Shield machine blade changing method, device and related products based on humanoid robot

Abstract

The present application provides a shield machine tool changing method, device and related products based on a humanoid robot, the method comprising: determining a first tool position and first attribute information of a first tool that needs to be changed on the shield machine cutter disc; determining the current position information of the humanoid robot; when the distance between the current position information and the shield machine cutter disc is within a preset distance range, obtaining a first image of the first tool position in the shield machine and the ground below the first tool position through a visual module; determining a first position using the first image, and controlling the humanoid robot to move to the first position; obtaining second attribute information of the humanoid robot; determining target posture parameters of the humanoid robot based on the first attribute information and the second attribute information; controlling the torso part and the robotic arm to complete corresponding posture movements according to the target posture parameters by the humanoid robot, and controlling the robotic arm to replace the first tool according to the tool changing operation steps.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a shield machine tool changing method and device based on a humanoid robot and related products. Background Art

[0002] The shield machine is a heavy mechanical equipment used for underground tunnel construction. It consists of a shield body, a cutter head, a propulsion system, and a control system. It is widely used in the construction of urban subways, highways, water conservancy projects, etc. In the process of shield construction, problems such as high cutter consumption and frequent replacement usually occur. The existing tool replacement work mainly relies on manual operations. The manual operation process usually requires construction personnel to enter the soil bin to check the damaged cutter and replace the cutter. However, construction personnel working in complex construction environments such as deep burial, rich water, and high pressure face great safety risks and are prone to major safety accidents such as casualties.

[0003] With the rapid development of science and technology, the development and application of humanoid robots have entered a period of rapid growth. Humanoid robot technology has gradually matured and has become more "intelligent", which makes it possible for humanoid robots to replace manual tools. In this regard, humanoid robots have advantages over construction workers, such as large power output, high flexibility, and strong environmental perception. Based on this, the realization of tool replacement operations in a safe and efficient robot operation mode has become an urgent need for intelligent tunneling operations. Summary of the invention

[0004] The embodiments of the present application provide a shield machine tool changing method, device and related products based on a humanoid robot. Through the coordinated control of the humanoid robot's vision module, mechanical arm, torso part, and supporting leg module, the worn tools on the shield machine's cutter head are replaced, thereby replacing manual operations, improving the efficiency of the shield machine's tool changing operations, ensuring the safety of construction personnel and saving costs.

[0005] In a first aspect, an embodiment of the present application provides a shield machine tool changing method based on a humanoid robot, which is applied to the humanoid robot, wherein the humanoid robot includes a visual module, a mechanical arm, a trunk portion, and a supporting leg; the method includes:

[0006] Determine a first tool position and first attribute information of a first tool of a shield machine cutter head that needs to be replaced; the first attribute information includes at least one of the following: the length of the first tool position, the weight of the first tool, and the tool change operation steps of the first tool position;

[0007] Determining current position information of the humanoid robot;

[0008] When the distance between the current position information and the cutter head of the shield machine is within a preset distance range, acquiring a first image of the first cutter position in the shield machine and the ground below the first cutter position through the visual module;

[0009] determining a first position using the first image, and controlling the humanoid robot to move to the first position;

[0010] Acquire second attribute information of the humanoid robot, where the second attribute information includes at least one of the following: height of the humanoid robot, length of a mechanical arm of the humanoid robot, and force parameters of the humanoid robot;

[0011] Determining a target posture parameter of the humanoid robot according to the first attribute information and the second attribute information;

[0012] The humanoid robot controls the trunk part and the mechanical arm to complete corresponding posture movements according to the target posture parameters, and controls the mechanical arm to replace the first tool according to the tool changing operation steps.

[0013] In a second aspect, an embodiment of the present application provides a control device for changing a tool of a shield machine based on a humanoid robot, which is applied to a humanoid robot, wherein the humanoid robot includes a visual module, a mechanical arm, a trunk portion, and a supporting leg, and the device includes a determination module, an acquisition module, and a control module, wherein:

[0014] A determination module, used to determine a first tool position and first attribute information of a first tool of a shield machine cutter head that needs to be replaced; the first attribute information includes at least one of the following: the length of the first tool position, the weight of the first tool, and the tool change operation steps of the first tool position;

[0015] The determination module is further used to determine the current position information of the humanoid robot;

[0016] an acquisition module, configured to acquire, through the visual module, a first image of the first cutter position in the shield machine and the ground below the first cutter position when the distance between the current position information and the cutter head of the shield machine is within a preset distance range;

[0017] a control module, configured to determine a first position using the first image, and control the humanoid robot to move to the first position;

[0018] The acquisition module is further used to acquire second attribute information of the humanoid robot, wherein the second attribute information includes at least one of the following: the height of the humanoid robot, the length of the mechanical arm of the humanoid robot, and the force parameter of the humanoid robot;

[0019] a determination module, further configured to adjust a target posture parameter of the humanoid robot according to the first attribute information and the second attribute information;

[0020] The control module is also used to control the torso part and the mechanical arm to complete corresponding posture movements according to the target posture parameters through the humanoid robot, and control the mechanical arm to replace the first tool according to the tool changing operation steps.

