A method and device for capturing motion performance measurement data of a humanoid robot

Abstract

This invention discloses a method and apparatus for capturing motion performance measurements of a humanoid robot, comprising: real-time acquisition of attitude angle data and acceleration data of the humanoid robot during movement measured by the IMU measuring instrument of the protection unit; real-time display of positioning information on a mobile terminal interface based on an infrared marker ball set on the protection unit and the corresponding infrared camera, and determination of the pose plane of the protection unit based on the positioning information; determination of motion parameters of the corresponding protection unit based on the attitude angle data, acceleration data, and pose plane; determination of rotation angle based on the pose plane measured by different protection units; determination of rotation speed based on the attitude angle data and acceleration data measured by different protection units; and obtaining motion performance measurement data of the humanoid robot based on the motion parameters, rotation angle, and rotation speed. This invention can adapt to different humanoid robots, can measure various motion performances of humanoid robots, can conveniently perform motion capture, and is widely used in various working scenarios.

Description

Technical Field

[0001] This invention relates to the field of intelligent equipment technology, and more particularly to a method and apparatus for capturing motion performance measurement data of a humanoid robot. Background Technology

[0002] In modern industrial applications, many humanoid robot products have emerged. One important indicator of humanoid robot products is their motion performance. In scientific research, product processing, and other fields, it is necessary to measure the motion performance data of humanoid robots. Therefore, the device for capturing humanoid robot motion performance measurement data plays a crucial role.

[0003] However, due to the diverse appearances of humanoid robots, many are equipped with only a single, suitable motion performance measurement data capture device. When motion performance measurement data is required for a new humanoid robot, a new capture device must be designed. Furthermore, because the motion performance capture device is designed for a single measurement object, it is generally designed as a separate structure for the humanoid robot, requiring modifications to the robot's internal program commands during use, which brings many inconveniences. Summary of the Invention

[0004] The purpose of this invention is to provide a method and apparatus for capturing motion performance measurement data of a humanoid robot, which solves the problem that existing motion performance capture devices are generally designed as a separate structure for humanoid robots due to the single nature of their measurement objects, requiring modification of the internal program commands of the humanoid robot during use, which brings many inconveniences.

[0005] The technical solution adopted in this invention is as follows:

[0006] A method for capturing motion performance measurement data of a humanoid robot includes the following steps:

[0007] The IMU measuring instrument of the protection unit acquires the attitude angle data and acceleration data of various parts of the humanoid robot during its movement in real time.

[0008] Based on the infrared marker ball set on the protection unit, the spatial position data of the infrared marker ball is captured by the corresponding infrared camera, and the pose plane of the protection unit is determined based on the spatial position data;

[0009] The motion parameters of the corresponding protection unit are determined based on the attitude angle data, acceleration data, and pose plane; the relative rotation angles of different parts are determined based on the pose planes measured by different protection units; and the relative rotation velocities of different parts are determined based on the attitude angle data and acceleration data measured by different protection units.

[0010] The motion performance measurement data of the humanoid robot are obtained based on motion parameters, rotation angle, and rotation speed.

[0011] Preferably, based on the infrared marker ball set on the protection unit, the spatial position data of the infrared marker ball is captured by a corresponding infrared camera, and the pose plane of the protection unit is determined based on the spatial position data, including:

[0012] The protection unit is set up with three infrared marker balls as a group, and each group of infrared marker balls is captured by a corresponding infrared camera to capture the spatial position data of the infrared marker balls.

[0013] The motion trajectory of each infrared marker ball is drawn based on consecutive frames of spatial location data, and the multiple motion trajectories of each group of infrared marker balls determine the pose plane of the corresponding protection unit.

[0014] Preferably, the protective unit is selected from at least one of universal wrist guards, universal arm guards, universal leg guards, and universal helmets.

[0015] Preferably, the motion parameters include motion posture, motion direction, and motion speed.

