技术领域Technical field
本公开涉及终端技术领域，尤其涉及一种基于差速轮的关节控制方法及装置、电子设备、存储介质。The present disclosure relates to the field of terminal technology, and in particular to a differential wheel-based joint control method and device, electronic equipment, and storage media.
背景技术Background technique
机器人、工业车床等器械设备通常包含多个机械臂，而机械臂之间通过关节相互连接。为了使机器人能够完成较为复杂的动作，关节通常被设计为包含两个自由度，在此基础上，当多个机械臂相连时，机器人即可通过其中包含的多个关节实现四个甚至六个自由度。Equipment such as robots and industrial lathes usually contain multiple robotic arms, and the robotic arms are connected to each other through joints. In order to enable the robot to complete more complex actions, the joints are usually designed to contain two degrees of freedom. On this basis, when multiple robotic arms are connected, the robot can achieve four or even six through the multiple joints contained in it. degrees of freedom.
相关技术为了使关节可以在两个自由度上活动，通常需要分别为两个自由度设计单独的驱动组件。这种方式不仅增加了制造成本，且使得整个关节结构不够紧凑。Related Art In order to enable a joint to move in two degrees of freedom, it is usually necessary to design separate driving components for the two degrees of freedom. This method not only increases the manufacturing cost, but also makes the entire joint structure less compact.
发明内容Contents of the invention
本公开提供一种基于差速轮的关节控制方法及装置、电子设备、存储介质。The present disclosure provides a differential wheel-based joint control method and device, electronic equipment, and storage media.
根据本公开的第一方面，提供一种基于差速轮的关节控制方法，所述差速轮包含连接轴，以及安装于所述连接轴两端的第一行星轮和第二行星轮；所述关节包含所述差速轮，以及跟随所述连接轴围绕轴心转动的太阳轮；所述方法包括：According to a first aspect of the present disclosure, a joint control method based on a differential wheel is provided. The differential wheel includes a connecting shaft, and first and second planet wheels installed at both ends of the connecting shaft; The joint includes the differential gear and a sun gear that rotates around the axis following the connecting shaft; the method includes:
获取所述关节在所述差速轮的第一转动方向上的第一转动角度，以及在所述太阳轮的第二转动方向上的第二转动角度；Obtain the first rotation angle of the joint in the first rotation direction of the differential wheel and the second rotation angle in the second rotation direction of the sun gear;
基于所述第一转动角度、所述第二转动角度，以及所述太阳轮与所述差速轮之间的偏转系数，计算所述第一行星轮的第一偏转角和所述第二行星轮的第二偏转角；Based on the first rotation angle, the second rotation angle, and the deflection coefficient between the sun gear and the differential gear, a first deflection angle of the first planet gear and a first deflection angle of the second planet gear are calculated. The second deflection angle of the wheel;
驱动所述第一行星轮转动第一偏转角度、驱动所述第二行星轮转动第二偏转角度，以使所述关节在所述差速轮的转动方向上转动所述第一转动角度、在所述太阳轮的转动方向上转动所述第二转动角度。The first planet wheel is driven to rotate at a first deflection angle, and the second planet wheel is driven to rotate at a second deflection angle, so that the joint rotates at the first rotation angle in the rotation direction of the differential wheel. The second rotation angle is rotated in the rotation direction of the sun gear.
根据本公开的第二方面，提供一种基于差速轮的关节控制装置，所述差速轮包含连接轴，以及安装于所述连接轴两端的第一行星轮和第二行星轮；所述关节包含所述差速轮，以及跟随所述连接轴围绕轴心转动的太阳轮；所述装置包括：According to a second aspect of the present disclosure, a joint control device based on a differential wheel is provided. The differential wheel includes a connecting shaft, and first and second planet wheels installed at both ends of the connecting shaft; The joint includes the differential gear and a sun gear that rotates around the axis following the connecting shaft; the device includes:
获取单元，获取所述关节在所述差速轮的第一转动方向上的第一转动角度，以及在所述太阳轮的第二转动方向上的第二转动角度；an acquisition unit that acquires the first rotation angle of the joint in the first rotation direction of the differential wheel and the second rotation angle in the second rotation direction of the sun gear;
计算单元，基于所述第一转动角度、所述第二转动角度，以及所述太阳轮与所述差速轮之间的偏转系数，计算所述第一行星轮的第一偏转角和所述第二行星轮的第二偏转角；A calculation unit, based on the first rotation angle, the second rotation angle, and the deflection coefficient between the sun gear and the differential gear, calculates the first deflection angle of the first planet gear and the first deflection angle of the first planet gear. the second deflection angle of the second planet wheel;
驱动单元，驱动所述第一行星轮转动第一偏转角度、驱动所述第二行星轮转动第二偏转角度，以使所述关节在所述差速轮的转动方向上转动所述第一转动角度、在所述太阳轮的转动方向上转动所述第二转动角度。A driving unit drives the first planet wheel to rotate through a first deflection angle and drives the second planet wheel to rotate through a second deflection angle, so that the joint rotates the first rotation in the rotation direction of the differential wheel. Angle, the second rotation angle is rotated in the rotation direction of the sun gear.
根据本公开的第三方面，提供一种机械臂，该机械臂的一端设计有关节，所述关节包含差速轮和太阳轮；其中，所述差速轮包含的第一行星轮和第二行星轮用于带动所述关节围绕第一转动轴转动，所述太阳轮用于带动所述关节围绕第二转动轴转动；According to a third aspect of the present disclosure, a mechanical arm is provided. One end of the mechanical arm is designed with a joint, and the joint includes a differential gear and a sun gear; wherein the differential gear includes a first planet gear and a second planet gear. The planet wheel is used to drive the joint to rotate around the first rotation axis, and the sun gear is used to drive the joint to rotate around the second rotation axis;
所述机械臂通过第一方面提供的方法控制所述关节，以使所述关节带动所述机械臂进行运动。The robotic arm controls the joints through the method provided in the first aspect, so that the joints drive the robotic arm to move.
根据本公开的第四方面，提供一种基于差速轮的机械臂关节，包括：差速轮和太阳轮；其中，According to a fourth aspect of the present disclosure, a differential wheel-based robotic arm joint is provided, including: a differential wheel and a sun gear; wherein,
所述差速轮，包含：连接轴，以及安装于所述连接轴两端的第一行星轮和第二行星轮；所述第一行星轮与所述第二行星轮被驱动时，带动所述连接轴转动；The differential gear includes: a connecting shaft, and first planet gears and second planet gears installed at both ends of the connecting shaft; when the first planet gear and the second planet gear are driven, they drive the The connecting shaft rotates;
所述太阳轮，包含：转动组件和转动轴；所述转动轴的一端与所述连接轴固定，以在所述连接轴的带动下相较于所述转动组件转动。The sun gear includes: a rotating component and a rotating shaft; one end of the rotating shaft is fixed to the connecting shaft so as to rotate relative to the rotating component driven by the connecting shaft.
根据本公开的第五方面，提供一种电子设备，包括：According to a fifth aspect of the present disclosure, an electronic device is provided, including:
处理器；processor;
用于存储处理器可执行指令的存储器；Memory used to store instructions executable by the processor;
其中，所述处理器通过运行所述可执行指令以实现如第一方面所述的方法。Wherein, the processor implements the method described in the first aspect by running the executable instructions.
根据本公开的第六方面，提供一种计算机可读存储介质，其上存储有计算机指令，该指令被处理器执行时实现如第一方面所述方法的步骤。According to a sixth aspect of the present disclosure, a computer-readable storage medium is provided, computer instructions are stored thereon, and when the instructions are executed by a processor, the steps of the method described in the first aspect are implemented.