[0021] In a third aspect, an embodiment of the present application provides a humanoid robot, comprising a processor and a memory storing execution instructions, wherein the one or more programs mentioned above are stored in the above-mentioned memory and are configured to be executed by the above-mentioned processor, and the above-mentioned program includes instructions for executing some or all of the steps described in the first aspect of the embodiment of the present application.

[0022] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a control program for a humanoid robot, including execution instructions, which, when executed by a processor, cause the processor to execute some or all of the steps described in the first aspect.

[0023] In a fifth aspect, an embodiment of the present application provides a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute some or all of the steps described in any method of the first aspect of the embodiment of the present application. The computer program product may be a software installation package.

[0024] By implementing the embodiment of the present application, first determine the first tool and first attribute information of the shield machine cutter disc that need to be changed, determine the current position information of the humanoid robot, and when the distance between the current position information and the shield machine cutter disc is within the preset distance range, obtain the first image of the first tool position in the shield machine and the ground below the first tool position through the visual module, then determine the first position using the first image, control the humanoid robot to move to the first position, and then obtain the second attribute information of the humanoid robot, the second attribute information includes at least one of the following: the height of the humanoid robot, the length of the mechanical arm of the humanoid robot, and the force parameter of the humanoid robot, determine the target posture parameter of the humanoid robot according to the first attribute information and the second attribute information, and finally, control the torso part and the mechanical arm according to the target posture parameter by the humanoid robot to complete the corresponding posture action, and control the mechanical arm to replace the first tool according to the tool change operation steps. In this way, based on the powerful posture control ability of the humanoid robot and the flexibility of the mechanical arm, the humanoid robot can efficiently replace the tool on the target shield machine cutter disc, ensure the possibility of personnel safety, and reduce costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 is a structural diagram of a humanoid robot provided in an embodiment of the present application;

[0027] Figure 2 It is a schematic flow chart of a shield machine tool changing method based on a humanoid robot provided in an embodiment of the present application;

[0028] Figure 3 This is a schematic diagram of a first scenario of a method for controlling a humanoid robot provided in an embodiment of the present application;

[0029] Figure 4 is a schematic diagram of a second scenario of a method for controlling a humanoid robot provided in an embodiment of the present application;

[0030] Figure 5 is a schematic diagram of a third scenario of a method for controlling a humanoid robot provided in an embodiment of the present application;

[0031] Figure 6It is a structural schematic diagram of a tool changing control device based on a humanoid robot shield machine provided in an embodiment of the present application;

[0032] Figure 7 It is a structural schematic diagram of a humanoid robot provided in an embodiment of the present application. DETAILED DESCRIPTION

[0033] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0034] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0035] It should be understood that the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article indicates that the associated objects before and after are in an "or" relationship. The "plurality" appearing in the embodiments of the present application refers to two or more.

[0036] In the embodiments of the present application, "at least one item" or similar expressions refer to any combination of these items, including any combination of single items or plural items, and refer to one or more, and multiple refers to two or more. For example, at least one item of a, b, or c can represent the following seven situations: a, b, c, a and b, a and c, b and c, a, b, and c. Among them, each of a, b, and c can be an element or a set containing one or more elements.

[0037] The "connection" that appears in the embodiments of the present application refers to various connection methods such as direct connection or indirect connection to achieve communication between devices, and the embodiments of the present application do not impose any limitations on this.

[0038] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0039] See also Figure 1 , Figure 1 This is a structural diagram of a humanoid robot provided by the present application, such as Figure 1 As shown, the humanoid robot 100 includes a controller 110 , a vision module 120 , a robotic arm 130 , a torso 140 , and a supporting leg 150 .