[0016] Preferably, the relative rotation angle of different parts is determined based on the pose plane measured by different protection units; the relative rotation velocity of different parts is determined based on the attitude angle data and acceleration data measured by different protection units, including:

[0017] The relative rotation angle between the head and the upper arm is calculated based on the angle between the pose plane determined by the infrared marker ball of the universal helmet protection unit and the pose plane determined by the infrared marker ball of the universal arm protector unit placed on the upper arm.

[0018] The relative rotational speed of the head and upper arm is calculated based on the data measured by the IMU measuring instrument of the universal helmet protection unit and the data measured by the IMU measuring instrument of the universal arm protector unit placed on the upper arm.

[0019] The relative rotation angle between the upper arm and the forearm is calculated by the angle between the pose plane determined by the infrared marker ball of the universal arm guard protection unit placed on the upper arm and the pose plane determined by the infrared marker ball of the universal arm guard protection unit placed on the forearm.

[0020] The relative rotational speed of the upper arm and forearm is calculated using data measured by the IMU measuring instrument in the universal arm guard protection unit placed on the upper arm and data measured by the IMU measuring instrument in the universal arm guard protection unit placed on the forearm.

[0021] The relative rotation angle between the wrist and forearm is calculated by the angle between the pose plane determined by the infrared marker ball of the universal wrist protector unit placed on the wrist and the pose plane determined by the infrared marker ball of the universal arm protector unit placed on the forearm.

[0022] The relative rotational speed of the wrist and forearm is calculated using data measured by the IMU measuring instrument of the universal wrist brace protective unit placed on the wrist and data measured by the IMU measuring instrument of the universal arm brace protective unit placed on the forearm.

[0023] The relative rotation angle between the head and thigh is calculated based on the angle between the pose plane determined by the infrared marker ball of the universal helmet protection unit and the pose plane determined by the infrared marker ball of the universal leg protection unit placed on the thigh.

[0024] The relative rotational speed of the head and thigh is calculated based on the data measured by the IMU measuring instrument of the universal helmet protection unit and the IMU measuring instrument of the universal leg warmer placed on the thigh.

[0025] The relative rotation angle between the thigh and the lower leg is calculated by the angle between the pose plane determined by the infrared marker ball of the universal leg protection unit placed on the thigh and the pose plane determined by the infrared marker ball of the universal leg protection unit placed on the lower leg.

[0026] The relative rotational speed of the thigh and lower leg is calculated using data measured by the IMU measuring instrument of the universal leg protector unit placed on the thigh and the IMU measuring instrument of the universal leg protector unit placed on the lower leg.

[0027] The relative rotation angle between the knee and thigh is calculated by the angle between the pose plane determined by the infrared marker ball of the universal wrist guard protection unit placed on the knee and the pose plane determined by the infrared marker ball of the universal leg guard protection unit placed on the thigh.

[0028] The relative rotational speed of the knee and thigh is calculated using data measured by the IMU measuring instrument in the universal wrist brace protective unit placed on the knee and the IMU measuring instrument in the universal leg brace protective unit placed on the thigh.

[0029] The present invention also provides an apparatus for measuring the motion performance data of a humanoid robot using the method described above, comprising:

[0030] The protection unit is installed on the humanoid robot;

[0031] The capture unit is located within the protection unit. The capture unit includes an infrared marker ball, an IMU measuring instrument, and a data transmission mechanism. The infrared marker ball, the IMU measuring instrument, and the data transmission mechanism are all electrically connected to each other.

[0032] Preferably, the protective unit is selected from at least one of a universal wrist guard, a universal arm guard, a universal leg guard, and a universal helmet; there are three infrared marker balls, and the three infrared markers are distributed in an equilateral triangle.

[0033] Preferably, the data transmission organization includes:

[0034] The IMU interface is used to connect to an IMU measuring instrument and receive data measured by the IMU measuring instrument.