在本公开的技术方案中，关节中包含差速轮和太阳轮，其中，差速轮中包含的两个行星轮用于带动关节围绕第一转动轴转动，太阳轮则用于带动关节围绕第二转动轴转动。其中，两行星轮的转动可带动太阳轮发生转动。在此基础上，即可以不同的角度驱动差速轮中包含的两个行星轮，以使关节同时围绕第一转动轴和第二转动轴进行转动。In the technical solution of the present disclosure, the joint includes a differential gear and a sun gear. The two planet gears included in the differential gear are used to drive the joint to rotate around the first rotation axis, and the sun gear is used to drive the joint to rotate around the third axis. The two rotating shafts rotate. Among them, the rotation of the two planet wheels can drive the sun wheel to rotate. On this basis, the two planet wheels included in the differential wheel can be driven at different angles, so that the joint rotates around the first rotation axis and the second rotation axis at the same time.
应当理解的是，本公开的技术方案相当于利用差速轮的特性，带动太阳轮发生转动，进而实现关节在两个自由度上的活动，避免了相关技术中需要在两个自由度上分别设计驱动组件，而导致关节结构不够紧凑的问题。It should be understood that the technical solution of the present disclosure is equivalent to utilizing the characteristics of the differential wheel to drive the sun wheel to rotate, thereby realizing the movement of the joint in two degrees of freedom, avoiding the need in related technologies to separate the two degrees of freedom. The design of the drive assembly leads to the problem that the joint structure is not compact enough.
附图说明Description of the drawings
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本公开的实施例，并与说明书一起用于解释本公开的原理。The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.
图1是本公开一示例性实施例示出的一种基于差速轮的关节控制方法的流程图；Figure 1 is a flow chart of a joint control method based on a differential wheel according to an exemplary embodiment of the present disclosure;
图2是本公开一示例性实施例示出的一种串联机械臂的结构示意图；Figure 2 is a schematic structural diagram of a series robot arm according to an exemplary embodiment of the present disclosure;
图3是本公开一示例性实施例示出的一种机械臂关节的结构示意图；Figure 3 is a schematic structural diagram of a robotic arm joint according to an exemplary embodiment of the present disclosure;
图4是本公开一示例性实施例示出的一种机械臂关节的结构简图；Figure 4 is a schematic structural diagram of a robotic arm joint according to an exemplary embodiment of the present disclosure;
图5是本公开一示例性实施例示出的一种机械臂关节的内部结构简图；Figure 5 is a schematic diagram of the internal structure of a robotic arm joint according to an exemplary embodiment of the present disclosure;
图6是本公开一示例性实施例示出的一种基于差速轮的关节控制装置的框图；Figure 6 is a block diagram of a joint control device based on a differential wheel according to an exemplary embodiment of the present disclosure;
图7是本公开一示例性实施例中一种电子设备的结构示意图。FIG. 7 is a schematic structural diagram of an electronic device in an exemplary embodiment of the present disclosure.
具体实施方式Detailed ways
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本公开相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本公开的一些方面相一致的装置和方法的例子。Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with aspects of the disclosure as detailed in the appended claims.
在本公开使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本公开。在本公开和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "the" and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It will also be understood that the term "and/or" as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.
应当理解，尽管在本公开可能采用术语第一、第二、第三等来描述各种信息，但这些信息不应限于这些术语。这些术语仅用来将同一类型的信息彼此区分开。例如，在不脱离本公开范围的情况下，第一信息也可以被称为第二信息，类似地，第二信息也可以被称为第一信息。取决于语境，如在此所使用的词语“如果”可以被解释成为“在……时”或“当……时”或“响应于确定”。It should be understood that although the terms first, second, third, etc. may be used in this disclosure to describe various information, the information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of the present disclosure, the first information may also be called second information, and similarly, the second information may also be called first information. Depending on the context, the word "if" as used herein may be interpreted as "when" or "when" or "in response to determining."
在机器人、工业车床等器械设备中，通常都包含多个机械臂，而机械臂之间通过关节进行连接。在此基础上，设备即可通过关节活动的方式，使机械臂完成复杂的动作。Equipment such as robots and industrial lathes usually contain multiple robotic arms, and the robotic arms are connected through joints. On this basis, the equipment can enable the robotic arm to complete complex movements through joint movement.
通常情况下，为了使整个器械设备在四个、甚至六个自由度上活动，通常需要单个关节能够在两个自由度上活动。Normally, in order for the entire device to move in four or even six degrees of freedom, a single joint needs to be able to move in two degrees of freedom.
在相关技术中，为了使关节在两个自由度上活动，通常会为关节配置两组转动方向不同的转动轮，并为两组转动轮配置独立的驱动组件。由于这种方式需要配置两组驱动组件，使得关节的制造成本较高，且由于驱动组件通常需要占用较多的设计空间，导致关节结构不够紧凑。In the related art, in order to allow a joint to move in two degrees of freedom, two sets of rotating wheels with different rotation directions are usually configured for the joint, and independent driving components are configured for the two sets of rotating wheels. Since this method requires two sets of drive components, the manufacturing cost of the joint is high, and because the drive components usually take up more design space, the joint structure is not compact enough.
为此，本公开提出了一种基于差速轮的关节控制方法，能够在关节中实现两个自由度的基础上，提高关节结构的紧凑性。To this end, the present disclosure proposes a joint control method based on a differential wheel, which can improve the compactness of the joint structure on the basis of realizing two degrees of freedom in the joint.
图1为本公开一示例性实施例示出的一种基于差速轮的关节控制方法。Figure 1 illustrates a differential wheel-based joint control method according to an exemplary embodiment of the present disclosure.
如图1所示，该方法可以包括以下步骤：As shown in Figure 1, the method may include the following steps:
步骤102，获取所述关节围绕所述第一转动轴转动的第一转动角度，以及围绕所述第二转动轴转动的第二转动角度；Step 102: Obtain the first rotation angle of the joint around the first rotation axis and the second rotation angle around the second rotation axis;
由上述技术方案可知，相关技术中之所以存在关节成本较高，以及关节结构不够紧凑的问题，是由于相关技术在设计关节时，需要为两个自由度分别配置独立的驱动组件导致的。It can be seen from the above technical solution that the reason why the joint cost in the related art is high and the joint structure is not compact enough is that when designing the joint, the related technology needs to configure independent driving components for the two degrees of freedom.
有鉴于此，本公开在关节中引入了差速轮的设计，在该差速轮中包含的第一行星轮和第二行星轮用于带动关节围绕第一旋转轴转动，而关节中包含的太阳轮则用于带动关节围绕第二旋转轴转动。其中，在第一行星轮和第二行星轮发生转动时，带动太阳轮转动。In view of this, the present disclosure introduces the design of a differential wheel in the joint. The first planet wheel and the second planet wheel contained in the differential wheel are used to drive the joint to rotate around the first rotation axis, and the first planet wheel contained in the joint is used to drive the joint to rotate around the first rotation axis. The sun gear is used to drive the joint to rotate around the second rotation axis. When the first planet wheel and the second planet wheel rotate, the sun wheel is driven to rotate.
应当理解的是，太阳轮和行星轮分别带动关节围绕不同的转动轴转动，使得关节可以在两个自由度上实现转动，且太阳轮是由差速轮中包含的两个行星轮带动转动。在此基础上，只需为差速轮配置一组驱动组件，即可实现围绕两个转动轴发生转动，避免了相关技术中需要为两个自由度分别配置独立的驱动组件的情况。It should be understood that the sun gear and the planet gear drive the joint to rotate around different rotation axes respectively, so that the joint can rotate in two degrees of freedom, and the sun gear is driven to rotate by the two planet gears included in the differential gear. On this basis, it is only necessary to configure a set of driving components for the differential wheel to achieve rotation around the two rotation axes, avoiding the need to configure independent driving components for the two degrees of freedom in related technologies.
在上述设计的基础上，本公开即可通过驱动两个行星轮的方式，实现关节在两个自由度上的不同转动角度。Based on the above design, the present disclosure can realize different rotation angles of the joint on two degrees of freedom by driving two planetary wheels.