[0040] In one possible embodiment, the image information of the tool on the target shield machine cutter head can be obtained through the visual module 120, and the controller 110 identifies the state of the tool through the built-in image processing algorithm, and calculates the wear value and defect degree of the tool, so as to determine whether the tool needs to be replaced. When it is determined that the tool needs to be replaced, the controller 110 plans the best moving path according to the tool position and surrounding environmental information recognized by the visual module image 120, and adjusts the posture of the mechanical arm 130, the trunk part 140 and the supporting leg 150, so that the humanoid robot 100 can stably, accurately and safely move to the position where the tool is to be replaced. To ensure that the humanoid robot 100 avoids obstacles during movement, the controller 110 optimizes the path through a preset path planning algorithm to reduce energy consumption and improve work efficiency. When the humanoid robot reaches the position for changing the tool, the controller 110 determines whether the robotic arm 130 has the ability to grab the tool based on the weight of the tool and the force parameters of the robot. If it is confirmed that it has the ability to grab the tool, the controller 110 controls the robotic arm 130 to perform the grabbing action, and monitors the force conditions of the robotic arm 130, torso 140, and supporting leg 150 in real time during the grabbing process, and dynamically adjusts the movement posture and grabbing force of the robotic arm 130, torso 140, and supporting leg 150 according to the force data to ensure that the grabbing operation is completed smoothly. After completing the grabbing operation, the controller 110 will further control the movement posture of the robot arm 130, the torso part 140 and the supporting leg 150 to perform the operation of removing the tool, and dynamically adjust the movement posture and force condition of the robot arm 130 according to the actual situation during the removal process to ensure the safe removal of the tool. Subsequently, the controller 110 controls the robot arm 130 to grab the first tool, and installs the new tool in place through the docking action with the tool disc. During the installation process, the controller 110 will monitor the torque and installation torque of the robot arm 130 in real time to ensure that every step of the installation process is accurate. If the tool is installed correctly and reaches the preset installation torque, the controller 110 will stop the installation action and use the visual module 120 to capture and detect the newly installed tool to confirm whether it is in the best working condition.

[0041] It can be seen that by analyzing the worn tool and adjusting the movement posture of the humanoid robot's mechanical arm, torso, and supporting legs, the task of replacing the tool can be achieved, and obstacle avoidance and adjustment of movement posture can be performed according to obstacle information. It can move safely in the complex target shield machine cutter head environment to smoothly reach the designated tool change position.

[0042] See also Figure 2 , Figure 2is a flow chart of a shield machine tool changing method based on a humanoid robot provided in an embodiment of the present application. The shield machine tool changing method based on a humanoid robot is applied to a humanoid robot, and the humanoid robot includes a visual module, a mechanical arm, a trunk part and a supporting leg; Figure 2 As shown, the method comprises the following steps:

[0043] S210, determining the first tool position and first attribute information of the first tool of the shield machine cutter head that needs to be changed; the first attribute information includes at least one of the following: the length of the first tool position, the weight of the first tool, and the tool changing operation steps of the first tool position.

[0044] Among them, the humanoid robot identifies the model of the target shield machine cutterhead and obtains all the tool information of the target shield machine cutterhead from the external server. The external server stores data of multiple models of shield machine cutterheads. Each model of shield machine cutterhead corresponds to different tool configurations, among which the tool configuration includes the category of each tool, the attributes of each tool and the installation position of each tool. The humanoid robot downloads the tool information corresponding to the target shield machine cutter disc from the server according to the identification of the target shield machine cutter disc model, and then obtains the attribute data of the first tool such as the length and weight. After obtaining these data, the humanoid robot calls the tool change step of the first position from the internal controller. The tool change step of the first position includes a series of action instruction sequences for controlling the humanoid robot. The action instruction sequence is executed according to the following steps. First, the robot arm is controlled to move to the disassembly position of the old tool, perform the disassembly action, loosen the fixing bolts and remove the old tool. Then, the humanoid robot locates the position of the new tool through the visual module, and adjusts the gripping angle and strength of the robot arm according to the length and weight of the tool to ensure safe gripping. Then, the robot arm is controlled to grab the new tool and move to the installation position of the first tool, and adjusts the angle and position of the tool. Finally, through torque control, the robot arm rotates the fastening bolts clockwise to perform the tool tightening action, thereby fixing the new tool in place, and monitors the force conditions during the fixing process in real time to ensure that the rotation stops after the tightening torque reaches the preset value to avoid overtightening or loosening.

[0045] In a possible embodiment, determining the first tool position and first attribute information of the first tool of the shield machine cutter head that needs to be changed specifically includes:

[0046] A1. Obtain tool identifications in the cutter head of the shield machine to obtain n tool identifications; each tool identification corresponds to a tool; n is an integer greater than 1;

[0047] A2. performing wear detection operations on the tools in the cutter head of the shield machine in sequence according to the n tool identifiers to obtain n tool wear parameters;

[0048] A3, determining a maximum value among the n wear parameters, and using a tool corresponding to the maximum value as the first tool;

[0049] A4. Determine the first tool position and the first attribute information of the first tool.

[0050] Specifically, the humanoid robot identifies the target shield machine cutter head model and obtains the tool identification and related attributes corresponding to the model from the external server. Detailed data of multiple types of shield machine cutter heads are stored in the external server. Each type of shield machine cutter head corresponds to a different tool configuration. Each tool identification represents a specific tool type, such as a single-edged hob, a double-edged hob, a scraper, a gauge cutter, etc., which are not limited here, and is associated with the relevant attribute information of the tool, wherein the relevant attributes include: the position of the tool, the weight of the tool, the length of the tool, the size of the tool, etc. In this way, the humanoid robot can obtain the information of the tool according to the tool identification, and store this information in the internal system of the humanoid robot for subsequent use. It should be noted that each tool identification is unique and can accurately correspond to a specific position on the shield machine cutter head.

