A humanoid robot motion debugging guard device and method

Abstract

The application discloses a kind of humanoid robot motion commissioning protection device and method, it is related to robot field, the motion commissioning area of the device inside protective support frame is formed by humanoid robot.And in the process of humanoid robot motion commissioning, the first pose information of humanoid robot is collected by depth camera, and the first pose information is sent to protection controller;Protection controller controls first guide rail pulley controller, second guide rail pulley controller and third guide rail pulley controller to move according to the first pose information, so that safety traction rope is in the same vertical plane with humanoid robot;So as to realize that safety traction rope automatically tracks humanoid robot movement in the process of humanoid robot commissioning.And when determining that there is a safety risk in motion commissioning according to the first pose information, control safety traction rope restraint to adjust safety traction rope to shorten to preset length.Reduces the damage probability of humanoid robot, improves the commissioning efficiency of humanoid robot, improves personnel safety.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a humanoid robot motion debugging protection device and method. BACKGROUND

[0002] Currently, there are mainly two ways to debug the walking and running motion capabilities of a humanoid robot. The first way is to use a movable support and a traction rope to hoist the humanoid robot. One or two persons are needed to move the support and control the traction rope in real time to prevent the humanoid robot from falling and being damaged. The second way is to install a cubic scaffold on the site. The humanoid robot is hung above the scaffold by a traction rope. The debugging personnel move the traction device above the scaffold in real time and control the traction device to move and tighten to protect the humanoid robot.

[0003] The current two debugging methods have the following problems. When debugging the humanoid robot, in order to avoid excessive upward traction force of the safety traction rope on the robot, which may cause deviation of the mechanical algorithm, a relatively loose length of the safety traction rope is often used in the actual debugging process to reduce the impact on the robot during debugging. If the humanoid robot falls or the system fails at this time, the debugging personnel may not tighten the safety traction rope in time, causing the robot to fall abnormally, which poses a safety hazard to the robot itself and the debugging personnel. During the debugging process of the humanoid robot, one or two additional persons are needed to move the scaffold and observe the robot's posture to control the safety traction rope. If the debugging personnel or other personnel appear in the forward direction of the robot, the humanoid robot may not recognize the personnel, which may cause trampling of the debugging personnel, posing a safety hazard to the debugging personnel. SUMMARY

[0004] The present application provides a humanoid robot motion debugging protection device and method to solve the problem of high labor cost in the prior art for humanoid robot motion debugging and safety hazards of the humanoid robot and on-site personnel.

[0005] In a first aspect, the present application provides a humanoid robot motion debugging protection device, which comprises:

[0006] a protection support frame, a protection controller, a safety traction rope restrainer, a first guide rail pulley controller, a second guide rail pulley controller, a third guide rail pulley controller and a depth camera arranged on the protection support frame, the safety traction rope restrainer being connected with the humanoid robot through a safety traction rope;

[0007] The depth camera is configured to collect first posture information of the humanoid robot during the motion debugging process of the humanoid robot and send the first posture information to the protection controller.

[0008] The guard controller is specifically configured to control the first guide rail pulley controller, the second guide rail pulley controller and the third guide rail pulley controller to move according to the first pose information, so that the safety traction rope is in the same vertical plane as the humanoid robot; and when it is determined according to the first pose information that there is a safety risk in motion debugging, the guard controller controls the safety traction rope restrainer to adjust the safety traction rope to shorten to a preset length.

[0009] Further, the guard support frame comprises a support column, a support top beam and a movable support cross beam; the support top beam comprises a first support top beam and a second support top beam arranged in parallel; the depth camera is connected with the support column;

[0010] The first guide rail pulley controller is connected with the first support top beam and the first end of the movable support cross beam respectively; the second guide rail pulley controller is connected with the second support top beam and the second end of the movable support cross beam respectively; and the third guide rail pulley controller is connected with the movable support cross beam and the safety traction rope restrainer respectively.

[0011] Further, the guard support frame comprises a first support column and a second support column arranged diagonally;

[0012] The number of the depth cameras is at least two; wherein the first support column and the second support column are respectively connected with at least one depth camera.

[0013] Further, the depth camera is specifically configured to collect position information of a first key point of the humanoid robot connected with the safety traction rope during motion debugging of the humanoid robot; wherein the first key point is the center point of the connection points between the two mechanical arms and the trunk of the humanoid robot;

[0014] The guard controller is specifically configured to control the first guide rail pulley controller, the second guide rail pulley controller and the third guide rail pulley controller to move according to the position information of the first key point, so that the safety traction rope is in the same vertical plane as the humanoid robot.

[0015] Further, the depth camera is specifically configured to collect position information of a second key point of the humanoid robot during motion debugging of the humanoid robot; wherein the second key point is the center point of the connection points between the two mechanical legs and the trunk of the humanoid robot;

[0016] The guard controller is specifically configured to determine an inclination angle of the humanoid robot according to the position information of the first key point and the position information of the second key point; and if the inclination angle is greater than a preset angle threshold or the height of the first key point is less than a preset height threshold, it is determined that there is a safety risk in motion debugging.

[0017] Further, the depth camera is further configured to collect second pose information of the target object in the motion debugging scene during motion debugging of the humanoid robot, and send the second pose information to the protection controller.

[0018] The protection controller is further configured to determine that there is a safety risk in the motion debugging if it is determined that the distance between the humanoid robot and the target object is less than a preset distance threshold according to the first pose information and the second pose information, and control the safety traction rope restraint to adjust the safety traction rope to shorten to a preset length.

[0019] In a second aspect, the present application provides a motion debugging protection method for a humanoid robot, which comprises:

[0020] The protection controller acquires first pose information of the humanoid robot collected by a depth camera during motion debugging of the humanoid robot.

[0021] According to the first pose information, the first guide rail pulley controller, the second guide rail pulley controller and the third guide rail pulley controller in the motion debugging protection device for the humanoid robot are controlled to move, so that the safety traction rope and the humanoid robot are in the same vertical plane; and when it is determined that there is a safety risk in the motion debugging according to the first pose information, the safety traction rope restraint is controlled to adjust the safety traction rope to shorten to a preset length; wherein the motion debugging protection device for the humanoid robot comprises a protection support frame, and the safety traction rope restraint, the first guide rail pulley controller, the second guide rail pulley controller, the third guide rail pulley controller and the depth camera arranged on the protection support frame; the safety traction rope restraint is connected with the humanoid robot through the safety traction rope.

[0022] Further, the method comprises:

[0023] The position information of a first key point of the humanoid robot connected with the safety traction rope collected by a depth camera during motion debugging of the humanoid robot is acquired; wherein the first key point is the center point of the connection points between the two mechanical arms and the trunk of the humanoid robot.