在本公开中，可以通过不同的方式，设计行星轮与太阳轮之间的连接结构。例如，在一种设计中，第一行星轮和第二行星轮可以装配于第一转动轴的两端，而第二转动轴的一端与第一转动轴固定，另一端则装配太阳轮。那么，基于差速轮的特性，在两个行星轮以不同角度转动时，可以带动第一转动轴围绕第二转动轴发生一定角度的转动，进而使得第二转动轴与太阳轮发生相对转动。当然，该举例仅是示意性的，具体如何设计第一转动轴与第二转动轴之间的连接关系，可由本领域技术人员根据实际需求确定，本公开对此不作限制。In the present disclosure, the connection structure between the planet gear and the sun gear can be designed in different ways. For example, in one design, the first planet gear and the second planet gear can be assembled at both ends of the first rotation shaft, and one end of the second rotation shaft is fixed to the first rotation shaft, and the other end is equipped with the sun gear. Then, based on the characteristics of the differential gear, when the two planet wheels rotate at different angles, the first rotation axis can be driven to rotate around the second rotation axis at a certain angle, thereby causing the second rotation axis to rotate relative to the sun gear. Of course, this example is only illustrative. How to design the connection relationship between the first rotation axis and the second rotation axis can be determined by those skilled in the art according to actual needs, and this disclosure does not limit this.
步骤104，基于所述第一转动角度、所述第二转动角度，以及所述太阳轮与行星轮之间的连动关系，确定所述第一行星轮的第一偏转角度和所述第二行星轮的第二偏转角度。Step 104: Based on the first rotation angle, the second rotation angle, and the linkage relationship between the sun gear and the planet gear, determine the first deflection angle of the first planet gear and the second deflection angle of the planet gear. The second deflection angle of the planet wheel.
在本公开中，可以通过预先推演或者实验的方式，获得差速轮与太阳轮之间的连动关系，并进行保存。那么，在确定关节需要围绕第一转动轴转动第一转动角度、围绕第二转动轴转动第二转动角度时，即可基于该第一转动角度、第二转动角度，以及差速轮与太阳轮之间的连动关系，确定出第一行星轮的第一偏转角度和第二行星轮的偏转角度。In the present disclosure, the linkage relationship between the differential gear and the sun gear can be obtained through pre-deduction or experimentation and saved. Then, when it is determined that the joint needs to rotate around the first rotation axis by the first rotation angle and around the second rotation axis by the second rotation angle, it can be based on the first rotation angle, the second rotation angle, and the differential wheel and the sun gear. The linkage relationship between them determines the first deflection angle of the first planetary wheel and the deflection angle of the second planetary wheel.
应当理解的是，上述连动关系用于表征“差速轮中的第一行星轮和第二行星轮的偏转角度，对太阳轮转动角度”的影响。在实际应用中，该连动关系可以以多种形式表示。It should be understood that the above linkage relationship is used to represent the influence of "the deflection angle of the first planet gear and the second planet gear in the differential gear on the rotation angle of the sun gear". In practical applications, this linkage relationship can be expressed in various forms.
在一实施例中，上述连动关系可以为：差速轮与太阳轮之间的偏转系数。那么，在获取到第一转动角度和第二转动角度的情况下，即可基于该第一转动角度、第二转动角度，以及偏转系数，计算第一行星轮的第一偏转角度和第二行星轮的第二偏转角度。在实际应用中，可以通过预先推演或者实验的方式，得到包含上述偏转系数的、用于根据第一转动角度和第二转动角度计算第一行星轮的第一偏转角度和第二行星轮的第二偏转角度的推导公式，那么，只需将获取到第一转动角度和第二转动角度代入该推导公式中，即可得到第一偏转角度和第二偏转角度。In one embodiment, the above-mentioned linkage relationship may be: a deflection coefficient between the differential gear and the sun gear. Then, when the first rotation angle and the second rotation angle are obtained, the first deflection angle of the first planet wheel and the second planet wheel can be calculated based on the first rotation angle, the second rotation angle, and the deflection coefficient. The second deflection angle of the wheel. In practical applications, the calculation of the first deflection angle of the first planet wheel and the second deflection angle of the second planet wheel based on the first rotation angle and the second rotation angle, including the above-mentioned deflection coefficient, can be obtained through pre-deduction or experimentation. The derivation formula of the second deflection angle, then, just substitute the obtained first rotation angle and the second rotation angle into the derivation formula, and the first deflection angle and the second deflection angle can be obtained.
在本实施例中，若差速轮中包含的第一行星轮和第二行星轮结构一致，且均与太阳轮咬合。那么，本实施例中的偏转系数可以为差速轮与太阳轮之间的减速比(又被称作传动比)。由于差速轮中的两个行星轮结构一致，因此，偏转系数也可以被称作是第一行星轮、或第二行星轮与太阳轮之间的减速比。需要声明的是，无论是第一行星轮、第二行星轮，还是太阳轮，均包含较为复杂的结构，例如，其可以包含转子、定子，以及齿轮等。那么，太阳轮与行星轮相互咬合指的是：行星轮中包含的齿轮与太阳轮包含的齿轮相互咬合。在另一实施例中，上述连动关系可以为：第一行星轮的偏转角度、第二行星轮的偏转角度，与第一转动角度、第二转动角度的对应关系。在实际应用中，可以通过预先实验的方式，获得第一行星轮和第二行星轮在发生各种偏转的情况下，关节围绕第一转动轴和第二转动轴的转动角度，以作为上述对应关系。那么，在获取到第一转动角度和第二转动角度的情况下，只需从预设的对应关系中查找相应的偏转角度即可。In this embodiment, if the first planet gear and the second planet gear included in the differential gear have the same structure, and both mesh with the sun gear. Then, the deflection coefficient in this embodiment can be the reduction ratio between the differential gear and the sun gear (also called the transmission ratio). Since the two planetary gears in the differential gear have the same structure, the deflection coefficient can also be called the reduction ratio between the first planetary gear, or the second planetary gear and the sun gear. It should be noted that whether it is the first planet gear, the second planet gear, or the sun gear, they all contain relatively complex structures. For example, they may include rotors, stators, gears, etc. Then, the mutual meshing of the sun gear and the planet gear means that the gears included in the planet gear and the gears included in the sun gear mesh with each other. In another embodiment, the above-mentioned linkage relationship may be: the corresponding relationship between the deflection angle of the first planetary wheel, the deflection angle of the second planetary wheel, and the first rotation angle and the second rotation angle. In practical applications, the rotation angles of the joints of the first planet wheel and the second planet wheel around the first rotation axis and the second rotation axis when various deflections occur can be obtained through preliminary experiments as the above correspondence. relation. Then, when the first rotation angle and the second rotation angle are obtained, it is only necessary to find the corresponding deflection angle from the preset correspondence relationship.
需要声明的是，本公开通过上述连动关系，可能获取到多组第一行星轮和第二行星轮的偏转角度。在该情况下，可以根据预设的选取规则从多组偏转角度中选取一组，以作为第一行星轮的第一偏转角度和第二行星轮的第二偏转角度。例如，可以选取运动路径最短的一组，或者驱动组件提供的动力最小的一组。当然，该选取规则仅是示意性的，具体如何选取第一偏转角度和第二偏转角度，可由本领域技术人员根据实际情况确定，本公开对此不作限制。It should be noted that the present disclosure may obtain the deflection angles of multiple sets of first planetary wheels and second planetary wheels through the above-mentioned linkage relationship. In this case, one set of deflection angles may be selected from multiple sets of deflection angles according to a preset selection rule to serve as the first deflection angle of the first planet wheel and the second deflection angle of the second planet wheel. For example, you can select the group with the shortest path of motion, or the group with the smallest power provided by the drive assembly. Of course, this selection rule is only illustrative. How to select the first deflection angle and the second deflection angle can be determined by those skilled in the art according to actual conditions, and this disclosure does not limit this.