[0051] Then, the humanoid robot detects the wear of each tool through its built-in visual module. The humanoid robot first shoots the tool corresponding to each tool identification to obtain multi-angle images. Then, the humanoid robot obtains the target standard image set of the corresponding tool from the preset standard image library for subsequent comparison and analysis. By comparing the captured image with the standard image, the humanoid robot can evaluate the wear degree of each tool and calculate the wear parameters of each tool. These wear parameters reflect the actual use of the tool. The humanoid robot compares all the measured wear parameters and determines the maximum value. The maximum value represents the tool with the most serious wear, that is, the first tool. After determining the first tool, the humanoid robot obtains the detailed information of the tool from the external server by analyzing its corresponding tool identification, including the location and attributes of the tool. The first attribute information at least includes the length, weight and tool change operation steps of the tool. These data provide the necessary parameters and step guidance for the actual tool change operation. The humanoid robot stores this information internally and controls the robot arm to perform precise operations according to the specific tool change operation steps to ensure that the tool change process meets the requirements.

[0052] In a possible embodiment, wear detection operations are performed on the tools in the cutter head of the shield machine in sequence according to the n tool identifiers to obtain n tool wear parameters, specifically including:

[0053] B1. photographing the second tool at m angles through the visual module to obtain m photographed images; m is an integer greater than 1; the second tool is the tool corresponding to the second tool identifier; the second tool identifier is any tool identifier among the n tool identifiers;

[0054] B2. Acquire a target standard image set corresponding to the second tool identifier from a preset standard image library; the preset standard image library stores k standard image sets, each standard image set corresponds to p standard images of a tool, and each standard image corresponds to a shooting angle; k is an integer greater than 1; p is an integer greater than or equal to m;

[0055] B3, determining the similarity between each of the m captured images and the standard image of the target standard image set at the corresponding shooting angle, and obtaining m similarities;

[0056] B4, determining similarities among the m similarities that are less than a preset similarity, and obtaining i similarities; i is a positive integer less than or equal to m;

[0057] B5. Calculate the deviation between each of the i similarities and the preset similarity threshold to obtain i deviations;

[0058] B6. Determine the target deviation corresponding to the i deviations;

[0059] B7, determining damage parameters corresponding to the target deviation; the damage parameters include tool defect value and tool wear thickness value;

[0060] B8. Calculate the damage parameter using a preset formula to obtain tool wear parameters of the second tool.

[0061] Specifically, the humanoid robot uses the visual module to shoot the second tool at m angles to obtain m photographed images. The second tool is the tool corresponding to the first tool identifier, and the second tool identifier is any tool identifier among the n tool identifiers. The humanoid robot uses the visual module to shoot the target tool from multiple angles to ensure full coverage of the tool, and to capture details such as whether the tool has defects and whether the tool is broken. The shooting angle is designed according to the actual layout of the shield machine cutter head and the tool position to ensure the comprehensiveness and accuracy of image acquisition. A target standard image set corresponding to the second tool identification is obtained from a preset standard image library, wherein the preset standard image library stores k standard image sets, each standard image set corresponds to p standard images of a tool, and each standard image corresponds to a shooting angle. The humanoid robot accesses the pre-stored standard image library to extract the standard image set corresponding to the currently detected tool, wherein the image set consists of standard tool images at multiple shooting angles, reflecting the lossless appearance of the tool under normal use. The standard images in the image library can be pre-set according to different types of tools and their wear laws, and cover multiple types of tools, such as single-edge hobs, double-edge hobs, scrapers, etc. The similarity between each of the m captured images and the standard image of the corresponding shooting angle in the target standard image set is determined to obtain m similarities. The humanoid robot uses an image processing algorithm to compare each captured image with the corresponding standard image to calculate the similarity. Similarity calculation can be based on feature matching algorithms, such as the Structural Similarity Index (SSIM) or pixel-based difference detection. In this way, the degree of tool wear, cracks or other defects shown in the image can be identified. In the similarity results after comparison, the humanoid robot will screen out similarity images below a preset threshold. These low-similarity images indicate that the tool is severely worn and deviates greatly from the standard tool state. By screening out these images, the specific area and degree of wear can be further analyzed, and the deviation between each of the i similarities and the preset similarity threshold is calculated to obtain i deviations. The humanoid robot calculates the specific deviation based on the difference between each image with lower similarity and the standard image. The deviation is used to quantify the severity of tool damage.