[0024] According to the position information of the first key point, the first guide rail pulley controller, the second guide rail pulley controller and the third guide rail pulley controller are controlled to move, so that the safety traction rope and the humanoid robot are in the same vertical plane.

[0025] Further, the method comprises:

[0026] Obtain position information of a second key point of the humanoid robot collected by a depth camera during a motion debugging process of the humanoid robot, wherein the second key point is a center point of a joint between a mechanical leg and a trunk of the humanoid robot.

[0027] Determine an inclination angle of the humanoid robot according to the position information of the first key point and the position information of the second key point, and determine that there is a safety risk in the motion debugging if the inclination angle is greater than a preset angle threshold or a height of the first key point is less than a preset height threshold.

[0028] Further, the method comprises:

[0029] Obtain second pose information of a target object in a motion debugging scene collected by a depth camera during a motion debugging process of the humanoid robot.

[0030] If it is determined that a distance between the humanoid robot and the target object is less than a preset distance threshold according to the first pose information and the second pose information, it is determined that there is a safety risk in the motion debugging, and the safety traction rope restrainer is controlled to adjust the safety traction rope to shorten to a preset length.

[0031] The technical solution has the following advantages or beneficial effects:

[0032] The present application provides a humanoid robot motion debugging protection device, which comprises a protection support frame, a protection controller, and a safety traction rope restrainer, a first guide rail pulley controller, a second guide rail pulley controller, a third guide rail pulley controller, and a depth camera arranged on the protection support frame. The safety traction rope restrainer is connected to the humanoid robot through a safety traction rope. The protection support frame in the device constitutes a motion debugging area of the humanoid robot. The depth camera collects first pose information of the humanoid robot during a motion debugging process of the humanoid robot and sends the first pose information to the protection controller. The protection controller controls the first guide rail pulley controller, the second guide rail pulley controller, and the third guide rail pulley controller to move according to the first pose information, so that the safety traction rope is in the same vertical plane as the humanoid robot. Thus, the safety traction rope automatically tracks the movement of the humanoid robot during the debugging process of the humanoid robot. When it is determined that there is a safety risk in the motion debugging according to the first pose information, the safety traction rope restrainer is controlled to adjust the safety traction rope to shorten to a preset length. The present application does not require human intervention, reducing labor costs. Thus, when there is a safety risk, the safety traction rope restrainer is controlled to tighten the safety traction rope. The safety hazard of the humanoid robot and the personnel on site is eliminated. The damage probability of the humanoid robot is reduced, the debugging efficiency of the humanoid robot is improved, and the safety of the personnel is improved. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0034] Figure 1 A schematic diagram of a humanoid robot motion debugging device in the prior art;

[0035] Figure 2 A schematic diagram of a first humanoid robot motion debugging protection device structure provided by the present application;

[0036] Figure 3 A schematic diagram of a humanoid robot motion debugging protection device scene provided by the present application;

[0037] Figure 4 A second humanoid robot motion debugging protection device provided by the present application;

[0038] Figure 5 A top view of two depth cameras provided by the present application are installed diagonally;

[0039] Figure 6 A schematic diagram of recognizing key points of a humanoid robot provided by the present application;

[0040] Figure 7 A first safety debugging process schematic diagram provided by the present application;

[0041] Figure 8 A key point schematic diagram of a target object in a motion debugging scene provided by the present application;

[0042] Figure 9 A second safety debugging process schematic diagram provided by the present application;

[0043] Figure 10 A front view of a humanoid robot motion debugging protection device provided by the present application;

[0044] Figure 11 A top view of a humanoid robot motion debugging protection device provided by the present application;

[0045] Figure 12 A left view of a humanoid robot motion debugging protection device provided by the present application;

[0046] Figure 13 A schematic diagram of a depth camera fixing module structure provided by the present application;

[0047] Figure 14 A schematic diagram of a safety traction rope restraint structure provided by the present application;

[0048] Figure 15 The first guide rail pulley controller and the second guide rail pulley controller provided in the present application are shown in the structural schematic diagram;

[0049] Figure 16 The third guide rail pulley controller provided in the present application is shown in the structural schematic diagram;

[0050] Figure 17 The humanoid robot motion debugging protection process provided in the present application is shown in the schematic diagram. DETAILED DESCRIPTION

[0051] In order to make the purpose and implementation of the present application more clear, the exemplary implementation of the present application will be described clearly and completely in the following with reference to the drawings in the exemplary embodiments of the present application. Obviously, the described exemplary embodiments are only a part of the embodiments of the present application, but not all the embodiments.

[0052] It should be noted that the brief description of the terms in the present application is only for the convenience of understanding the following described embodiments, but is not intended to limit the implementation of the present application. Unless otherwise specified, these terms should be understood according to their ordinary and general meanings.

[0053] The terms "first", "second", "third" and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar or similar objects or entities, and do not necessarily mean to limit the specific order or sequence, unless otherwise noted. It should be understood that the terms used in this way can be interchanged under appropriate circumstances.

[0054] The terms "include" and "have" and any variations thereof are intended to cover but not exclusive inclusion, for example, a product or device including a series of components does not necessarily limit to all the components clearly listed, but can include other components not clearly listed or inherent to these products or devices.

[0055] The term "module" refers to any known or later developed hardware, software, firmware, artificial intelligence, fuzzy logic or combination of hardware or / and software code capable of performing functions associated with the element.

[0056] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

[0057] For ease of explanation, the above description has been provided in conjunction with specific embodiments. However, the above exemplary discussion is not intended to be exhaustive or to limit the embodiments to the specific forms disclosed above. Various modifications and variations can be obtained based on the above teachings. The selection and description of the above embodiments are for the purpose of better explaining the principles and practical applications, thereby enabling those skilled in the art to better utilize the described embodiments and various different variations of embodiments suitable for specific use considerations.

[0058] Figure 1 A schematic diagram of a humanoid robot motion adjustment device in the prior art, such as... Figure 1 As shown, a movable support frame is used, and a traction rope is used to suspend the humanoid robot. During the robot's operation, one to two people are required to move the support frame and control the traction rope in real time to prevent the robot from falling and being damaged. This makes the humanoid robot's motion debugging process labor-intensive. In actual debugging, the traction safety rope is often used at a relatively slack length to reduce its impact on the robot's debugging process. If the humanoid robot falls or the system malfunctions, and the debugging personnel do not react in time to tighten the traction safety rope, the robot may fall abnormally, posing a safety hazard to both the robot and the debugging personnel. If debugging personnel or other personnel are in the robot's direction of travel, the humanoid robot may not recognize their presence and could trample them, posing a safety hazard to the debugging personnel.