在本公开中，关节可以装配于机械臂。在该情况下，关节在第一转动方向上的第一转动角度和在第二转动方向上的转动角度可以由机械臂所需执行的目标偏转角度确定。例如，在确定机械臂的目标偏转角度的情况下，即可将该目标偏转角度拆分为围绕第一转动轴的第一转动角度、围绕第二转动轴的第二转动角度。In the present disclosure, the joint may be assembled to the robotic arm. In this case, the first rotation angle of the joint in the first rotation direction and the rotation angle in the second rotation direction may be determined by the target deflection angle that the robot arm needs to perform. For example, when the target deflection angle of the robotic arm is determined, the target deflection angle can be divided into a first rotation angle around the first rotation axis and a second rotation angle around the second rotation axis.
当然，由于机械臂实际是在坐标系中进行轨迹规划，因此，在确定目标偏转角度时，需要将机械臂在笛卡尔空间中的位姿坐标，转换为在关节空间中的转动角度，该转换过程又被称作位姿解耦。在实际应用中，可以采用任一种计算方式计算该目标偏转角度，例如，可以采用运动学逆解的方式计算该目标偏转角度，具体的，在确定机械臂的端点所需到达的目标位姿坐标时，可以根据目标位姿坐标和当前所处位姿坐标，计算由当前所处位姿调整到目标位姿坐标的偏转角度，以作为机械臂的目标偏转角度。除了采用运动学逆解之类的解析法进行位姿解耦以外，还可以采用迭代法等其他方式进行位姿解耦，本公开对此不作限制。Of course, since the robot arm actually performs trajectory planning in the coordinate system, when determining the target deflection angle, it is necessary to convert the pose coordinates of the robot arm in Cartesian space into the rotation angle in joint space. This conversion The process is also called pose decoupling. In practical applications, any calculation method can be used to calculate the target deflection angle. For example, the inverse kinematic solution can be used to calculate the target deflection angle. Specifically, the target pose required to be reached by the end point of the manipulator is determined. When coordinates are set, the deflection angle adjusted from the current pose to the target pose coordinate can be calculated based on the target pose coordinate and the current pose coordinate as the target deflection angle of the robotic arm. In addition to using analytical methods such as inverse kinematics solutions for pose decoupling, other methods such as iterative methods can also be used for pose decoupling, which is not limited by this disclosure.
步骤106，驱动所述第一行星轮转动第一偏转角度、驱动所述第二行星轮转动第二偏转角度，以使所述关节围绕所述第一转动轴转动所述第一转动角度、围绕所述第二转动轴转动所述第二转动角度。Step 106: drive the first planet wheel to rotate at a first deflection angle and drive the second planet wheel to rotate at a second deflection angle, so that the joint rotates around the first rotation axis at the first rotation angle and around the first rotation axis. The second rotation axis rotates through the second rotation angle.
在本公开中，在获取到第一偏转角度和第二偏转角度之后，即可驱动相应的行星轮进行转动。本公开可以通过多种方式驱动第一行星轮和第二行星轮，以使关节围绕第一转动轴转动第一转动角度、围绕第二转动轴转动第二转动角度。In the present disclosure, after the first deflection angle and the second deflection angle are obtained, the corresponding planet wheel can be driven to rotate. The present disclosure can drive the first planet wheel and the second planet wheel in various ways, so that the joint rotates around the first rotation axis by a first rotation angle and around the second rotation axis by a second rotation angle.
在本公开中，可以在第一行星轮和第二行星轮中分别装配相应的驱动组件，以用于对第一行星轮和第二行星轮进行驱动。例如，本公开可以预设驱动动力与偏转角度之间的对应关系，那么，在确定第一偏转角度和第二偏转角度之后，即可根据预设的对应关系，确定出与第一偏转角度对应的第一动力数值、与第二偏转角度对应的第二动力数值，并将第一动力数值输入第一行星轮的驱动组件，以使该驱动组件驱动第一行星轮转动；将第二动力数值输入第二行星轮的驱动组件，以使该驱动组件驱动第二行星轮转动。需要声明的是，在实际应用中，驱动动力与偏转角度之间的关系可能是动态的，因此，上述第一动力数值和第二动力数值，可以均是一组数值，而非单个数值。In the present disclosure, corresponding driving assemblies may be assembled in the first planetary gear and the second planetary gear respectively for driving the first planetary gear and the second planetary gear. For example, the present disclosure can preset the corresponding relationship between the driving power and the deflection angle. Then, after determining the first deflection angle and the second deflection angle, the corresponding relationship between the first deflection angle and the first deflection angle can be determined based on the preset corresponding relationship. The first power value, the second power value corresponding to the second deflection angle, and the first power value is input into the driving component of the first planetary wheel, so that the driving component drives the first planetary wheel to rotate; the second power value is A driving component of the second planetary wheel is input, so that the driving component drives the second planetary wheel to rotate. It should be noted that in actual applications, the relationship between the driving power and the deflection angle may be dynamic. Therefore, the above-mentioned first power value and the second power value may both be a set of values rather than a single value.
当然，上述驱动行星轮的方式均是示意性，具体如何驱动行星轮可由本领域技术人员根据实际情况确定，本公开对此不作限制。Of course, the above-mentioned ways of driving the planetary gears are all illustrative. The specific method of driving the planetary gears can be determined by those skilled in the art according to actual conditions, and this disclosure does not limit this.
需要声明的是，本公开技术方案的执行主体可以为任意类型的设备，例如，可以为装配有机械臂的机器人或工业车床；再例如，可以为用于控制关节活动，以使其装配的机械臂进行一定动作的控制设备。应当理解的是，任何具有一定数据处理能力且用于控制关节活动的设备均可作为本公开的执行主体，具体将哪一种类型的设备作为本公开技术方案的执行主体可以由本领域技术人员根据实际需求确定，本公开对此不作限制。It should be noted that the execution subject of the technical solution of the present disclosure can be any type of equipment, for example, it can be a robot or an industrial lathe equipped with a mechanical arm; for another example, it can be a machine used to control joint activities to enable assembly. A control device for the arm to perform certain movements. It should be understood that any device with certain data processing capabilities and used to control joint activities can be used as the execution subject of the present disclosure. The specific type of equipment used as the execution subject of the technical solution of the present disclosure can be determined by those skilled in the art according to The actual demand is determined, and this disclosure does not limit this.
由上述技术方案可知，本公开的关节中包含差速轮和太阳轮，其中，差速轮中包含的两个行星轮用于带动关节围绕第一转动轴转动，太阳轮则用于带动关节围绕第二转动轴转动。其中，两行星轮的转动可带动太阳轮发生转动。在此基础上，即可以不同的角度驱动差速轮中包含的两个行星轮，以使关节同时围绕第一转动轴和第二转动轴进行转动。It can be seen from the above technical solution that the joint of the present disclosure includes a differential gear and a sun gear. The two planet wheels included in the differential gear are used to drive the joint to rotate around the first rotation axis, and the sun gear is used to drive the joint to rotate around the first rotation axis. The second rotation axis rotates. Among them, the rotation of the two planet wheels can drive the sun wheel to rotate. On this basis, the two planet wheels included in the differential wheel can be driven at different angles, so that the joint rotates around the first rotation axis and the second rotation axis at the same time.
应当理解的是，本公开的技术方案相当于利用差速轮的特性，带动太阳轮发生转动，进而实现关节在两个自由度上的活动，避免了相关技术中需要在两个自由度上分别设计驱动关节，而导致关节结构不够紧凑的问题。It should be understood that the technical solution of the present disclosure is equivalent to utilizing the characteristics of the differential wheel to drive the sun wheel to rotate, thereby realizing the movement of the joint in two degrees of freedom, avoiding the need in related technologies to separate the two degrees of freedom. The design of the drive joint results in a problem that the joint structure is not compact enough.
进一步的，本公开中的太阳轮和行星轮之间可以相互咬合。那么，在行星轮按照偏转角度进行转动时，可以推动行星轮转动，实现了通过行星轮转动，带动太阳轮转动的效果。Furthermore, the sun gear and the planet gear in this disclosure can mesh with each other. Then, when the planet wheel rotates according to the deflection angle, the planet wheel can be pushed to rotate, achieving the effect of driving the sun wheel to rotate through the rotation of the planet wheel.