[0062] Among them, the target deviation corresponding to the i deviations is determined, and the humanoid robot performs weighted calculations based on multiple deviation results to calculate the target deviation, that is, the degree of deviation reflecting the most serious damage point of the tool. The target deviation is determined by integrating the analysis results of various shooting angles, representing the overall wear or damage of the tool, and then the damage parameters corresponding to the target deviation are determined, wherein the damage parameters include tool defect values ​​and tool wear thickness values. By analyzing the target deviation, the humanoid robot can extract the damage parameters of the tool. The tool defect value may reflect cracks or surface damage on the tool, and the tool wear thickness value reflects the wear amount of the tool material. The damage parameters are calculated using a preset formula to obtain the tool wear parameters of the second tool. Finally, the humanoid robot substitutes all damage parameters into the preset calculation formula to generate the wear parameters of the tool. The wear parameters can integrate various damage factors of the tool and quantify its service life and the urgency of replacement.

[0063] In a possible embodiment, the damage parameter is calculated using a preset formula to obtain the tool wear parameter of the second tool, specifically including: performing weight calculation based on a preset first weight factor, a second weight factor, a preset formula, the tool defect value and the tool wear thickness value to obtain the tool wear parameter of the second tool; the preset formula is: ,in, is the tool wear parameter of the second tool, is the first weight factor, is the second weight factor, is the defect value of the tool, is the tool wear thickness value, To correct the parameters.

[0064] Specifically, first, based on the preset first weight factor and second weight factor, combined with the defect value and wear thickness value of the tool, weight calculation is performed. The setting of these weight factors needs to fully consider multiple factors such as the tool's usage scenario, material properties, working conditions, and wear type to ensure the accuracy and pertinence of the calculation. When calculating the overall wear parameters of the tool, the following preset formula is used:

[0065]

[0066] in, is the calculated tool wear parameter, which indicates the overall wear degree of the tool; is the first weight factor, which indicates the contribution of tool defects to the wear value; is the second weight factor, which represents the influence of tool wear thickness on the wear value; It is the tool defect value, which reflects the surface damage of the tool, such as crack length or depth; is the wear thickness value of the tool, indicating the amount of wear on the tool surface material; To correct the parameters, they are used to correct the deviations in the calculation process and may be adjusted according to the actual environment, tool material or working conditions.

[0067] Among them, the first weight factor is mainly used to measure the impact of tool defects on overall wear. Tool defects usually appear as cracks, edge damage, surface depressions or other obvious physical damage. These defects will directly affect the performance of the tool, reduce its cutting efficiency or even cause it to fail completely. Since tool defects may accelerate wear during the cutting process and increase safety risks at work, a higher weight value needs to be given in the weight calculation. Depending on the usage scenarios of different tools, the type and scope of the defects are different, and the weight factor will vary. For example, if the tool is used for high-speed cutting or drilling hard materials, cracks or notches on the edge may cause the tool to fail in a short time, so the weight factor for crack defects should be set higher.

[0068] Among them, the second weight factor is used to evaluate the wear thickness of the tool material. The wear of the tool is mainly manifested as the progressive wear of the blade or surface material, which gradually reduces the effective life of the tool in long-term work. Unlike tool defects, the increase in wear thickness is usually gradual, affecting the cutting efficiency and precision of the tool, but usually does not cause sudden failure of the tool. Therefore, the influence of wear thickness occupies a relatively stable proportion in the overall weight, and the speed and thickness of wear may vary depending on the material properties of the tool. For example, carbide tools have better wear resistance under high temperature and high speed environments, so the weight factor of their wear thickness may be lower than that of ordinary steel tools; but under extreme conditions, such as high impact or long grinding operations, the wear thickness of the tool may increase rapidly, so the weight of this factor needs to be increased.

[0069] It can be seen that in this embodiment, the humanoid robot obtains the model of the target shield machine cutter head and detailed attribute information of its tools by connecting to an external server, and performs comprehensive analysis in combination with its own visual module to effectively identify the tools with the most severe wear. Through multi-angle shooting and standard image comparison, the humanoid robot can accurately determine the wear parameters of the tools and perform tool changing operations based on these data. During the entire process, the humanoid robot relies on the data support provided by the external server and its own intelligent control system to ensure the accuracy and safety of the tool changing steps. Taking into account the properties, position, and wear of the tools, the humanoid robot can efficiently and safely complete the tool replacement task, avoid operating errors, and improve the operating efficiency of the shield machine.

[0070] S220: Determine the current position information of the humanoid robot.

[0071] Among them, the humanoid robot determines its current position through its own positioning system. Specifically, the humanoid robot can use a variety of sensing technologies to obtain position information, including but not limited to: Inertial navigation system (INS), laser radar (LiDAR), and other environmental perception equipment, which are not limited here. The humanoid robot first tracks its position and motion state in real time through the inertial navigation system to calculate the current position and posture information. If the working environment is blocked or the signal is unstable, the humanoid robot can also rely on LiDAR or vision modules to scan the surrounding environment, establish an environmental map and locate it. At the same time, the humanoid robot can also combine the fixed reference points or markers inside the shield machine for relative positioning to ensure the accuracy of its position information.