[0059] To address the aforementioned issues, this application provides a humanoid robot motion adjustment and protection device and method that features low labor costs and high safety.

[0060] In this application, the humanoid robot motion adjustment and protection device includes:

[0061] The system includes a protective support frame, a protective controller, and a safety traction rope restraint device, a first guide rail pulley controller, a second guide rail pulley controller, a third guide rail pulley controller, and a depth camera, all mounted on the protective support frame. The safety traction rope restraint device is connected to the humanoid robot via a safety traction rope.

[0062] The depth camera is used to collect the first pose information of the humanoid robot during the motion debugging process, and send the first pose information to the protection controller.

[0063] The protective controller is used to control the first guide rail pulley controller, the second guide rail pulley controller, and the third guide rail pulley controller to move according to the first posture information, so that the safety traction rope is in the same vertical plane as the humanoid robot; and when it is determined according to the first posture information that there is a safety risk in the motion adjustment, the controller controls the safety traction rope restraint device to adjust the safety traction rope to shorten to a preset length.

[0064] The application provides a humanoid robot motion debugging protection device, which comprises a protection support frame, a protection controller, a safety traction rope restrainer, a first guide rail pulley controller, a second guide rail pulley controller, a third guide rail pulley controller and a depth camera arranged on the protection support frame. The safety traction rope restrainer is connected with the humanoid robot through a safety traction rope. The protection support frame in the device internally constitutes a motion debugging area of the humanoid robot. In the process of motion debugging of the humanoid robot, the depth camera collects first pose information of the humanoid robot and sends the first pose information to the protection controller. The protection controller controls the first guide rail pulley controller, the second guide rail pulley controller and the third guide rail pulley controller to move according to the first pose information, so that the safety traction rope is in the same vertical plane as the humanoid robot, thereby realizing automatic tracking of the safety traction rope to the movement of the humanoid robot in the process of debugging of the humanoid robot. When it is determined according to the first pose information that there is a safety risk in motion debugging, the safety traction rope restrainer is controlled to adjust the safety traction rope to shorten to a preset length. The application does not need manual participation and reduces labor cost. When there is a safety risk, the safety traction rope restrainer is controlled to tighten the safety traction rope, thereby eliminating the safety hazards of the humanoid robot and personnel on site, reducing the damage probability of the humanoid robot, improving the debugging efficiency of the humanoid robot and improving the safety of personnel.

[0065] Figure 2 A first humanoid robot motion debugging protection device structure schematic diagram provided by the application comprises a protection support frame 11, a safety traction rope restrainer 12, a first guide rail pulley controller 13, a second guide rail pulley controller 14, a third guide rail pulley controller 15 and a protection controller 16. The protection support frame 11 comprises a support stand 111, a support top beam 112 and a movable support cross beam 113. The support top beam 112 comprises a first support top beam 112a and a second support top beam 112b arranged in parallel. The depth camera 21 is connected with the support stand.

[0066] The first guide rail pulley controller 13 is connected with the first support top beam 112a and a first end of the movable support cross beam 113 respectively. The second guide rail pulley controller 14 is connected with the second support top beam 112b and a second end of the movable support cross beam 113 respectively. The third guide rail pulley controller 15 is connected with the movable support cross beam 113 and the safety traction rope restrainer 12 respectively. The safety traction rope restrainer 12 is connected with the humanoid robot through a safety traction rope.

[0067] The protection controller 16 is configured to control the first guide rail pulley controller 13, the second guide rail pulley controller 14, and the third guide rail pulley controller 15 to move according to the first pose information, so that the safety traction rope is in the same vertical plane as the humanoid robot; and when it is determined according to the first pose information that there is a safety risk in motion debugging, the protection controller controls the safety traction rope adjuster 12 to adjust the safety traction rope to a preset length.

[0068] Figure 3 A scene diagram of the humanoid robot motion debugging protection device is provided in the present application. In combination with Figure 3 The humanoid robot motion debugging protection device provided in the present application comprises a protection support frame, which comprises four support columns, four support top beams, and one movable support cross beam. The four support top beams comprise two groups of parallel support top beams, and any one group of parallel support top beams is taken as a first support top beam and a second support top beam. The movable support cross beam is perpendicular to the first support top beam and the second support top beam and is located between the first support top beam and the second support top beam.

[0069] In the present application, the first guide rail pulley controller is connected with the first end of the first support top beam and the movable support cross beam, respectively; and the second guide rail pulley controller is connected with the second end of the second support top beam and the movable support cross beam, respectively. The first guide rail pulley controller and the second guide rail pulley controller can control the movable support cross beam to move along the top surface of the protection support frame and in a direction perpendicular to the movable support cross beam, thereby driving the safety traction rope adjuster to move in the direction perpendicular to the movable support cross beam.

[0070] The third guide rail pulley controller is connected with the movable support cross beam and the safety traction rope adjuster, respectively. The third guide rail pulley controller can move along the movable support cross beam, thereby driving the safety traction rope adjuster to move along the movable support cross beam.

[0071] The safety traction rope adjuster is connected with the humanoid robot through the safety traction rope. In the process of motion debugging of the humanoid robot, the humanoid robot moves according to a pre-configured motion trajectory. The internal region of the protection support frame constitutes a motion debugging region of the humanoid robot. In the process of motion of the humanoid robot, the protection controller controls the first guide rail pulley controller, the second guide rail pulley controller, and the third guide rail pulley controller to move, thereby realizing that the safety traction rope is in the same vertical plane as the humanoid robot. Moreover, the protection controller controls the safety traction rope adjuster to adjust the length of the safety traction rope, so that the humanoid robot can be pulled tightly to avoid the occurrence of dangerous events when a safety risk occurs in the process of motion debugging of the humanoid robot. The protection controller can be a smart terminal device such as a mobile phone or a computer.

[0072] The application provides a humanoid robot motion debugging protection device. The protection support frame in the device internally constitutes a humanoid robot motion debugging area. A first guide rail pulley controller is connected with a first support top beam and a first end of a movable support cross beam respectively. A second guide rail pulley controller is connected with a second support top beam and a second end of the movable support cross beam respectively. A third guide rail pulley controller is connected with the movable support cross beam and a safety traction rope restrainer. The safety traction rope is controlled to move along the direction of the first support top beam by the first guide rail pulley controller and the second guide rail pulley controller, and the safety traction rope is controlled to move along the direction of the movable support cross beam by the third guide rail pulley controller, so that the safety traction rope automatically tracks the movement of the humanoid robot during the debugging process of the humanoid robot. The application does not require manual intervention, reducing labor costs. The protection controller controls the safety traction rope restrainer to adjust the length of the safety traction rope, so that the safety traction rope restrainer is controlled to tighten the safety traction rope when there is a safety risk. The safety hazard of the humanoid robot and the personnel on site is eliminated. The damage probability of the humanoid robot is reduced, the debugging efficiency of the humanoid robot is improved, and the safety of the personnel is improved.