[0035] A miniature rechargeable constant voltage battery is installed inside the data transmission mechanism to provide power;

[0036] The communication module, located in the data transmitting mechanism, is used to connect to the mobile terminal; the communication module is a wireless signal communication device using WIFI or Bluetooth.

[0037] Preferably, the protection unit is equipped with a charging port.

[0038] Preferably, the capture unit also includes at least one of a photoelectric sensor, a distance sensor, and an ultrasonic sensor.

[0039] The beneficial effects of the present invention include at least the following:

[0040] 1. This invention is universal for different humanoid robots and can be widely applied to humanoid robots of various shapes and structures.

[0041] 2. The present invention is easy to use. It only requires installing the corresponding protection unit on the humanoid robot that needs to be measured, without changing the original structure and program of the humanoid robot. The motion performance measurement data function can be realized by using the capture unit on the protection unit.

[0042] 3. The present invention has a variety of measurement methods and can collect a lot of motion performance-related data. It collects attitude angle data and acceleration data of corresponding parts through an IMU measuring instrument; and collects position data and motion trajectory of points through infrared marker balls, which facilitates subsequent data processing.

[0043] 4. The present invention has a complete data processing process, which can determine the motion mode of the corresponding part based on the data collected by the IMU measuring instrument and the infrared marker ball of each part, and calculate the motion parameters of the corresponding part to realize motion performance measurement. Attached Figure Description

[0044] Figure 1 This is a schematic diagram of a universal wrist guard structure as the protection unit in an embodiment of the present invention;

[0045] Figure 2 This is a schematic diagram of a universal guard arm structure for the protection unit in an embodiment of the present invention;

[0046] Figure 3 This is a schematic diagram of a universal leg guard structure as the protection unit in an embodiment of the present invention;

[0047] Figure 4 This is a schematic diagram of a universal helmet structure for the protection unit in an embodiment of the present invention;

[0048] Figure 5 This is a schematic diagram of the data transmission mechanism structure in an embodiment of the present invention;

[0049] Figure 6 This is a flowchart illustrating a method for capturing motion performance measurement data of a humanoid robot according to an embodiment of the present invention;

[0050] Figure 7 This is a flowchart for calculating the relative rotation angle and relative rotation speed of different parts in an embodiment of the invention.

[0051] Explanation of reference numerals in the attached figures

[0052] 1-Protection unit, 2-Capture unit, 21-Infrared marker ball, 22-IMU measuring instrument, 23-Data transmission mechanism, 231-IMU interface, 232-Miniature rechargeable constant voltage battery, 233-Communication module, 3-Hook and loop fastener. Detailed Implementation

[0053] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the invention or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without inventive effort are within the scope of protection of this invention.

[0054] This invention provides a device for capturing motion performance measurement data of a humanoid robot, comprising:

[0055] Protection unit 1 is installed on the humanoid robot;

[0056] Protective unit 1 is selected from at least one of the following: universal wrist guards, universal arm guards, universal leg guards, and universal helmets. For example... Figure 1 This is a schematic diagram of a universal wristband structure. Figure 2 This is a schematic diagram of a universal arm guard structure. Figure 3 This is a schematic diagram of a universal leg protector structure. Figure 4 This is a schematic diagram of a universal helmet structure.

[0057] It should be noted that these general-purpose components can be used individually or in combination to measure the motion performance of multiple parts of a humanoid robot or the overall motion performance.

[0058] The protective unit 1 is fixed to the corresponding part of the humanoid robot by Velcro 3.

[0059] The Velcro 3 is used to fix the protective unit 1 to the corresponding position on the humanoid robot, and can be widely adapted to humanoid robots with different wrist thicknesses and lengths.

[0060] The protection unit 1 is equipped with a charging interface.

[0061] The capture unit 2 is located in the protection unit 1. The capture unit 2 includes an infrared marker ball 21, an IMU measuring instrument 22, and a data transmission mechanism 23. The infrared marker ball 21, the IMU measuring instrument 22, and the data transmission mechanism 23 are all electrically connected.