[0072] S230. When the distance between the current position information and the cutter head of the shield machine is within a preset distance range, a first image of the first cutter position in the shield machine and the ground below the first cutter position is acquired through the visual module.

[0073] Among them, when the humanoid robot calculates that the distance between its current position and the shield machine cutter disc is within the preset safe operating range, the visual module is started for further image acquisition operations. The preset distance range is to ensure that the humanoid robot can safely and efficiently perform tool change operations within an appropriate range to avoid operational errors or safety hazards caused by too close or too far distances. When the humanoid robot enters the range, its visual module starts to work and collects images for the first tool position in the shield machine cutter disc. The visual module scans the installation position of the tool from multiple angles to ensure that comprehensive visual data is obtained. At the same time, the humanoid robot will also obtain images of the ground below the first tool position. These ground images can help the humanoid robot better understand the working environment during the tool change process and determine whether there are obstacles, depressions or other factors that may affect the stable operation of the humanoid robot. The image data will be sent to the processing system inside the humanoid robot for analysis. The humanoid robot will plan the movement path of the robotic arm based on these data to ensure accurate movements and safe environment when performing tool change operations.

[0074] For easier understanding, see Figure 3 , Figure 3 A schematic diagram of a first scenario of a control method for a humanoid robot provided in an embodiment of the present application is shown in FIG. Figure 3As shown, the first scene of the control method of the humanoid robot includes a shield machine cutter head 300, a humanoid robot 301, a first cutter 302, and a current position 303. When performing the first image action of obtaining the first cutter position in the shield machine and the ground below the first cutter position, the humanoid robot determines the current position 303 through its positioning system. Then, in order to ensure that it can operate within the preset working range, the posture adjustment of the torso part and the supporting legs of the humanoid robot is controlled so that the distance between the humanoid robot and the shield machine cutter head 300 is within the preset range. The setting of the preset range is to ensure that the humanoid robot can smoothly perform subsequent operations. When the position of the humanoid robot is adjusted in place and within the preset range, the humanoid robot identifies the position of the first cutter 302 through its visual module. Through multi-angle shooting, the position information of the first cutter and the image information of the ground below it are obtained.

[0075] In a possible embodiment, determining a first position by using the first image and controlling the humanoid robot to move to the first position specifically includes:

[0076] C1. identifying empty positions in the first image to obtain a plurality of empty positions;

[0077] C2. determining the distances between the plurality of open positions and the first tool position to obtain a plurality of distances;

[0078] C3. Determine a distance among the multiple distances that is less than or equal to the target length, and obtain at least one distance;

[0079] C4. Determine an open position corresponding to the at least one distance among the multiple open positions to obtain at least one open position;

[0080] C5. Determine an open position that is closest to the at least one open position and the current position information, and obtain a target open position;

[0081] C6. Determine the first position information according to the target open position;

[0082] C7. Perform path planning according to the current position information and the first position information to obtain a first moving path;

[0083] C8. When an obstacle appears on the first moving path, identifying attribute information of the obstacle to obtain third attribute information;

[0084] C9. Adjust the first moving path according to the third attribute information to obtain a second moving path;

[0085] C10. Control the humanoid robot to move to the first position according to the first moving path.

[0086] Specifically, the humanoid robot analyzes the first image obtained through the visual module, and identifies the open positions in the image. The open positions refer to areas that the humanoid robot can safely pass through and are suitable for operation. These areas have no obstacles or interferences. The humanoid robot measures the distance between each identified open position and the position of the first cutter in the shield machine, calculates and obtains multiple distances between these open positions and the first cutter, and the humanoid robot compares these distances with preset target lengths, such as the maximum effective operating range of the humanoid robot's mechanical arm, and screens out distances that are less than or equal to the target length, ensuring that the humanoid robot can easily reach the cutter position when changing the cutter. From the screened distances, the humanoid robot further determines the open positions corresponding to these distances to obtain open areas that can be safely operated.

[0087] Next, the humanoid robot compares the distance between the current position information and the open position, and selects the nearest open position as the target open position to ensure that the humanoid robot can reach the working area with the minimum moving distance. Through the selected target open position, the humanoid robot determines the position information of the first position, that is, the best position for performing subsequent tool changing operations. The humanoid robot generates an optimal moving path from the current position to the first position using a path planning algorithm based on the current position information and the determined first position information. If an obstacle appears on the moving path planned by the humanoid robot, the humanoid robot will identify the obstacle through the visual module and obtain its attribute information, including the size, shape, material, etc. of the obstacle. The humanoid robot readjusts the moving path based on the attribute information of the obstacle to avoid the obstacle and generate a second moving path. Finally, the humanoid robot moves to the first position along the generated first moving path (if there is no obstacle) or the second moving path (if adjusted) to prepare for subsequent tool changing operations.