[0073] In the application, the depth camera installed in the humanoid robot motion debugging protection device is connected with the support column of the protection support frame. The monitoring field angle of the depth camera contains the humanoid robot motion debugging area inside the protection support frame, ensuring that the depth camera can monitor the motion state of the humanoid robot during the motion debugging process of the humanoid robot. During the motion debugging process of the humanoid robot, the depth camera collects the motion state of the humanoid robot and determines the first pose information of the humanoid robot. The first pose information contains the position information of each key point of the humanoid robot. The depth camera sends the collected first pose information of the humanoid robot to the protection controller. Optionally, the depth camera and the protection controller can establish a wireless connection through Bluetooth, wireless WIFI, or a wired connection.

[0074] After receiving the first pose information of the humanoid robot, the protection controller controls the first guide rail pulley controller, the second guide rail pulley controller, and the third guide rail pulley controller to move according to the first pose information. The protection controller can determine the spatial position information of the humanoid robot according to the first pose information of the humanoid robot, and then control the first guide rail pulley controller and the second guide rail pulley controller to move along the direction perpendicular to the movable support cross beam in the plane constituted by the support top beam, and control the third guide rail pulley controller to move along the direction of the movable support cross beam, so as to ensure that the safety traction rope corresponds to the position of the humanoid robot. The safety traction rope and the humanoid robot are in the same vertical plane, so that the safety traction rope moves with the humanoid robot, saving labor costs.

[0075] It should be noted that the guard controller can determine the spatial position information of the humanoid robot according to the first pose information of the humanoid robot, and then determine the position information of the first guide rail pulley controller, the second guide rail pulley controller and the third guide rail pulley controller respectively when the safety traction rope is in the same vertical plane with the humanoid robot. By controlling the first guide rail pulley controller, the second guide rail pulley controller and the third guide rail pulley controller to move to the above respective position information, the safety traction rope can be in the same vertical plane with the humanoid robot after the movement of the first guide rail pulley controller, the second guide rail pulley controller and the third guide rail pulley controller, and the safety traction rope can move with the humanoid robot.

[0076] In addition, the guard controller can determine whether the motion debugging has a safety risk according to the first pose information of the humanoid robot. Optionally, the guard controller can pre-store reference pose information when the humanoid robot has no safety risk, and then calculate the similarity between the first pose information and the reference pose information. If the similarity is greater than a preset similarity threshold, it is determined that the motion debugging has no safety risk, otherwise it is determined that the motion debugging has a safety risk. Further optionally, the guard controller can pre-store the reference relative position relationship between the key points of the humanoid robot when there is no safety risk, and then calculate the relative position relationship between the key points of the humanoid robot according to the first pose information. The relative position relationship is compared with the reference relative position relationship. If the relative position deviation is less than a preset threshold, it is determined that the motion debugging has no safety risk, otherwise it is determined that the motion debugging has a safety risk. The relative position relationship is, for example, the relative distance between the key points, and for another example, the angle between the vectors formed by any two key points.

[0077] When the guard controller determines that the motion debugging has a safety risk according to the first pose information, the guard controller controls the safety traction rope restraint to adjust the safety traction rope to a preset length. The preset length can be a length that ensures that the humanoid robot does not fall to the ground. Preferably, the preset length can be a length that ensures that the humanoid robot is suspended to a floating state by the safety traction rope, so as to ensure the safety of the humanoid robot and prevent the safety robot from colliding with other objects in the motion debugging area.

[0078] Considering the field of view angle limitation of the depth camera, in order to ensure that there is no monitoring blind area, Figure 4 The second humanoid robot motion debugging protection device provided in the present application comprises a guard support frame, wherein the guard support frame comprises a first support column 111a and a second support column 111b arranged diagonally.

[0079] The number of the depth cameras 21 is at least two; wherein the first support column and the second support column are respectively connected with at least one depth camera.

[0080] Figure 4 For example, the number of depth cameras is two, in actual application, the humanoid robot motion debugging protection device can include more depth cameras, for example, the humanoid robot motion debugging protection device includes four depth cameras, one depth camera is connected to each support column. The present application considers the cost of the device, two depth cameras can be provided, which are arranged on the first support column and the second support column, so that the cost of the device is considered, and at least one depth camera can monitor the motion state of the humanoid robot.

[0081] In the present application, the depth camera is specifically used to collect position information of a first key point of the humanoid robot connected with the safety traction rope during the motion debugging process of the humanoid robot; wherein the first key point is the center point of the connection point of the two mechanical arms of the humanoid robot and the trunk;

[0082] The protection controller is specifically used to control the first guide rail pulley controller, the second guide rail pulley controller and the third guide rail pulley controller to move according to the position information of the first key point, so that the safety traction rope is in the same vertical plane with the humanoid robot.

[0083] The depth camera collects the first pose information of the humanoid robot during the motion debugging process of the humanoid robot. Optionally, the depth camera collects the connection points of the two mechanical arms of the humanoid robot with the trunk of the humanoid robot respectively, and then takes the center point of the connecting line of the two connection points as the first key point, and the safety traction rope is connected to the first key point of the humanoid robot. The depth camera collects the position information of the first key point of the humanoid robot; the position information of the first key point is transmitted to the protection controller.

[0084] The protection controller controls the first guide rail pulley controller, the second guide rail pulley controller and the third guide rail pulley controller to move according to the position information of the first key point, so that the safety traction rope is in the same vertical plane with the humanoid robot.

[0085] The protection controller can determine the position information of the first guide rail pulley controller, the second guide rail pulley controller and the third guide rail pulley controller respectively according to the position information of the first key point of the humanoid robot, so that the safety traction rope is in the same vertical plane with the humanoid robot. Controlling the first guide rail pulley controller, the second guide rail pulley controller and the third guide rail pulley controller to move to the above respective position information can realize that the safety traction rope is in the same vertical plane with the humanoid robot after the first guide rail pulley controller, the second guide rail pulley controller and the third guide rail pulley controller move.

[0086] In the present application, the depth camera is specifically used to collect position information of a second key point of the humanoid robot during the motion debugging process of the humanoid robot, wherein the second key point is a center point of a connection point between two mechanical legs of the humanoid robot and a trunk.