在上述关节控制方法的基础上，本公开还提出了一种机械臂。Based on the above joint control method, the present disclosure also proposes a robotic arm.
在该机械臂的一端可以设计有上文所述的关节，即该关节包含差速轮和太阳轮，其中，差速轮包含的第一行星轮和第二行星轮用于带动该关节围绕第一转动轴转动，而太阳轮则用于带动该关节围绕第二转动轴转动。The above-mentioned joint can be designed at one end of the mechanical arm, that is, the joint includes a differential wheel and a sun gear, wherein the first planet wheel and the second planet wheel included in the differential wheel are used to drive the joint around the third One rotation axis rotates, and the sun gear is used to drive the joint to rotate around the second rotation axis.
在此基础上，该机械臂即可通过上文所述的任一种关节控制方法，对该关节进行控制，以使该关节带动机械臂进行运动。具体如何控制，均可参照上文针对关节控制方法的介绍，在此不再赘述。On this basis, the robotic arm can control the joint through any of the joint control methods described above, so that the joint drives the robotic arm to move. For specific control methods, please refer to the introduction of joint control methods above, and will not be repeated here.
在本公开中，还提出了一种基于差速轮的机械臂关节，该机械臂关节可以包括差速轮和太阳轮；其中，In this disclosure, a differential wheel-based robotic arm joint is also proposed, which may include a differential wheel and a sun gear; wherein,
差速轮，包含：连接轴，以及安装于连接轴两端的第一行星轮和第二行星轮；第一行星轮与第二行星轮被驱动时，带动连接轴转动；The differential gear includes: a connecting shaft, and first and second planet gears installed at both ends of the connecting shaft; when the first planet gear and the second planet gear are driven, they drive the connecting shaft to rotate;
太阳轮，包含：转动组件和转动轴；转动轴的一端与连接轴固定，以在连接轴的带动下相较于转动组件转动。The sun gear includes: a rotating component and a rotating shaft; one end of the rotating shaft is fixed to the connecting shaft so as to rotate relative to the rotating component driven by the connecting shaft.
应当理解的是，在该机械臂关节中，连接轴相当于上述第一转动轴，旋转轴则相当于上述第二转动轴。It should be understood that in this robot arm joint, the connecting axis is equivalent to the above-mentioned first rotation axis, and the rotation axis is equivalent to the above-mentioned second rotation axis.
在该结构的基础上，只需驱动行星轮，即可带动连接轴围绕转动轴转动，而由于连接轴与转动轴一端固定，因此，转动轴也随着连接轴相较于转动组件发生转动。显然，基于该结构，只需为行星轮装配驱动组件，即可实现使关节围绕两个旋转轴转动，避免了相关技术中需要为两个自由度单独设计驱动组件的情况。On the basis of this structure, just driving the planet wheel can drive the connecting shaft to rotate around the rotating shaft. Since the connecting shaft and the rotating shaft are fixed at one end, the rotating shaft also rotates with the connecting shaft compared to the rotating component. Obviously, based on this structure, it is only necessary to assemble the driving assembly for the planetary wheel, so that the joint can rotate around the two rotation axes, avoiding the need to separately design the driving assembly for the two degrees of freedom in related technologies.
下面，以通过关节活动对机械臂进行位姿调整为例，对本公开的技术方案进行介绍。Below, the technical solution of the present disclosure will be introduced by taking the posture adjustment of the robotic arm through joint movement as an example.
图2为本公开一示例性实施例示出的一种串联机械臂的结构示意图。如图2所示，该机械臂可以包含多个关节，而关节1与底座相连。FIG. 2 is a schematic structural diagram of a series robot arm according to an exemplary embodiment of the present disclosure. As shown in Figure 2, the robotic arm can contain multiple joints, and joint 1 is connected to the base.
在本公开中，当需要将图2所示的机械臂调整至某一目标位姿时，首先需要计算由当前位姿调整至目标位姿，各个关节所需转动的目标偏转角度。例如，可以通过运动学逆解的方式，获取该目标偏转角度，具体的，可以将上述串联机械臂各个关节在笛卡尔空间坐标系中的当前位姿坐标和需要调整至的目标位姿坐标，作为入参输入相应的解析公式中，以得到各个关节所需转动的目标偏转角度。In the present disclosure, when the robotic arm shown in Figure 2 needs to be adjusted to a certain target posture, it is first necessary to calculate the target deflection angle of each joint required to adjust from the current posture to the target posture. For example, the target deflection angle can be obtained through the inverse kinematics solution. Specifically, the current pose coordinates of each joint of the above-mentioned series manipulator arm in the Cartesian space coordinate system and the target pose coordinates that need to be adjusted can be obtained. Enter the corresponding analytical formula as an input parameter to obtain the target deflection angle required for each joint to rotate.
在获得各个机械臂关节所需转动的目标偏转角度后，即可将各个关节的目标偏转角度拆分为在两个不同自由度上的转动角度。After obtaining the target deflection angle required for each robot arm joint to rotate, the target deflection angle of each joint can be split into rotation angles on two different degrees of freedom.
下面，以图2中与底座相连的关节1为例，对本公开的关节控制方法进行介绍。Next, taking the joint 1 connected to the base in Figure 2 as an example, the joint control method of the present disclosure will be introduced.
在对控制方法进行介绍之前，首先对该关节的结构进行说明。Before introducing the control method, first the structure of the joint is explained.
图3为本公开一示例性实施例示出的一种机械臂关节的结构示意图。其中，2和3为两个行星轮，7和8为两个行星轮上装配的齿轮；6为底座，上面装配有太阳轮，13为太阳轮上装配的齿轮；10为连接两个行星轮的连接轴，12为与连接轴固定的转动轴；17则为与太阳轮上的齿轮固定的转动组件，转动轴12可以相较于该转动组件发生转动。FIG. 3 is a schematic structural diagram of a robotic arm joint according to an exemplary embodiment of the present disclosure. Among them, 2 and 3 are the two planet wheels, 7 and 8 are the gears assembled on the two planet wheels; 6 is the base with the sun gear assembled on it, 13 is the gear assembled on the sun wheel; 10 is the connection between the two planet wheels. 12 is a rotating shaft fixed to the connecting shaft; 17 is a rotating component fixed to the gear on the sun gear, and the rotating shaft 12 can rotate compared to the rotating component.
不难看出，在该关节结构中，齿轮7、8均与齿轮13咬合，且太阳轮上的齿轮与底座固定。因此，在行星轮发生转动时，即可通过咬合的齿轮推动转动轴12相较于转动组件14转动(或者说，相较于齿轮13或底座转动)，进而实现关节围绕转动轴12和连接轴10同时转动。It is easy to see that in this joint structure, gears 7 and 8 are meshed with gear 13, and the gear on the sun gear is fixed to the base. Therefore, when the planet wheel rotates, the meshed gear can be used to push the rotating shaft 12 to rotate relative to the rotating assembly 14 (or to rotate relative to the gear 13 or the base), thereby realizing the joint around the rotating axis 12 and the connecting axis. 10 rotate simultaneously.
为了方便理解行星轮与太阳轮之间的转动关系。可以将图3的结构示意图简化为图4所示的结构简图。In order to facilitate the understanding of the rotational relationship between the planet wheel and the sun wheel. The schematic structural diagram in Figure 3 can be simplified into the schematic structural diagram shown in Figure 4.
如图4所示，关节1的目标偏转角度可以被拆分为围绕转动轴12转动的θ1、围绕连接轴10转动的θ2。其中，通过调节第一行星轮的偏转角度q1和第二行星轮的偏转角度q2，可以改变θ1和θ2的转动角度。那么，在通过上述运动学逆解的方式获得目标偏转角度，并将目标偏转角度拆分为θ1和θ2之后，即可基于θ1和θ2，求q1和q2。As shown in FIG. 4 , the target deflection angle of joint 1 can be divided into θ1 that rotates around the rotation axis 12 and θ2 that rotates around the connection axis 10 . Among them, by adjusting the deflection angle q1 of the first planet wheel and the deflection angle q2 of the second planet wheel, the rotation angles of θ1 and θ2 can be changed. Then, after obtaining the target deflection angle through the above-mentioned inverse kinematic solution and splitting the target deflection angle into θ1 and θ2 , q1 and q2 can be calculated based on θ1 and θ2 .