[0088] It can be seen that in this embodiment, the humanoid robot can effectively identify the open operation area and accurately measure the distance between it and the tool position by comprehensively utilizing the image data obtained by the visual module and its current position information. By screening and planning the path of the open area, the humanoid robot ensures the safety of the moving path and the effectiveness of the operation. At the same time, the humanoid robot has the ability to dynamically adjust the path, can identify and avoid obstacles in real time during the movement, and ensure smooth arrival at the target position.

[0089] S240: Determine a first position using the first image, and control the humanoid robot to move to the first position.

[0090] The humanoid robot determines a first position suitable for operation by analyzing the acquired first image. First, the humanoid robot processes the image using a visual module to identify the empty area in the image and environmental features related to the tool position. Based on the information in the image, the humanoid robot calculates and determines the optimal operating position, i.e., the first position. After determining the first position, the humanoid robot generates a moving path through a path planning algorithm. According to the path, the humanoid robot controls the posture of the trunk and supporting legs to move to the position to ensure that the next tool change operation can be performed smoothly. During the movement, the humanoid robot will also adjust the path in real time according to changes in the environment to ensure that the target position is reached safely and efficiently.

[0091] For easier understanding, see Figure 4 , Figure 4 A second scenario schematic diagram of a method for controlling a humanoid robot provided in an embodiment of the present application, such as Figure 4 As shown, the second scenario of the control method of the humanoid robot includes a humanoid robot 401, a first tool 402, and a first position 403. When executing the control of the humanoid robot to move to the first position, the humanoid robot first analyzes the first image in the environment through the visual module, identifies the open area suitable for operation and the environmental characteristics of the first tool, including the flatness of the terrain, the openness of the space, and possible obstacles on the ground. Based on the analysis of the identified image, the humanoid robot calculates the most suitable position for performing the tool replacement operation, namely the first position 403. This position usually maintains a certain safety distance from the first tool 402, and can ensure that the humanoid robot has enough space to adjust its posture during operation and use the robotic arm to perform precise tool disassembly and installation. Then, the humanoid robot starts to execute mobile path planning. During the movement, the humanoid robot not only relies on the pre-set path, but also makes real-time adjustments according to environmental changes. For example, if a new obstacle or change in ground conditions is detected during movement, the humanoid robot will immediately recalculate the new movement path to ensure that there is no deviation or stagnation in the movement due to changes in the external environment. In addition, the humanoid robot will also continuously adjust the posture of the robotic arm, torso and supporting legs through its internal controller to ensure that it always remains stable during movement and avoid tipping over or getting stuck on uneven ground or in narrow spaces.

[0092] S250. Obtain second attribute information of the humanoid robot, where the second attribute information includes at least one of the following: the height of the humanoid robot, the length of a mechanical arm of the humanoid robot, and a force parameter of the humanoid robot.

[0093] Among them, the humanoid robot obtains its own second attribute information through self-inspection to ensure the accuracy and safety of subsequent tool changing operations. These attribute information include key parameters when performing tool changing tasks, which will directly affect important indicators such as the movement range and operating torque of the robot arm during the tool changing process. First, the height of the humanoid robot determines whether it can smoothly contact the target tool position on the tool disc in the current working environment. If the height of the humanoid robot is insufficient, it may need to cooperate with other auxiliary equipment to ensure that the humanoid robot can effectively complete the tool changing task; second, the length of the robot arm determines the working range of the humanoid robot operation. The humanoid robot needs to confirm that the length of the robot arm is sufficient to cover the position of the target tool to ensure that the grasping, disassembly and installation operations can be completed smoothly; third, the force parameters reflect the performance of the humanoid robot when performing mechanical operations, especially when disassembling and installing tools. The humanoid robot must apply appropriate torque to ensure the success of the operation. By real-time monitoring of the force parameters, the humanoid robot can avoid operation failure or equipment damage caused by excessive or insufficient force.

[0094] S260. Determine a target posture parameter of the humanoid robot according to the first attribute information and the second attribute information.

[0095] Among them, the humanoid robot comprehensively analyzes the first attribute information (attributes related to the tool, such as the length, weight, and tool changing steps of the tool) and the second attribute information (attributes related to the humanoid robot itself, such as height, mechanical arm length, and force parameters) to determine the target posture parameters of the humanoid robot when performing the tool changing operation. Specifically, the target posture parameters are key data to guide the humanoid robot on how to adjust its body and mechanical arm posture in order to accurately and safely perform the tool changing operation. The process of determining the target posture parameters includes the following points: posture adjustment. Combined with the length, position, and weight information of the tool, the humanoid robot needs to adjust its mechanical The angle, extension and gripping force of the arm ensure that the tool position can be accurately reached and the appropriate force can be applied. If the tool is heavy or installed at a high position, the humanoid robot will adjust the posture of its body and mechanical arm accordingly to ensure stability; force distribution, based on the force parameters, the humanoid robot calculates the force that each joint and mechanical arm needs to bear during the operation to ensure that the designed load capacity will not be exceeded during the tool change process to avoid system damage due to excessive force; operating range, combined with the length of the humanoid robot's mechanical arm and the tool position, the humanoid robot will determine the optimal operating range to ensure that the tool change operation can be completed without restriction. If the operating space is small, the humanoid robot will adjust its posture according to the space limitations to ensure flexibility and operational safety.