[0062] There are three infrared marker balls 21, which are arranged in an equilateral triangle and are located on at least one side of the protection unit 1.

[0063] Figure 5 This is a schematic diagram of the data transmission mechanism structure, such as... Figure 5 As shown, the data transmitting mechanism 23 includes:

[0064] IMU interface 231 is used to connect to IMU measuring instrument 22 and receive data measured by IMU measuring instrument 22;

[0065] A miniature rechargeable constant voltage battery 232 is installed inside the data transmission mechanism 23 for power supply;

[0066] It should be noted that the miniature rechargeable constant voltage battery 232 can continuously power the IMU measuring instrument 22 and the communication module 233, and can be charged through the charging interface on the humanoid robot protection unit 1.

[0067] The communication module 233 is located in the data transmitting mechanism 23 and is used to connect to the mobile terminal; the communication module 233 is a wireless signal communication such as WIFI or Bluetooth.

[0068] The communication module 233 is for wireless signal communication via WIFI or Bluetooth.

[0069] The capture unit 2 also includes at least one of a photoelectric sensor, a distance sensor, and an ultrasonic sensor to expand its measurement modes and make it suitable for more application scenarios.

[0070] The humanoid robot motion performance measurement data capture device of the present invention can be adapted to a wider variety of robot motion performance measurement data, as long as the part of the robot to be measured is similar to the corresponding part of the humanoid robot measurement data.

[0071] Figure 6 This is a flowchart of a method for capturing motion performance measurement data of a humanoid robot according to an embodiment of the present invention, as shown below. Figure 6 As shown, a method for capturing motion performance measurement data of a humanoid robot includes the following steps:

[0072] Step S101: Real-time acquisition of attitude angle data and acceleration data of various parts of the humanoid robot during movement, measured by the IMU measuring instrument 22 of the protection unit 1;

[0073] Step S102: Based on the infrared marker ball 21 set on the protection unit 1, capture the spatial position data of the infrared marker ball 21 through the corresponding infrared camera, and determine the pose plane of the protection unit 1 based on the spatial position data.

[0074] Preferably, every three infrared marker balls 21 set on the protection unit 1 are grouped together, and each group of infrared marker balls 21 captures the spatial position data of the infrared marker balls 21 through a corresponding infrared camera;

[0075] It should be noted that when the humanoid robot is in a fixed standby state, the infrared marker ball 21 is placed close to the body, that is, the humanoid robot is in a natural standing state with its arms hanging down naturally. The infrared marker balls 21 of the wrists, arms, and universal leg protection unit 1 are close to the body, and the plane of the infrared marker ball 21 is perpendicular to the plane of the humanoid robot's body.

[0076] The motion trajectory of each infrared marker ball 21 is drawn based on consecutive frames of spatial location data, and the multiple motion trajectories of each group of infrared marker balls 21 determine the pose plane of the corresponding protection unit 1.

[0077] Here, every three infrared marker balls 21 form an equilateral triangle, ensuring that the center point of the equilateral triangle formed by the infrared marker balls 21 does not become anisotropic due to changes in orientation during movement, thus maintaining the accuracy of distance calculations during the humanoid robot's movement. Therefore, setting it as an equilateral triangle provides good interchangeability, and the corresponding protection unit can be applied to different parts simultaneously.

[0078] Step S103: Determine the motion parameters of the corresponding protection unit 1 based on the attitude angle data, acceleration data, and pose plane; determine the relative rotation angle of different parts based on the pose plane measured by different protection units 1; determine the relative rotation speed of different parts based on the attitude angle data and acceleration data measured by different protection units 1.

[0079] Step S104: Obtain motion performance measurement data of the humanoid robot based on motion parameters, rotation angle, and rotation speed.

[0080] Preferably, the protective unit 1 is selected from at least one of a universal wrist guard, a universal arm guard, a universal leg guard, and a universal helmet. The protective unit 1 is fixed to the corresponding part of the humanoid robot by Velcro 3. The Velcro 3 is used to fix the protective unit 1 to the corresponding position of the humanoid robot and can be widely adapted to humanoid robots with different wrist thicknesses and lengths.