在本实施例中，可以将齿轮7或8，与齿轮13的减速比N，作为偏转系数，生成关于由θ1和θ2推导得到q1和q2的推导公式。例如，该公式可以为：In this embodiment, the reduction ratio N of gear 7 or 8 and gear 13 can be used as a deflection coefficient to generate a derivation formula for q1 and q2 derived from θ1 and θ2 . For example, the formula could be:
q1＝θ2+Nθ1q1 =θ2 +Nθ1
q2＝-θ2+Nθ1q2 =-θ2 + Nθ1
那么，在得到θ1和θ2的情况下，即可基于θ1和θ2的数值，计算得到q1和q2，并通过第一行星轮的驱动组件驱动第一行星轮转动q1，通过第二行星轮的驱动组件驱动第二行星轮转动q2。Then, when θ1 and θ2 are obtained, q1 and q2 can be calculated based on the values of θ1 and θ2 , and the first planet wheel can be driven to rotate q1 through the driving assembly of the first planet wheel. The second planetary wheel is driven to rotate q2 through the driving assembly of the second planetary wheel.
需要声明的是，上述q1和q2并非是齿轮7、8的偏转角度，换言之，行星轮的偏转角度并非是其所装配的齿轮的偏转角度，而是行星轮中的转子相较于定子的偏转角度。例如，进一步细化行星轮和太阳轮之间的结构，可以得到如图5所示的结构示意图。It should be noted that the above q1 and q2 are not the deflection angles of gears 7 and 8. In other words, the deflection angle of the planetary gear is not the deflection angle of the gear it is assembled with, but the deflection angle of the rotor in the planetary gear compared to the stator. deflection angle. For example, by further refining the structure between the planet gear and the sun gear, a schematic structural diagram as shown in Figure 5 can be obtained.
在图5中，a为上述连接轴10和转动轴12组成的、可以朝θ1方向转动的转动结构；b为第一行星轮的转子，c为第二行星轮的转子；H为与机械臂固定的可以朝θ2方向转动的转动结构，其所包含的的h1为属于第一行星轮的定子，转子b相较于定子h1的转动角度即为偏转角度q1，其所包含的的h2为属于第二行星轮的定子，转子c相较于定子h2的转动角度即为偏转角度q2。而转子b右侧包含齿轮7，齿轮7与太阳轮上的齿轮13在位置d处咬合，相类似的，转子c左侧包含齿轮8，齿轮8与太阳轮上的齿轮13在位置e处咬合。In Figure 5, a is the rotation structure composed of the above-mentioned connecting shaft 10 and the rotating shaft 12, which can rotate in the θ1 direction; b is the rotor of the first planetary wheel, c is the rotor of the second planetary wheel; H is the mechanical A rotating structure with fixed arms that can rotate in the θ2 direction. The h1 it contains is the stator belonging to the first planetary wheel. The rotation angle of the rotor b compared to the stator h1 is the deflection angle q1. The h2 it contains It is the stator belonging to the second planetary gear. The rotation angle of the rotor c compared to the stator h2 is the deflection angle q2. The right side of rotor b contains gear 7, which meshes with gear 13 on the sun gear at position d. Similarly, the left side of rotor c contains gear 8, which meshes with gear 13 on the sun gear at position e. .
在该结构的基础上，那么只需驱动第一行星轮上的转子b和第二行星轮上的转子c，即可通过转子带动转动结构H围绕连接轴(即按照转动方向θ2)转动；同时通过咬合的齿轮推动，使转动结构a围绕转动轴(即按照转动方向θ1)转动，进而带动转动结构H也围绕转动轴转动。从整个机械臂关节角度看待，即为关节同时围绕连接轴和转动轴发生转动，实现了两个自由度。Based on this structure, you only need to drive the rotor b on the first planetary wheel and the rotor c on the second planetary wheel, and the rotor can drive the rotating structure H to rotate around the connecting axis (that is, in accordance with the rotation direction θ2 ); At the same time, the rotating structure a is driven by the interlocking gears to rotate around the rotation axis (that is, according to the rotation direction θ1 ), which in turn drives the rotating structure H to also rotate around the rotation axis. From the perspective of the entire robotic arm joint, the joint rotates around the connecting axis and the rotation axis at the same time, achieving two degrees of freedom.
显然，相较于相关技术中的方式，减少了所需装配的驱动组件，在降低成本的同时，提高了结构紧凑度。Obviously, compared with the method in the related art, the driving components required to be assembled are reduced, which reduces the cost and improves the compactness of the structure.
图6是本公开一示例性实施例示出的一种基于差速轮的关节控制装置的框图。参照图6，该装置包括获取单元601和确定单元602和驱动单元603。FIG. 6 is a block diagram of a joint control device based on a differential wheel according to an exemplary embodiment of the present disclosure. Referring to FIG. 6 , the device includes an acquisition unit 601 and a determination unit 602 and a driving unit 603 .
获取单元601，获取所述关节围绕所述第一转动轴转动的第一转动角度，以及围绕所述第二转动轴转动的第二转动角度；The acquisition unit 601 acquires the first rotation angle of the joint around the first rotation axis and the second rotation angle of the joint around the second rotation axis;
确定单元602，基于所述第一转动角度、所述第二转动角度，以及所述太阳轮与所述差速轮之间的连动关系，确定所述第一行星轮的第一偏转角和所述第二行星轮的第二偏转角；The determination unit 602 determines the first deflection angle and the first deflection angle of the first planet gear based on the first rotation angle, the second rotation angle, and the linkage relationship between the sun gear and the differential gear. the second deflection angle of the second planet wheel;
驱动单元603，驱动所述第一行星轮转动第一偏转角度、驱动所述第二行星轮转动第二偏转角度，以使所述关节围绕所述第一转动轴转动所述第一转动角度、围绕所述第二转动轴转动所述第二转动角度。The driving unit 603 drives the first planet wheel to rotate at a first deflection angle, and drives the second planet wheel to rotate at a second deflection angle, so that the joint rotates around the first rotation axis at the first rotation angle, Rotate the second rotation angle around the second rotation axis.
可选的，所述第一行星轮和所述第一行星轮装配于所述第一转动轴两端；所述第二转动轴的一端与所述第一转动轴固定，另一端装配有所述太阳轮。Optionally, the first planetary gear and the first planetary gear are assembled at both ends of the first rotating shaft; one end of the second rotating shaft is fixed to the first rotating shaft, and the other end is assembled with a certain Describe the sun wheel.
可选的，所述关节用于驱动机械臂转动；获取单元601被进一步用于：Optionally, the joint is used to drive the mechanical arm to rotate; the acquisition unit 601 is further used to:
确定所述机械臂的目标偏转角度，将所述目标偏转角度拆分为围绕所述第一转动轴转动的第一转动角度，以及围绕所述第二转动轴转动的第二转动角度。Determine the target deflection angle of the robotic arm, and split the target deflection angle into a first rotation angle around the first rotation axis and a second rotation angle around the second rotation axis.
可选的，获取单元601被进一步用于：Optionally, the acquisition unit 601 is further used for:
根据所述机械臂的目标位姿坐标和当前所处位姿坐标，计算所述机械臂由当前所处位姿调整到目标位姿所需偏转的角度，以将计算得到的角度作为目标偏转角度。According to the target pose coordinates of the robotic arm and the current pose coordinates, calculate the deflection angle required for the robotic arm to adjust from the current pose to the target pose, and use the calculated angle as the target deflection angle. .
