded to adapt to different application scenes. For another example, different finger shapes can be realized by setting different on or off states of each motor and only allowing individual fingers to move.
In the central processing module, the mode control information of a plurality of preset finger modes is set in the central processing module, the mode control information includes the rotating speed and/or torque of each motor, or the off and/or on state of each motor,
the sending, by the central processing module, the motor control signal to the motor driving unit according to the electromyographic signal and the mode switching signal detected by the sensor may specifically include: the central processing module selects mode control information according to the mode switching signal, and sends a motor control signal to the motor driving unit according to the electromyographic signal and the mode control information detected by the sensor.
Specifically, the physical button of the finger mode control switch is arranged on the outer surface of the manipulator, as shown in fig. 6, and may be specifically arranged on the wrist of the manipulator, so that the movement of the finger is not affected. The above mentioned physical keys may be in the form of buttons or toggle switches, and those skilled in the art should understand that any physical structure capable of realizing switch control falls within the scope of the mentioned physical keys in the embodiments of the present invention. Specifically, as a general manipulator, the number of motors is 5, and the motors respectively drive the actions of 5 mechanical fingers.
In addition, in the implementation of specific switching control, a plurality of finger modes can be classified or grouped, and the finger mode switch switches among various categories only and then assists other control conditions to switch the specific finger modes. For example, the finger patterns are divided into two categories, i.e., the thumb is linked with a common finger (fingers except the thumb, the thumb can be respectively arranged and combined with each finger, such as the thumb is linked with other four fingers and other three fingers … …), and each finger moves independently (such as five fingers in total, including the 5-finger pattern), and then the specific category is selected through other control conditions. Other conditions mentioned here may be, for example, that the finger-extending action is performed to the maximum extent (the finger is fully extended), the finger motor stops operating due to reaching the limit state (in conjunction with the detection element in the second embodiment), and if in such a state, the myoelectric signal of the extending finger still continues for more than a preset time, a finger mode switch in a specific category is triggered.
In addition, the finger mode switch of the present embodiment may be integrated with the circuit module structure of each of the above embodiments to operate. Specifically, with reference to the circuit module structures of the above embodiments, when the manipulator control system includes the above detection element, as described in the second embodiment, the input end of the motor is electrically connected to the output end of the motor driving unit and the input end of the detection element, the output end of the detection element is electrically connected to the second input end of the central processing module, and the detection element is configured to detect the current value at the input end of the motor.
Under the circuit structure, the central processing module is specifically used for sending a motor control signal to the motor driving unit according to the current value, the electromyogram signal and the mode switching signal detected by the detection element.
Further, the central processing module may include: a control unit, a comparison unit and a mode selection unit,
the comparison unit is provided with a preset current value and is used for comparing the current value of the input end of the motor with the preset current value set in the comparison unit and sending the comparison result to the control unit,
the mode selection unit is provided with preset mode control information of a plurality of finger modes, the mode selection unit is used for selecting the mode control information according to the mode switching signal and sending the mode control information to the control unit, the mode control information comprises the rotating speed and/or the torque of each motor or the off and/or on state of each motor,
the control unit is used for sending a motor control signal to the motor driving unit according to the electromyographic signal detected by the sensor, the comparison result of the comparison unit and the mode control information.
Further, the transmitting of the motor control signal to the motor driving unit according to the electromyographic signal detected by the sensor, the comparison result of the comparing unit, and the pattern control information may include:
when the electromyographic signal is detected and the comparison result shows that the current value of the input end of the motor is smaller than or equal to the preset current value, a motor control signal for enabling the motor to rotate is sent to the motor driving unit according to the mode control information;
and when the electromyographic signal is detected and the comparison result shows that the current value of the input end of the motor is greater than the preset current value, a motor control signal for stopping the motor is sent to the motor driving unit.