[0081] Preferably, the motion parameters include motion posture, motion direction, and motion speed.

[0082] Figure 7A flowchart for calculating the relative rotation angle and relative rotation speed of different parts in an embodiment of the invention, as shown below. Figure 2 As shown, in Figure 6 Based on the illustrated process, step S103 determines the relative rotation angle of different parts according to the pose plane measured by different protection units 1; determining the relative rotation velocity of different parts according to the attitude angle data and acceleration data measured by different protection units 1 includes:

[0083] Step S201: Calculate the relative rotation angle between the head and the upper arm based on the angle between the pose plane determined by the infrared marker ball 21 of the universal helmet protection unit 1 and the pose plane determined by the infrared marker ball 21 of the universal arm protector unit 1 placed on the upper arm.

[0084] Step S202: Calculate the relative rotational speed between the head and the upper arm based on the data measured by the IMU measuring instrument 22 of the universal helmet protection unit 1 and the data measured by the IMU measuring instrument 22 of the universal arm protector unit 1 placed on the upper arm.

[0085] Step S203: Calculate the relative rotation angle between the upper arm and the forearm by the angle between the pose plane determined by the infrared marker ball 21 of the universal arm guard protection unit 1 placed on the upper arm and the pose plane determined by the infrared marker ball 21 of the universal arm guard protection unit 1 placed on the forearm.

[0086] Step S204: Calculate the relative rotational speed between the upper arm and the lower arm using the data measured by the IMU measuring instrument 22 of the universal arm guard protection unit 1 placed on the upper arm and the data measured by the IMU measuring instrument 22 of the universal arm guard protection unit 1 placed on the lower arm.

[0087] Step S205: Calculate the relative rotation angle between the wrist and forearm by the angle between the pose plane determined by the infrared marker ball 21 of the universal wrist protection unit 1 placed on the wrist and the pose plane determined by the infrared marker ball 21 of the universal arm protection unit 1 placed on the forearm.

[0088] Step S206: Calculate the relative rotational speed of the wrist and forearm using the data measured by the IMU measuring instrument 22 of the universal wrist protection unit 1 placed on the wrist and the data measured by the IMU measuring instrument 22 of the universal arm protection unit 1 placed on the forearm.

[0089] Step S207: Calculate the relative rotation angle between the head and thigh based on the angle between the pose plane determined by the infrared marker ball 21 of the universal helmet protection unit 1 and the pose plane determined by the infrared marker ball 21 of the universal leg protection unit 1 placed on the thigh.

[0090] Step S208: Calculate the relative rotational speed between the head and thigh based on the data measured by the IMU measuring instrument 22 of the universal helmet protection unit 1 and the data measured by the IMU measuring instrument 22 of the universal leg guard protection unit 1 placed on the thigh.

[0091] Step S209: Calculate the relative rotation angle between the thigh and the lower leg by the angle between the pose plane determined by the infrared marker ball 21 of the universal leg protection unit 1 placed on the thigh and the pose plane determined by the infrared marker ball 21 of the universal leg protection unit 1 placed on the lower leg.

[0092] Step S210: Calculate the relative rotational speed between the thigh and the lower leg using the data measured by the IMU measuring instrument 22 of the universal leg protection unit 1 placed on the thigh and the data measured by the IMU measuring instrument 22 of the universal leg protection unit 1 placed on the lower leg.

[0093] Step S211: Calculate the relative rotation angle between the knee and thigh by the angle between the pose plane determined by the infrared marker ball 21 of the universal wrist guard protection unit 1 placed on the knee and the pose plane determined by the infrared marker ball 21 of the universal leg guard protection unit 1 placed on the thigh.