可选的，确定单元602被进一步用于：Optionally, the determining unit 602 is further used to:
将所述第一转动角度、所述第二转动角度，代入预设的包含所述太阳轮与所述差速轮之间的偏转系数的推导公式中，以计算得到所述第一行星轮的第一偏转角和所述第二行星轮的第二偏转角。The first rotation angle and the second rotation angle are substituted into the preset derivation formula including the deflection coefficient between the sun gear and the differential gear to calculate the first planet gear a first deflection angle and a second deflection angle of the second planetary gear.
可选的，所述第一行星轮和所述第二行星轮结构一致，且均与所述太阳轮咬合；所述偏转系数为所述第一行星轮与所述太阳轮之间的减速比。Optionally, the first planet gear and the second planet gear have the same structure, and both mesh with the sun gear; the deflection coefficient is the reduction ratio between the first planet gear and the sun gear. .
可选的，确定单元602被进一步用于：Optionally, the determining unit 602 is further used to:
从预设的第一行星轮的偏转角度、第二行星轮的偏转角度，与所述关节围绕第一转动轴的转动角度、所述关节围绕第二转动轴的转动角度之间的对应关系中，查找与所述第一转动角度和第二转动角度对应的第一偏转角度和第二偏转角度。From the corresponding relationship between the preset deflection angle of the first planet wheel, the deflection angle of the second planet wheel, the rotation angle of the joint around the first rotation axis, and the rotation angle of the joint around the second rotation axis. , find the first deflection angle and the second deflection angle corresponding to the first rotation angle and the second rotation angle.
可选的，确定单元602还被用于：Optionally, the determining unit 602 is also used to:
在通过所述连动关系确定出若干组所述第一行星轮和所述第二行星轮的偏转角度的情况下，根据预设选取规则从若干组转动角度中，选取一组转动角度，作为所述第一行星轮的第一偏转角和所述第二行星轮的第二偏转角。In the case where several sets of deflection angles of the first planet wheels and the second planet wheels are determined through the linkage relationship, one set of rotation angles is selected from the several sets of rotation angles according to the preset selection rules, as a first deflection angle of the first planet gear and a second deflection angle of the second planet gear.
对于装置实施例而言，由于其基本对应于方法实施例，所以相关之处参见方法实施例的部分说明即可。以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本公开方案的目的。本领域普通技术人员在不付出创造性劳动的情况下，即可以理解并实施。As for the device embodiment, since it basically corresponds to the method embodiment, please refer to the partial description of the method embodiment for relevant details. 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 physical units, that is, they may be located in One location, 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 disclosed solution. Persons of ordinary skill in the art can understand and implement the method without any creative effort.
相应的，本公开还提供一种基于差速轮的关节控制装置，包括：处理器；用于存储处理器可执行指令的存储器；其中，所述处理器被配置为实现如上述实施例中任一所述的基于差速轮的关节控制方法，比如该方法可以包括：获取所述关节围绕所述第一转动轴转动的第一转动角度，以及围绕所述第二转动轴转动的第二转动角度；基于所述第一转动角度、所述第二转动角度，以及所述太阳轮与所述差速轮之间的连动关系，确定所述第一行星轮的第一偏转角度和所述第二行星轮的第二偏转角度；驱动所述第一行星轮转动第一偏转角度、驱动所述第二行星轮转动第二偏转角度，以使所述关节围绕所述第一转动轴转动所述第一转动角度、围绕所述第二转动轴转动所述第二转动角度。Correspondingly, the present disclosure also provides a differential wheel-based joint control device, including: a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to implement any of the above embodiments. A joint control method based on a differential wheel. For example, the method may include: obtaining the first rotation angle of the joint around the first rotation axis, and the second rotation angle around the second rotation axis. Angle; based on the first rotation angle, the second rotation angle, and the linkage relationship between the sun gear and the differential gear, determine the first deflection angle of the first planet wheel and the a second deflection angle of the second planetary wheel; driving the first planetary wheel to rotate at a first deflection angle, driving the second planetary wheel to rotate at a second deflection angle, so that the joint rotates around the first rotation axis. The first rotation angle and the second rotation angle are rotated around the second rotation axis.
相应的，本公开还提供一种电子设备，所述电子设备包括有存储器，以及一个或者一个以上的程序，其中一个或者一个以上程序存储于存储器中，且经配置以由一个或者一个以上处理器执行所述一个或者一个以上程序包含用于实现如上述实施例中任一所述的基于差速轮的关节控制方法的指令，比如该方法可以包括：获取所述关节围绕所述第一转动轴转动的第一转动角度，以及围绕所述第二转动轴转动的第二转动角度；基于所述第一转动角度、所述第二转动角度，以及所述太阳轮与所述差速轮之间的连动关系，确定所述第一行星轮的第一偏转角度和所述第二行星轮的第二偏转角度；驱动所述第一行星轮转动第一偏转角度、驱动所述第二行星轮转动第二偏转角度，以使所述关节围绕所述第一转动轴转动所述第一转动角度、围绕所述第二转动轴转动所述第二转动角度。Correspondingly, the present disclosure also provides an electronic device. The electronic device includes a memory and one or more programs, wherein the one or more programs are stored in the memory and configured to be processed by one or more processors. Executing the one or more programs includes instructions for implementing the differential wheel-based joint control method as described in any of the above embodiments. For example, the method may include: obtaining the joint's rotation around the first rotation axis. The first rotation angle of rotation, and the second rotation angle of rotation around the second rotation axis; based on the first rotation angle, the second rotation angle, and the relationship between the sun gear and the differential gear The linkage relationship determines the first deflection angle of the first planet wheel and the second deflection angle of the second planet wheel; drives the first planet wheel to rotate the first deflection angle, drives the second planet wheel Rotate the second deflection angle, so that the joint rotates around the first rotation axis by the first rotation angle and around the second rotation axis by the second rotation angle.
图7是根据一示例性实施例示出的一种用于实现基于差速轮的关节控制方法的装置700的框图。例如，装置700可以是移动电话，计算机，数字广播终端，消息收发设备，游戏控制台，平板设备，医疗设备，健身设备，个人数字助理等。FIG. 7 is a block diagram of a device 700 for implementing a differential wheel-based joint control method according to an exemplary embodiment. For example, the device 700 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, or the like.
参照图7，装置700可以包括以下一个或多个组件：处理组件702，存储器704，电源组件706，多媒体组件708，音频组件710，输入/输出(I/O)的接口712，传感器组件714，以及通信组件716。Referring to Figure 7, the device 700 may include one or more of the following components: a processing component 702, a memory 704, a power supply component 706, a multimedia component 708, an audio component 710, an input/output (I/O) interface 712, a sensor component 714, and communications component 716.
处理组件702通常控制装置700的整体操作，诸如与显示，电话呼叫，数据通信，相机操作和记录操作相关联的操作。处理组件702可以包括一个或多个处理器720来执行指令，以完成上述的方法的全部或部分步骤。此外，处理组件702可以包括一个或多个模块，便于处理组件702和其他组件之间的交互。例如，处理组件702可以包括多媒体模块，以方便多媒体组件708和处理组件702之间的交互。Processing component 702 generally controls the overall operations of device 700, such as operations associated with display, phone calls, data communications, camera operations, and recording operations. The processing component 702 may include one or more processors 720 to execute instructions to complete all or part of the steps of the above method. Additionally, processing component 702 may include one or more modules that facilitate interaction between processing component 702 and other components. For example, processing component 702 may include a multimedia module to facilitate interaction between multimedia component 708 and processing component 702.
存储器704被配置为存储各种类型的数据以支持在装置700的操作。这些数据的示例包括用于在装置700上操作的任何应用程序或方法的指令，联系人数据，电话簿数据，消息，图片，视频等。存储器704可以由任何类型的易失性或非易失性存储设备或者它们的组合实现，如静态随机存取存储器(SRAM)，电可擦除可编程只读存储器(EEPROM)，可擦除可编程只读存储器(EPROM)，可编程只读存储器(PROM)，只读存储器(ROM)，磁存储器，快闪存储器，磁盘或光盘。Memory 704 is configured to store various types of data to support operations at device 700 . Examples of such data include instructions for any application or method operating on device 700, contact data, phonebook data, messages, pictures, videos, etc. Memory 704 may be implemented by any type of volatile or non-volatile storage device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EEPROM), Programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.