[0087] The protection controller is specifically used to determine an inclination angle of the humanoid robot according to the position information of the first key point and the position information of the second key point, and determine that there is a safety risk in the motion debugging if the inclination angle is greater than a preset angle threshold or the height of the first key point is less than a preset height threshold.

[0088] The depth camera collects first pose information of the humanoid robot during the motion debugging process of the humanoid robot. Optionally, the depth camera collects two connection points between the two mechanical legs of the humanoid robot and the trunk of the humanoid robot, and then takes a center point of a line connecting the two connection points as a second key point. The protection controller determines an inclination angle of the humanoid robot according to the position information of the first key point and the position information of the second key point. Optionally, the protection controller determines a vector from the first key point to the second key point or a vector from the second key point to the first key point according to the position information of the first key point and the position information of the second key point. Then, the protection controller determines an included angle between the above vector and a Z-axis as the inclination angle of the humanoid robot. The Z-axis refers to a coordinate axis perpendicular to the ground.

[0089] When the humanoid robot has a safety risk, that is, when the humanoid robot is in a state of falling, the trunk of the humanoid robot will be inclined, and the height of the key point of the humanoid robot from the ground will be reduced. Based on the above consideration, the protection controller has a preset angle threshold, and if the inclination angle is greater than the preset angle threshold, it is determined that there is a safety risk in the motion debugging. At this time, the safety traction rope restraint is controlled to adjust the length of the safety traction rope. In addition, the protection controller has a preset height threshold, and if the height of the first key point is less than the preset height threshold, it is determined that there is a safety risk in the motion debugging. At this time, the safety traction rope restraint is controlled to adjust the length of the safety traction rope. The height of the first key point refers to the height of the first key point from the ground.

[0090] In the present application, in order to ensure the safety of the target object in the motion debugging scene, the depth camera is also used to collect second pose information of the target object in the motion debugging scene during the motion debugging process of the humanoid robot, and send the second pose information to the protection controller.

[0091] The protection controller is also used to determine that there is a safety risk in the motion debugging and control the safety traction rope restraint to adjust the safety traction rope to shorten to a preset length if the distance between the humanoid robot and the target object is less than a preset distance threshold according to the first pose information and the second pose information.

[0092] The depth camera can detect whether there is a target object in the humanoid robot motion debugging scene through a target detection algorithm. The target object can be a staff or other objects appearing in the motion debugging scene.

[0093] If the depth camera detects that there is a target object in the humanoid robot motion debugging scene, the second pose information of the target object in the motion debugging scene is collected. If the target object is a staff, the second pose information of the target object can be collected in the same way as the first pose information of the humanoid robot. If the target object is other objects appearing in the motion debugging scene, the spatial contour information of the target object can be detected as the second pose information. The depth camera sends the second pose information of the target object to the protection controller.

[0094] The protection controller determines the three-dimensional spatial position of the humanoid robot according to the first pose information of the humanoid robot, and determines the three-dimensional spatial position of the target object according to the second pose information of the target object. Then, according to the three-dimensional spatial position of the humanoid robot and the three-dimensional spatial position of the target object, the distance between the humanoid robot and the target object is determined, which is the spatial distance between the humanoid robot and the target object. A preset distance threshold is pre-stored in the protection controller. When the distance between the humanoid robot and the target object is less than the preset distance threshold, it is considered that there is a risk of the humanoid robot colliding with the target object at this time, so it is determined that the motion debugging has a safety risk, and the safety traction rope restraint is controlled to adjust the safety traction rope to shorten to a preset length.

[0095] Figure 5 The two depth cameras provided in the application are installed diagonally from the top view. The application monitors the motion state of the humanoid robot based on the two depth cameras.

[0096] Figure 6 The key point of the humanoid robot is shown in the schematic diagram provided in the application, Figure 6 A point in the application is a first key point, and B point is a second key point. A point is located at the center point of the connection between the left arm and the right arm of the humanoid robot and the trunk, which is the connection of the safety traction rope of the humanoid robot. According to the XY value of A point in the coordinate system, the position of the current humanoid robot in the top view is determined, and the XY axis position of the humanoid robot is input into the protection controller. The protection controller drives the first guide rail pulley controller, the second guide rail pulley controller and the third guide rail pulley controller at the top of the humanoid robot motion debugging protection device, so that the top of the safety traction rope of the humanoid robot is in the same vertical plane with the body of the humanoid robot. Through this method, manual adjustment of the humanoid robot debugging scaffold is not needed, and the safety traction rope can be moved with the humanoid robot through real-time recognition of the position of the humanoid robot, saving labor cost.

[0097] As shown in Figure 6 Point A is the center point of the connection between the left arm and the right arm and the torso of the humanoid robot; point B is the center point of the connection between the left leg and the right leg and the torso of the humanoid robot.

[0098] Obtain the XYZ values of point A in the world coordinate system; obtain the XYZ values of point B in the world coordinate system; obtain the vector from point B to point A (or the vector from point A to point B) according to points A and B; obtain the angle of the vector relative to the Z-axis. Given a threshold angle E for determining an impending imbalance and fall, if the angle of the vector relative to the Z-axis is greater than the threshold angle E, it is determined that an impending imbalance and fall will occur. Pull the safety traction rope to a pre-set safe length to prevent the robot from falling.

[0099] Obtain the Z-axis coordinate value of point A. Given a safe height F (i.e. Z-axis coordinate) of point A, if the height of point A is less than the safe height F, it is determined that an impending imbalance and fall will occur. Pull the safety traction rope to a pre-set safe length to prevent the robot from falling.

[0100] Figure 7 The first safety debugging process provided by the present application includes the following steps:

[0101] S101: Obtain a first key point A and a second key point B of a humanoid robot; determine the angle between the AB vector and the Z-axis, and the height of point A;

[0102] S102: Determine whether the angle is greater than a pre-set angle threshold, if yes, proceed to S103, if no, proceed to S104;

[0103] S103: Determine that there is a safety risk in the motion debugging; control the safety traction rope restraint to adjust the length of the safety traction rope;

[0104] S104: Determine whether the height is less than a pre-set height threshold, if yes, proceed to S103, if no, proceed to S105;

[0105] S104: Determine that there is no safety risk in the motion debugging.

[0106] Figure 8 The key points of the target object in the motion debugging scenario provided by the present application are shown in the figure, Figure 8 Taking a worker as an example. The key points of the target object include but are not limited to points A, B, and C in Figure 8 .