Furthermore, at least two sensors are provided, wherein at least one sensor is a first sensor for detecting the electromyographic signals of the bent fingers, at least one sensor is a second sensor for detecting the electromyographic signals of the extended fingers, the fingers are driven to perform the bent finger movement when the motor rotates forwards, the fingers are driven to perform the extended finger movement when the motor rotates reversely,
when the electromyographic signal is detected and the comparison result shows that the current value of the motor input end is less than or equal to the preset current value, the step of sending a motor control signal for rotating the motor to the motor driving unit according to the mode control information comprises the following steps:
when the flexor electromyographic signal is detected and the comparison result shows that the current value of the input end of the motor is less than or equal to the preset current value, a motor control signal for enabling the motor to rotate in the forward direction is sent to the motor driving unit according to the mode control information;
and when the finger-extending electromyographic signal is detected and the comparison result shows that the current value of the input end of the motor is less than or equal to the preset current value, sending a motor control signal for enabling the motor to rotate reversely to the motor driving unit according to the mode control information. Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A manipulator control system, comprising: at least one sensor, a central processing module, a plurality of motors for driving the movement of the fingers, a motor driving unit corresponding to each motor, a finger mode selector switch and a power supply for supplying power to the control system,
the sensing end of the sensor is abutted against the limb of the human body, the sensor is electrically connected with the first input end of the central processing module, the output end of the central processing module is electrically connected with the input end of the motor driving unit, and the output end of the motor driving unit is electrically connected with the input end of the motor;
the sensor is used for detecting myoelectric signals generated by the human body limb part during finger movement;
the finger mode control switch is electrically connected with a third input end of the central processing module and is used for inputting a mode switching signal for switching a preset finger mode to the central processing module;
the central processing module is used for sending a motor control signal to the motor driving unit according to the electromyographic signal detected by the sensor and the mode switching signal;
the motor driving unit is used for driving the motor to operate according to the motor control signal;
the physical key of the finger mode switch is arranged on the outer surface of the manipulator,
wherein the sending a motor control signal to the motor driving unit according to the electromyographic signal detected by the sensor and the mode switching signal comprises:
switching the preset finger mode categories according to the mode switching signal; and
and switching the finger modes under the preset finger mode category according to the electromyographic signals.
2. The manipulator control system according to claim 1, wherein the finger patterns include a plurality of finger patterns formed by different combinations of rotation speeds of the respective motors and/or a plurality of finger patterns formed by different combinations of torques of the respective motors, or a combination of on or off states of the respective motors.
3. The manipulator control system according to claim 1, wherein the central processing module is provided therein with mode control information of a plurality of preset finger modes, the mode control information including a rotation speed and/or a torque of each of the motors, or a state of turning off and/or on of each of the motors,
the sending a motor control signal to the motor driving unit according to the electromyographic signal detected by the sensor and the mode switching signal comprises:
and selecting the mode control information according to the mode switching signal, and sending a motor control signal to the motor driving unit according to the electromyographic signal detected by the sensor and the mode control information.
4. The robot control system of claim 1, further comprising a detection element, wherein an input of the motor is electrically connected to an output of the motor driving unit and an input of the detection element, and an output of the detection element is electrically connected to a second input of the central processing module;
the detection element is used for detecting the current value of the input end of the motor;
the central processing module is used for sending a motor control signal to the motor driving unit according to the current value detected by the detection element, the electromyographic signal and the mode switching signal.
5. The robot control system of claim 4,
the central processing module includes: a control unit, a comparison unit and a mode selection unit,
the comparison unit is provided with a preset current value and is used for comparing the current value of the input end of the motor with the preset current value set in the comparison unit and sending the comparison result to the control unit,
the mode selection unit is provided with preset mode control information of a plurality of finger modes, and is used for selecting the mode control information according to the mode switching signal and sending the mode control information to the control unit, wherein the mode control information comprises the rotating speed and/or the torque of each motor or the closing and/or starting state of each motor,
the control unit is used for sending a motor control signal to the motor driving unit according to the electromyographic signal detected by the sensor, the comparison result of the comparison unit and the mode control information.