电源组件706为装置700的各种组件提供电力。电源组件706可以包括电源管理系统，一个或多个电源，及其他与为装置700生成、管理和分配电力相关联的组件。Power supply component 706 provides power to the various components of device 700 . Power supply component 706 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to device 700 .
多媒体组件708包括在所述装置700和用户之间的提供一个输出接口的屏幕。在一些实施例中，屏幕可以包括液晶显示器(LCD)和触摸面板(TP)。如果屏幕包括触摸面板，屏幕可以被实现为触摸屏，以接收来自用户的输入信号。触摸面板包括一个或多个触摸传感器以感测触摸、滑动和触摸面板上的手势。所述触摸传感器可以不仅感测触摸或滑动动作的边界，而且还检测与所述触摸或滑动操作相关的持续时间和压力。在一些实施例中，多媒体组件708包括一个前置摄像头和/或后置摄像头。当装置700处于操作模式，如拍摄模式或视频模式时，前置摄像头和/或后置摄像头可以接收外部的多媒体数据。每个前置摄像头和后置摄像头可以是一个固定的光学透镜系统或具有焦距和光学变焦能力。Multimedia component 708 includes a screen that provides an output interface between the device 700 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide action. In some embodiments, multimedia component 708 includes a front-facing camera and/or a rear-facing camera. When the device 700 is in an operating mode, such as a shooting mode or a video mode, the front camera and/or the rear camera may receive external multimedia data. Each front-facing camera and rear-facing camera can be a fixed optical lens system or have a focal length and optical zoom capabilities.
音频组件710被配置为输出和/或输入音频信号。例如，音频组件710包括一个麦克风(MIC)，当装置700处于操作模式，如呼叫模式、记录模式和语音识别模式时，麦克风被配置为接收外部音频信号。所接收的音频信号可以被进一步存储在存储器704或经由通信组件716发送。在一些实施例中，音频组件710还包括一个扬声器，用于输出音频信号。Audio component 710 is configured to output and/or input audio signals. For example, audio component 710 includes a microphone (MIC) configured to receive external audio signals when device 700 is in operating modes, such as call mode, recording mode, and speech recognition mode. The received audio signal may be further stored in memory 704 or sent via communication component 716 . In some embodiments, audio component 710 also includes a speaker for outputting audio signals.
I/O接口712为处理组件702和外围接口模块之间提供接口，上述外围接口模块可以是键盘，点击轮，按钮等。这些按钮可包括但不限于：主页按钮、音量按钮、启动按钮和锁定按钮。The I/O interface 712 provides an interface between the processing component 702 and a peripheral interface module, which may be a keyboard, a click wheel, a button, etc. These buttons may include, but are not limited to: Home button, Volume buttons, Start button, and Lock button.
传感器组件714包括一个或多个传感器，用于为装置700提供各个方面的状态评估。例如，传感器组件714可以检测到装置700的打开/关闭状态，组件的相对定位，例如所述组件为装置700的显示器和小键盘，传感器组件714还可以检测装置700或装置700一个组件的位置改变，用户与装置700接触的存在或不存在，装置700方位或加速/减速和装置700的温度变化。传感器组件714可以包括接近传感器，被配置用来在没有任何的物理接触时检测附近物体的存在。传感器组件714还可以包括光传感器，如CMOS或CCD图像传感器，用于在成像应用中使用。在一些实施例中，该传感器组件714还可以包括加速度传感器，陀螺仪传感器，磁传感器，压力传感器或温度传感器。Sensor component 714 includes one or more sensors that provide various aspects of status assessment for device 700 . For example, sensor component 714 can detect the open/closed state of device 700, the relative positioning of components, such as the display and keypad of device 700, and sensor component 714 can also detect a change in position of device 700 or a component of device 700. , the presence or absence of user contact with device 700 , device 700 orientation or acceleration/deceleration and temperature changes of device 700 . Sensor assembly 714 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 714 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor component 714 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
通信组件716被配置为便于装置700和其他设备之间有线或无线方式的通信。装置700可以接入基于通信标准的无线网络，如WiFi，2G或3G，4G LTE、5G NR(New Radio)或它们的组合。在一个示例性实施例中，通信组件716经由广播信道接收来自外部广播管理系统的广播信号或广播相关信息。在一个示例性实施例中，所述通信组件716还包括近场通信(NFC)模块，以促进短程通信。例如，在NFC模块可基于射频识别(RFID)技术，红外数据协会(IrDA)技术，超宽带(UWB)技术，蓝牙(BT)技术和其他技术来实现。Communication component 716 is configured to facilitate wired or wireless communication between apparatus 700 and other devices. The device 700 can access a wireless network based on communication standards, such as WiFi, 2G or 3G, 4G LTE, 5G NR (New Radio) or a combination thereof. In one exemplary embodiment, communication component 716 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, the communications component 716 also includes a near field communications (NFC) module to facilitate short-range communications. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.
在示例性实施例中，装置700可以被一个或多个应用专用集成电路(ASIC)、数字信号处理器(DSP)、数字信号处理设备(DSPD)、可编程逻辑器件(PLD)、现场可编程门阵列(FPGA)、控制器、微控制器、微处理器或其他电子元件实现，用于执行上述方法。In an exemplary embodiment, apparatus 700 may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable Gate array (FPGA), controller, microcontroller, microprocessor or other electronic components are implemented for executing the above method.
在示例性实施例中，还提供了一种包括指令的非临时性计算机可读存储介质，例如包括指令的存储器704，上述指令可由装置700的处理器720执行以完成上述方法。例如，所述非临时性计算机可读存储介质可以是ROM、随机存取存储器(RAM)、CD-ROM、磁带、软盘和光数据存储设备等。In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions, such as a memory 704 including instructions, which are executable by the processor 720 of the device 700 to complete the above method is also provided. For example, the non-transitory computer-readable storage medium may be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.
本领域技术人员在考虑说明书及实践这里公开的公开后，将容易想到本公开的其它实施方案。本公开旨在涵盖本公开的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本公开的一般性原理并包括本公开未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本公开的真正范围和精神由下面的权利要求指出。Other embodiments of the disclosure will be readily apparent to those skilled in the art from consideration of the specification and practice of the disclosure herein. The present disclosure is intended to cover any variations, uses, or adaptations of the disclosure that follow the general principles of the disclosure and include common common sense or customary technical means in the technical field that are not disclosed in the disclosure. . It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
应当理解的是，本公开并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本公开的范围仅由所附的权利要求来限制。It is to be understood that the present disclosure is not limited to the precise structures described above and illustrated in the accompanying drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the disclosure is limited only by the appended claims.
以上所述仅为本公开的较佳实施例而已，并不用以限制本公开，凡在本公开的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本公开保护的范围之内。The above are only preferred embodiments of the present disclosure and are not intended to limit the present disclosure. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure shall be included in this disclosure. within the scope of protection.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210470627.8ACN117001648A (en) | 2022-04-28 | 2022-04-28 | Differential wheel-based joint control method and device, electronic equipment, storage medium |
| Application Number | Priority Date | Filing Date | Title |
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| CN202210470627.8ACN117001648A (en) | 2022-04-28 | 2022-04-28 | Differential wheel-based joint control method and device, electronic equipment, storage medium |
| Publication Number | Publication Date |
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| CN117001648Atrue CN117001648A (en) | 2023-11-07 |
| Application Number | Title | Priority Date | Filing Date |
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| CN202210470627.8APendingCN117001648A (en) | 2022-04-28 | 2022-04-28 | Differential wheel-based joint control method and device, electronic equipment, storage medium |
| Country | Link |
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