[0107] Based on the maximum and minimum values ​​of the z-axis, x-axis, and y-axis of the key points of the target object, generate a placeholder cube for the target object in the XYZ coordinate system. Based on the maximum and minimum values ​​of the z-axis, x-axis, and y-axis of the key points of the humanoid robot, generate a placeholder cube for the humanoid robot in the XYZ coordinate system.

[0108] The distance between the target object and the humanoid robot's occupant cube is determined. If it is less than the safety threshold, the safety traction rope is pulled to a pre-set safety length to protect the debugging personnel from injury.

[0109] Figure 9 The second schematic diagram of the safe debugging process provided in this application includes the following steps:

[0110] S201: Collect key points of the target object using a depth camera and generate the first occupant cube of the target object in the XYZ coordinate system; collect key points of the humanoid robot using a depth camera and generate the second occupant cube of the humanoid robot in the XYZ coordinate system.

[0111] S202: Determine the distance between the first and second placeholder cubes;

[0112] S203: Determine whether the distance is less than a preset distance threshold. If yes, proceed to S204; otherwise, proceed to S205.

[0113] S204: Determined that there is a safety risk in motion adjustment; Control the safety traction rope restraint device and adjust the length of the safety traction rope;

[0114] S205: It has been determined that there is no safety risk in the motion adjustment.

[0115] Figure 10 The main view of the humanoid robot motion adjustment and protection device provided in this application; such as Figure 10 As shown, the humanoid robot motion adjustment and protection device includes a protective support frame 11, a safety traction rope restraint device 12, a first guide rail pulley controller 13, a second guide rail pulley controller 14, a third guide rail pulley controller 15, and a depth camera 21. The protective support frame 11 includes a support column 111 and a support top beam 112. To ensure the safety of the device, a support column base 110 is connected below the support column 111.

[0116] Figure 11 A top view of the humanoid robot motion adjustment and protection device provided in this application; such as Figure 11As shown, the humanoid robot motion debugging protection device includes two depth cameras 21 arranged diagonally, a first guide rail pulley controller 13, a second guide rail pulley controller 14, a third guide rail pulley controller 15, a support top beam 112, and a movable support cross beam 113.

[0117] Figure 12 A left view of the humanoid robot motion debugging protection device provided in the present application is shown in FIG. 1. Figure 12 As shown, the humanoid robot motion debugging protection device includes a protection support frame 11, a safety traction rope restrainer 12, a third guide rail pulley controller 15, and a depth camera 21. The protection support frame 11 includes a support column 111 and a support top beam 112. In order to ensure the safety of the device, a support column base 110 is connected below the support column 111.

[0118] Support column base: used to support the support column to support the overall humanoid robot motion debugging protection device structure, ensuring the stability and safety of the device.

[0119] Support column: supporting the overall humanoid robot motion debugging protection device structure, and capable of mounting a depth camera.

[0120] Depth camera: used to collect color images and depth images of the humanoid robot and the target object, and to provide image data support for pose information determination of the recognition algorithm.

[0121] First guide rail pulley controller and second guide rail pulley controller: used to drive the safety traction rope restrainer to move along the direction perpendicular to the movable support cross beam.

[0122] Third guide rail pulley controller: used to drive the safety traction rope restrainer to move along the movable support cross beam.

[0123] Safety traction rope restrainer: capable of tightening the safety traction rope when there is a safety risk, preventing the humanoid robot from falling down, and protecting the humanoid robot and the target object.

[0124] The device structure provided in the present application is a cuboid rectangular structure, and four support columns are adopted. The rectangular interior formed by the support columns is a humanoid robot debugging area.

[0125] Figure 13 A depth camera fixing module structure schematic diagram provided in the present application is shown in FIG. 3. The device further includes a depth camera fixing module 31, and the depth camera 21 is connected with the support column 111 through the depth camera fixing module 31.

[0126] The depth camera fixing module 31 includes a support column fixing screw 311, a support column fixing piece 312, a horizontal bearing 313, a vertical bearing 314, a connecting piece 315, and a camera fixing piece 316.

[0127] The support column fixing screw 311 fixes the support column fixing member 312 on the support column 111; the support column fixing member 312 is connected with the first end of the connecting member 315 through the horizontal bearing 313; the second end of the connecting member 315 is connected with the camera fixing member 316 through the vertical bearing 314; the camera fixing member 316 is used for connecting with the depth camera 21.

[0128] Support column fixing screw: clockwise or counterclockwise rotation can fix the support column fixing member on the support column, and the support column fixing member can be adjusted in the vertical direction to realize the vertical height adjustment of the depth camera.

[0129] Horizontal bearing: the horizontal bearing can realize the horizontal movement of the depth camera.

[0130] Connecting member: a rigid connecting member connecting the horizontal bearing and the vertical bearing.

[0131] Vertical bearing: the vertical bearing can realize the pitch angle adjustment of the depth camera.

[0132] Camera fixing member: a general interface including a depth camera fixing screw for fixing the depth camera.

[0133] The depth camera is fixed on the support column by a depth camera fixing module, which is composed of a support column fixing screw, a support column fixing member, a horizontal bearing, a vertical bearing, a connecting member, and a camera fixing member. The camera fixing member is a general interface in the industry, which supports the installation of different models of depth cameras. The module as a whole is fixed on the support column by the support column fixing screw. When the screw is loosened, the module can be freely moved up and down, and when the screw is tightened, the module can be fixed. The horizontal bearing can move the depth camera horizontally, and the vertical bearing can adjust the pitch angle of the depth camera. Through the depth camera fixing module, the height adjustment and multi-angle adjustment of the depth camera can be realized.

[0134] Figure 14 The safety traction rope restraint structure provided in the present application is shown in the schematic diagram as Figure 14 The safety traction rope restraint structure includes a first driving motor 121 and a safety traction rope winding module 122.

[0135] The first driving motor 121 is connected with the rotating shaft of the safety traction rope winding module 122; the safety traction rope winding module 122 is peripherally wound with the safety traction rope 123; the safety traction rope 123 is connected with the humanoid robot through a traction hook 124.

[0136] First driving motor: driving the safety traction rope winding module to rotate forward or reversely to tighten or loosen the safety traction rope.

[0137] Safety traction rope winding module: when rotating forward, loosen the safety traction rope, facilitate the humanoid robot debugging, when rotating reversely, wind the safety traction rope, tighten the traction hook, pull up the humanoid robot.

[0138] Safety traction rope: the end connects the traction hook, used to pull the humanoid robot.

[0139] Traction hook: directly connected with the humanoid robot.

[0140] The safety traction rope restrainter is composed of a first driving motor 121, a safety traction rope winding module 122, a safety traction rope 123 and a traction hook 124.