6. The robot control system of claim 5, wherein the issuing of the motor control signal to the motor driving unit according to the electromyogram signal detected by the sensor, the comparison result of the comparing unit, and the pattern control information comprises:
when an electromyographic signal is detected and the comparison result shows that the current value of the input end of the motor is smaller than or equal to the preset current value, a motor control signal for enabling the motor to rotate is sent to the motor driving unit according to the mode control information;
and when an electromyographic signal is detected and the comparison result shows that the current value of the input end of the motor is greater than the preset current value, sending a motor control signal for stopping the motor to the motor driving unit.
7. The manipulator control system according to claim 6, wherein the number of the sensors is at least two, at least one of the sensors is a first sensor for detecting a flexor electromyographic signal, at least one of the sensors is a second sensor for detecting a flexor electromyographic signal, the motor drives the fingers to perform a flexor movement when rotating in a forward direction, the motor drives the fingers to perform a finger extending movement when rotating in a reverse direction,
the sending a motor control signal for rotating the motor to the motor driving unit according to the mode control information under the condition that the electromyographic signal is detected and the comparison result shows that the current value of the motor input end is less than or equal to the preset current value comprises the following steps:
when the flexor electromyographic signal is detected and the comparison result shows that the current value of the input end of the motor is smaller than or equal to the preset current value, a motor control signal for enabling the motor to rotate in the forward direction is sent to the motor driving unit according to the mode control information;
and when the finger-extending electromyographic signal is detected and the comparison result shows that the current value of the input end of the motor is less than or equal to the preset current value, sending a motor control signal for enabling the motor to rotate reversely to the motor driving unit according to the mode control information.
8. The robot control system of claim 1,
the output end of the sensor is electrically connected with the input end of the differential amplifying circuit, the output end of the differential amplifying circuit is electrically connected with the input end of the filter circuit, and the output end of the filter circuit is electrically connected with the first input end of the central processing module;
the differential amplifying circuit is used for amplifying the electromyographic signals detected by the sensor;
the filter circuit is used for filtering alternating current components in the electromyographic signals.
9. The robot control system of claim 1,
the output end of the central processing module is electrically connected with the input end of the motor driving unit through a level conversion circuit, the output end of the detection element is electrically connected with the second input end of the central processing module through a resistance-capacitance network circuit,
the level conversion circuit is used for converting a motor control signal at the output end of the central processing module into a motor control signal matched with the motor driving unit;
and the resistance-capacitance network circuit is used for absorbing self-induced electromotive force in the detection element circuit.
10. The robot control system according to claim 1, wherein the number of the motors is 5, and the motors respectively drive the 5 fingers.
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| CN109419575B (en) * | 2017-08-29 | 2023-06-16 | 上海科生假肢有限公司 | Innovative control method of myoelectric control artificial hand |
| TWI681856B (en) * | 2019-04-01 | 2020-01-11 | 達詳自動化股份有限公司 | Automatic casting detection method capable of detecting die breakage |
| CN109998742B (en) * | 2019-05-07 | 2023-07-11 | 北京通和营润智能科技发展有限公司 | Multi-degree-of-freedom myoelectric bionic artificial limb control system |
| CN111297526B (en) * | 2020-03-02 | 2022-07-08 | 苏州通和景润康复科技有限公司 | Multi-joint upper limb myoelectric artificial limb control device |
| CN112304967A (en) * | 2020-10-14 | 2021-02-02 | 华电电力科学研究院有限公司 | Method for automatic coloring and penetration detection in power station pipeline pre-inspection stage |
| CN113199496A (en) * | 2021-04-09 | 2021-08-03 | 杭州胖力科技有限公司 | Bionic hand control device and method and electronic equipment |
| CN113183150B (en) * | 2021-04-09 | 2023-05-02 | 周先军 | Bionic hand control optimization method and system and electronic equipment |
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| CN204274729U (en) * | 2014-11-26 | 2015-04-22 | 丹阳假肢厂有限公司 | Bionical the five fingers hands |
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| CN203107338U (en) * | 2013-02-06 | 2013-08-07 | 深圳君卓科技有限公司 | Intelligent bionic hand |
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