[0094] Step S212: Calculate the relative rotational speed between the knee and thigh using the data measured by the IMU measuring instrument 22 of the universal wrist brace protection unit 1 placed on the knee and the data measured by the IMU measuring instrument 22 of the universal leg brace protection unit 1 placed on the thigh.

[0095] Following the above steps, the robot's motion pattern can be determined more accurately, and the specific motion pattern to be predicted can be identified. Furthermore, by integrating the infrared marker balls 21, data on the center point of the plane formed by the infrared marker balls 21 (i.e., the center of the equilateral triangle) can be obtained during the coordinated movement of various parts. Using an equilateral triangle distribution ensures that the center point does not exhibit anisotropy due to changes in orientation during movement, thus maintaining the accuracy of distance calculations. Combined with practical experimental, scientific research, and industrial production applications, the humanoid robot motion performance measurement data capture method of this invention can be used to measure the motion performance of a wide range of humanoid robots without adjusting the original structure and program of the humanoid robot.

[0096] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for capturing motion performance measurement data of a humanoid robot, characterized in that, include: The attitude angle data and acceleration data of each part of the humanoid robot during movement are obtained in real time by the IMU measuring instrument (22) of the protection unit (1); Based on the infrared marker ball (21) set on the protection unit (1), the spatial position data of the infrared marker ball (21) is captured by the corresponding infrared camera, and the pose plane of the protection unit (1) is determined based on the spatial position data; The motion parameters corresponding to the protection unit (1) are determined based on the attitude angle data, the acceleration data, and the pose plane; the relative rotation angles of different parts are determined based on the pose planes measured by different protection units (1); and the relative rotation speeds of different parts are determined based on the attitude angle data and the acceleration data measured by different protection units (1). The motion performance measurement data of the humanoid robot are obtained based on the motion parameters, the rotation angle, and the rotation speed.

2. The method for capturing motion performance measurement data of a humanoid robot according to claim 1, characterized in that, According to the infrared marker ball (21) set on the protection unit (1), the spatial position data of the infrared marker ball (21) is captured by the corresponding infrared camera, and the pose plane of the protection unit (1) is determined according to the spatial position data. The protection unit (1) is set with three infrared marker balls (21) as a group, and each group of infrared marker balls (21) captures the spatial position data of the infrared marker balls (21) through the corresponding infrared camera; The motion trajectory of each infrared marker ball (21) is drawn based on consecutive frames of the spatial location data, and the multiple motion trajectories of each group of infrared marker balls (21) determine the pose plane of the corresponding protection unit (1).

3. The method for capturing motion performance measurement data of a humanoid robot according to claim 1, characterized in that, The protective unit (1) is selected from at least one of the following: universal wrist guards, universal arm guards, universal leg guards, and universal helmets.

4. The method for capturing motion performance measurement data of a humanoid robot according to claim 1, characterized in that, The motion parameters include motion posture, motion direction, and motion speed.