[0141] Figure 15 The first guide rail pulley controller and the second guide rail pulley controller are the same in structure. Figure 15 As shown in the figure, the first guide rail pulley controller and the second guide rail pulley controller respectively include a second driving motor 131, a transmission shaft 132, a gear 133 and a gear track 134.

[0142] The second driving motor 131 is connected with the transmission shaft 132; the transmission shaft 132 is further connected with the gear 133; the gear 133 is further connected with the gear track 134; and the gear track 134 is further connected with the movable support crossbeam 113.

[0143] Second driving motor: used to drive the transmission shaft to rotate forward and reversely, so as to drive the gear on the transmission shaft to move forward and backward on the gear track, realizing the longitudinal movement of the movable support crossbeam.

[0144] Movable support crossbeam: used to support the safety traction rope restrainter to move horizontally and longitudinally.

[0145] Transmission shaft: connected with the second driving motor and the gear, providing torsional force for the gear.

[0146] Gear: through rotating on the gear track, drives the movable support crossbeam to move longitudinally.

[0147] Gear track: used to drive the movable support crossbeam to move when the gear rotates.

[0148] The safety traction rope restraint supports longitudinal movement, which is composed of a second drive motor, a transmission shaft, a gear and a gear track in the first guide rail pulley controller and the second guide rail pulley controller. The second drive motor drives the transmission shaft to rotate, and the transmission shaft drives the gear to rotate and move forward and backward on the gear track.

[0149] Figure 16 The third guide rail pulley controller structure schematic diagram provided in the present application is shown in the figure, which comprises a third drive motor 151, a first rolling bearing 152 and a transverse moving part 153. Figure 16 The transverse moving part 153 comprises a screw port 153a, a sleeve hole 153b and a safety traction rope restraint connecting part 153c. The inner wall of the sleeve hole 153b is provided with a second rolling bearing 153d.

[0150] The third drive motor 151 is connected with the first rolling bearing 152. The first rolling bearing 152 is also connected with the screw port 153a. The second rolling bearing 153d is connected with the movable support beam 113. The safety traction rope restraint connecting part 153c is used to connect with the safety traction rope restraint 12.

[0151] First rolling bearing: with threads, the third drive motor can drive the first rolling bearing to rotate forward or reversely.

[0152] Third drive motor: drive the first rolling bearing to rotate forward or reversely, which is used to drive the transverse moving part to move transversely.

[0153] Movable support beam: used to support the safety traction rope restraint to move transversely and longitudinally; as the bearing beam of the transverse moving part, it bears the downward gravity of the transverse moving part.

[0154] Second rolling bearing: connecting the transverse moving part with the movable support beam, reducing the friction between the transverse moving part and the movable support beam through the rolling structure.

[0155] Screw port: directly interacts with the first rolling bearing, and the first rolling bearing rotates forward or reversely to move the transverse position through the screw port.

[0156] The safety traction rope restraint supports transverse movement, which is composed of a third drive motor, a first rolling bearing and a transverse moving piece in the third guide rail pulley controller; the transverse moving piece includes a screw port, a sleeve hole and a safety traction rope restraint connecting piece; the inner wall of the sleeve hole is provided with a second rolling bearing. The third drive motor drives the first rolling bearing to rotate clockwise or counterclockwise, the first rolling bearing can drive the transverse moving piece to translate left and right through threads, and the transverse moving piece is suspended on the movable support beam as a whole, and the transverse moving piece is connected with the movable support beam through the second rolling bearing, and the rolling structure reduces the friction between the transverse moving piece and the movable support beam.

[0157] Figure 17 A humanoid robot motion debugging protection process schematic diagram provided for the present application includes the following steps:

[0158] S301: The protection controller acquires first pose information of a humanoid robot collected by a depth camera in a humanoid robot motion debugging process;

[0159] S302: According to the first pose information, the first guide rail pulley controller, the second guide rail pulley controller and the third guide rail pulley controller in the humanoid robot motion debugging protection device are controlled to move, so that the safety traction rope is in the same vertical plane as the humanoid robot; and when it is determined according to the first pose information that there is a safety risk in the motion debugging, the safety traction rope restraint is controlled to adjust the safety traction rope to shorten to a preset length; wherein the humanoid robot motion debugging protection device includes a protection support frame, and the safety traction rope restraint, the first guide rail pulley controller, the second guide rail pulley controller, the third guide rail pulley controller and the depth camera arranged on the protection support frame; the safety traction rope restraint is connected with the humanoid robot through the safety traction rope.

[0160] The method includes:

[0161] The position information of a first key point connected with the safety traction rope of the humanoid robot is acquired, which is collected by a depth camera in a humanoid robot motion debugging process; wherein the first key point is the center point of the connection point between the two mechanical arms and the trunk of the humanoid robot;

[0162] According to the position information of the first key point, the first guide rail pulley controller, the second guide rail pulley controller and the third guide rail pulley controller are controlled to move, so that the safety traction rope is in the same vertical plane as the humanoid robot.

[0163] The method includes:

[0164] Obtain position information of a second key point of the humanoid robot collected by a depth camera during a motion debugging process of the humanoid robot, wherein the second key point is a center point of a joint between a mechanical leg and a trunk of the humanoid robot.

[0165] Determine an inclination angle of the humanoid robot according to the position information of the first key point and the position information of the second key point, and determine that there is a safety risk in the motion debugging if the inclination angle is greater than a preset angle threshold or a height of the first key point is less than a preset height threshold.

[0166] The method comprises:

[0167] Obtain second pose information of a target object in a motion debugging scene collected by a depth camera during a motion debugging process of the humanoid robot.

[0168] If it is determined that a distance between the humanoid robot and the target object is less than a preset distance threshold according to the first pose information and the second pose information, it is determined that there is a safety risk in the motion debugging, and the safety traction rope restraint is controlled to adjust the safety traction rope to shorten to a preset length.

[0169] By the humanoid robot motion debugging protection device and the humanoid robot pose recognition algorithm provided in the present application, the position of the humanoid robot in a debugging area is recognized, and the safety traction rope restraint is moved in real time to be directly above the humanoid robot; by recognizing the posture of the humanoid robot, it is determined that the safety traction rope is tightened when the humanoid robot is about to fall; the distance between the target object (a debugging personnel) and the humanoid robot is recognized, and it is determined whether the debugging personnel is likely to be damaged by the humanoid robot according to the distance, and if so, the safety traction rope is tightened.

[0170] The humanoid robot motion debugging protection device and the humanoid robot pose recognition algorithm provided in the present application only need to be debugged by one person, thereby saving the number of personnel required for debugging and reducing the labor cost. By recognizing the posture of the humanoid robot through an external depth camera, the probability of damage to the humanoid robot caused by the humanoid robot being unable to detect whether it falls due to its own failure is reduced. In the debugging process, the recognition of the target object is increased through the depth camera, thereby solving the problem that the humanoid robot may cause damage to the target object during the debugging process, and improving the safety of the debugging personnel.

[0171] Although the preferred embodiments of the present application have been described, those skilled in the art can make further changes and modifications to the embodiments once they know the basic inventive concept. Therefore, the appended claims are intended to be interpreted as including all changes and modifications falling within the scope of the present application.

[0172] Obviously, many modifications and variations of the present application are possible in light of the above teachings. It is, therefore, to be understood that within the scope of the appended claims and their equivalents, the application can be practiced otherwise than as specifically described.

Claims

1. A protective device for adjusting the motion of a humanoid robot, characterized in that, The device includes: The system includes a protective support frame, a protective controller, and a safety traction rope restraint, a first guide rail pulley controller, a second guide rail pulley controller, a third guide rail pulley controller, and a depth camera, all mounted on the protective support frame. The safety traction rope restraint is connected to the humanoid robot via a safety traction rope. The depth camera is used to collect the first pose information of the humanoid robot during the motion debugging process, and send the first pose information to the protection controller. The protective controller is used to control the first guide rail pulley controller, the second guide rail pulley controller and the third guide rail pulley controller to move according to the first posture information, so that the safety traction rope is in the same vertical plane as the humanoid robot; and when it is determined that there is a safety risk in the motion debugging according to the first posture information, the controller controls the safety traction rope restraint device to adjust the safety traction rope to shorten to a preset length. The protective support frame includes a support column, a support top beam, and a movable support crossbeam; the support top beam includes a first support top beam and a second support top beam arranged in parallel; the depth camera is connected to the support column; The first guide rail pulley controller is connected to the first end of the first support top beam and the first end of the movable support crossbeam; the second guide rail pulley controller is connected to the second end of the second support top beam and the second end of the movable support crossbeam; the third guide rail pulley controller is connected to the movable support crossbeam and the safety traction rope restraint device. The depth camera is also used to collect the second pose information of the target object in the motion debugging scene during the motion debugging process of the humanoid robot, and send the second pose information to the protection controller; The protection controller is further configured to, if it is determined that there is a safety risk in motion debugging when the distance between the humanoid robot and the target object is less than a preset distance threshold based on the first pose information and the second pose information, control the safety traction rope restraint device to adjust the safety traction rope to shorten to a preset length.

2. The apparatus as claimed in claim 1, characterized in that, The protective support frame includes a first support column and a second support column arranged diagonally. The number of depth cameras is at least two; wherein the first support column and the second support column are each connected to at least one depth camera.

3. The apparatus as described in claim 1, characterized in that, The depth camera is specifically used to collect the position information of the first key point where the humanoid robot is connected to the safety traction rope during the motion debugging process of the humanoid robot; wherein, the first key point is the center point of the connection between the two mechanical arms and the torso of the humanoid robot. The protective controller is specifically used to control the first guide rail pulley controller, the second guide rail pulley controller, and the third guide rail pulley controller to move according to the position information of the first key point, so that the safety traction rope and the humanoid robot are on the same vertical plane.

4. The apparatus as described in claim 3, characterized in that, The depth camera is specifically used to collect the position information of the second key point of the humanoid robot during the motion debugging process; wherein, the second key point is the center point of the connection between the two mechanical legs and the torso of the humanoid robot; The protection controller is specifically used to determine the tilt angle of the humanoid robot based on the position information of the first key point and the position information of the second key point; if the tilt angle is greater than a preset angle threshold, or the height of the first key point is less than a preset height threshold, it is determined that there is a safety risk in the motion debugging.

5. A method for protecting the motion adjustment of a humanoid robot, characterized in that, The method includes: The protection controller acquires the first pose information of the humanoid robot collected by the depth camera during the motion debugging process of the humanoid robot; The first guide rail pulley controller, the second guide rail pulley controller, and the third guide rail pulley controller in the humanoid robot motion adjustment and protection device are moved according to the first pose information to make the safety traction rope and the humanoid robot in the same vertical plane; and when it is determined that there is a safety risk in the motion adjustment according to the first pose information, the safety traction rope restraint is controlled to adjust the safety traction rope to shorten to a preset length; wherein, the humanoid robot motion adjustment and protection device includes a protective support frame, and the safety traction rope restraint, the first guide rail pulley controller, the second guide rail pulley controller, the third guide rail pulley controller, and a depth camera are installed on the protective support frame; the safety traction rope restraint is connected to the humanoid robot through the safety traction rope; The protective support frame includes a support column, a support top beam, and a movable support crossbeam; the support top beam includes a first support top beam and a second support top beam arranged in parallel; the depth camera is connected to the support column; the first guide rail pulley controller is connected to the first end of the first support top beam and the first end of the movable support crossbeam; the second guide rail pulley controller is connected to the second end of the second support top beam and the second end of the movable support crossbeam; and the third guide rail pulley controller is connected to the movable support crossbeam and the safety traction rope restraint device. The method includes: Acquire the second pose information of the target object in the motion debugging scene collected by the depth camera during the motion debugging process of the humanoid robot; If, based on the first pose information and the second pose information, it is determined that the distance between the humanoid robot and the target object is less than a preset distance threshold, it is determined that there is a safety risk in motion debugging, and the safety traction rope restraint device is controlled to adjust the safety traction rope to shorten to a preset length.

6. The method as described in claim 5, characterized in that, The method includes: The position information of the first key point where the humanoid robot is connected to the safety traction rope is acquired by the depth camera during the motion debugging process of the humanoid robot; wherein, the first key point is the center point of the connection between the two mechanical arms and the torso of the humanoid robot. Based on the position information of the first key point, the first guide rail pulley controller, the second guide rail pulley controller, and the third guide rail pulley controller are controlled to move so that the safety traction rope and the humanoid robot are on the same vertical plane.

7. The method as described in claim 6, characterized in that, The method includes: The location information of the second key point of the humanoid robot is acquired by a depth camera during the motion debugging process of the humanoid robot; wherein, the second key point is the center point of the connection between the two mechanical legs and the torso of the humanoid robot; Based on the position information of the first key point and the position information of the second key point, the tilt angle of the humanoid robot is determined; if the tilt angle is greater than a preset angle threshold, or the height of the first key point is less than a preset height threshold, it is determined that there is a safety risk in the motion debugging.

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