5. The method for capturing motion performance measurement data of a humanoid robot according to claim 3, characterized in that, The relative rotation angle of different parts is determined based on the pose plane measured by different protection units (1); The relative rotational speed of different parts is determined based on the attitude angle data and acceleration data measured by different protection units (1), including: The relative rotation angle between the head and the upper arm is calculated based on the angle between the pose plane determined by the infrared marker ball (21) of the universal helmet protection unit (1) and the pose plane determined by the infrared marker ball (21) of the universal arm protector unit (1) placed on the upper arm. The relative rotational speed of the head and upper arm is calculated based on the data measured by the IMU measuring instrument (22) of the universal helmet protection unit (1) and the data measured by the IMU measuring instrument (22) of the universal arm protector unit (1) placed on the upper arm. The relative rotation angle between the upper arm and the lower arm is calculated by the angle between the pose plane determined by the infrared marker ball (21) of the universal arm guard protection unit (1) placed on the upper arm and the pose plane determined by the infrared marker ball (21) of the universal arm guard protection unit (1) placed on the lower arm. The relative rotational speed of the upper arm and the lower arm is calculated by the data measured by the IMU measuring instrument (22) of the universal arm guard protection unit (1) placed on the upper arm and the data measured by the IMU measuring instrument (22) of the universal arm guard protection unit (1) placed on the lower arm. The relative rotation angle between the wrist and forearm is calculated by the angle between the pose plane determined by the infrared marker ball (21) of the universal wrist protection unit (1) placed on the wrist and the pose plane determined by the infrared marker ball (21) of the universal arm protection unit (1) placed on the forearm. The relative rotational speed of the wrist and forearm is calculated by the data measured by the IMU measuring instrument (22) of the universal wrist protection unit (1) placed on the wrist and the data measured by the IMU measuring instrument (22) of the universal arm protection unit (1) placed on the forearm. The relative rotation angle between the head and thigh is calculated based on the angle between the pose plane determined by the infrared marker ball (21) of the universal helmet protection unit (1) and the pose plane determined by the infrared marker ball (21) of the universal leg protection unit (1) placed on the thigh. The relative rotational speed between the head and thigh is calculated based on the data measured by the IMU measuring instrument (22) of the universal helmet protection unit (1) and the data measured by the IMU measuring instrument (22) of the universal leg protection unit (1) placed on the thigh. The relative rotation angle between the thigh and the lower leg is calculated by the angle between the pose plane determined by the infrared marker ball (21) of the universal leg protection unit (1) placed on the thigh and the pose plane determined by the infrared marker ball (21) of the universal leg protection unit (1) placed on the lower leg. The relative rotational speed of the thigh and the lower leg is calculated by the data measured by the IMU measuring instrument (22) of the universal leg protection unit (1) placed on the thigh and the data measured by the IMU measuring instrument (22) of the universal leg protection unit (1) placed on the lower leg. The relative rotation angle between the knee and the thigh is calculated by the angle between the pose plane determined by the infrared marker ball (21) of the universal wrist guard protection unit (1) placed on the knee and the pose plane determined by the infrared marker ball (21) of the universal leg guard protection unit (1) placed on the thigh. The relative rotational speed of the knee and thigh is calculated using data measured by the IMU measuring instrument (22) of the universal wrist brace protection unit (1) placed on the knee and the IMU measuring instrument (22) of the universal leg brace protection unit (1) placed on the thigh.

6. A device for capturing motion performance measurement data of a humanoid robot for implementing the method according to any one of claims 1-5, characterized in that, include: Protection unit (1) is provided on the humanoid robot; The capture unit (2) is located in the protection unit (1). The capture unit (2) includes an infrared marker ball (21), an IMU measuring instrument (22), and a data transmission mechanism (23). The infrared marker ball (21), the IMU measuring instrument (22), and the data transmission mechanism (23) are all electrically connected.

7. The device for capturing motion performance measurement data of a humanoid robot according to claim 6, characterized in that, The protective unit (1) is selected from at least one of a universal wrist guard, a universal arm guard, a universal leg guard, and a universal helmet; there are three infrared marker balls (21), and the three infrared marker balls (21) are distributed in an equilateral triangle.

8. The device for capturing motion performance measurement data of a humanoid robot according to claim 6, characterized in that, The data transmission mechanism (23) includes: IMU interface (231) is used to connect to the IMU measuring instrument (22) and receive data measured by the IMU measuring instrument (22); A miniature rechargeable constant voltage battery (232) is disposed within the data transmission mechanism (23) for power supply; A communication module (233) is provided on the data transmitting mechanism (23) for connecting to a mobile terminal via the communication module (233); the communication module (233) is a wireless signal communication of WIFI or Bluetooth.

9. The device for capturing motion performance measurement data of a humanoid robot according to claim 6, characterized in that, The protection unit (1) is equipped with a charging interface.

10. The device for capturing motion performance measurement data of a humanoid robot according to claim 6, characterized in that, The capture unit (2) also includes at least one of a photoelectric sensor, a distance sensor, and an ultrasonic sensor.

Images