[0096] In a possible embodiment, before controlling the robotic arm to replace the first tool according to the tool changing operation steps, it specifically includes: judging whether the humanoid robot has the ability to grab the first tool based on the weight of the first tool and the force parameters of the humanoid robot; if the humanoid robot has the ability to grab the first tool, controlling the humanoid robot to move to the position of the first tool; and adjusting the grabbing angle of the robotic arm according to the length of the first tool so that the robotic arm grabs the first tool.

[0097] Specifically, based on the weight of the first tool and the force parameters of the humanoid robot, it is determined whether the humanoid robot has the ability to grab the first tool. Specifically, the humanoid robot obtains the weight information of the first tool and compares it with its own force parameters. The force parameters include key indicators such as the carrying capacity of the mechanical arm, the grasping force and the joint torque. By analyzing the posture of the mechanical arm and the weight of the first tool, the humanoid robot can determine whether it can safely grasp the tool. If the weight of the first tool exceeds the load capacity of the mechanical arm, the humanoid robot will make adjustments or issue prompts to avoid performing operations beyond its capabilities. If the humanoid robot has the ability to grab the first tool, the humanoid robot will control it to move to the position of the first tool. At this time, the humanoid robot controls and coordinates the postures of the mechanical arm, the trunk part and the supporting legs to move them to an appropriate position to grab the first tool. After reaching the position of the first tool, the humanoid robot will adjust the grasping angle of the mechanical arm according to the length of the first tool.

[0098] In addition, the length of the tool affects the gripping angle and posture of the robot arm. Therefore, the humanoid robot combines the tool length information to adjust the joint angle of the robot arm to ensure the stability of the grip. The robot arm needs to cover the center of gravity of the tool to ensure the balance and safety of the gripping process. To ensure the stability of the grip, after adjusting the angle, the robot arm will gradually approach the tool and complete the gripping operation. Specifically, the humanoid robot first compares the tool weight and force parameters through its internal computing module. If it determines that the load capacity of the humanoid robot's robot arm is sufficient, the humanoid robot will continue to execute path planning and control itself to move into place. After reaching the tool position, the humanoid robot accurately adjusts the multiple joint angles of the robot arm based on the tool length information to ensure that the gripping action matches the actual size of the tool, avoiding tool slippage or operational errors due to inappropriate gripping angles.

[0099] S270, controlling the trunk part and the robotic arm to complete corresponding posture movements according to the target posture parameters by the humanoid robot, and controlling the robotic arm to replace the first tool according to the tool changing operation steps.

[0100] The humanoid robot controls its trunk and robotic arm to perform precise posture movements based on the previously determined target posture parameters, thereby successfully completing the first tool replacement operation. First, the humanoid robot adjusts the posture of its trunk based on the target posture parameters. This includes adjusting the angle, inclination, support position, etc. of the body to ensure that the humanoid robot remains stable during operation and can adapt to the installation position and operating space of the tool.

[0101] Then, the humanoid robot also adjusts the movement of the robotic arm according to the posture parameters to ensure that the robotic arm can accurately complete each tool change step. The specific operation steps include: the humanoid robot controls the robotic arm to move to the position of the old tool, and according to the tool change operation steps, accurately performs operations such as loosening the fixings and removing the tool. The humanoid robot monitors the force conditions in real time through the torque sensor to ensure that the loosening operation is carried out smoothly. After the humanoid robot completes the removal of the old tool, it will move the robotic arm according to the planned path to the storage location of the new tool. According to the length, weight and other properties of the tool, the robotic arm will adjust the gripping angle and strength to ensure that the new tool is safely and securely grasped. After grabbing the new tool, the humanoid robot controls the robotic arm to move it to the installation position, and aligns the installation point to fix the tool according to the operating steps. Through real-time torque monitoring, the humanoid robot ensures that the torque applied by the robotic arm reaches the preset tightening standard to avoid the tool being installed too tightly or too loosely. Throughout the process, the humanoid robot will rely on the visual module, torque sensor and internal control algorithm to continuously monitor the accuracy of each step of the operation to ensure that the robotic arm moves accurately and with appropriate torque when performing tool changes, avoiding operational errors caused by improper posture or force.

[0102] In a possible embodiment, controlling the robot arm to replace the first tool according to the tool changing operation steps specifically includes:

[0103] D1. Determine the activity radius of the robotic arm according to the posture movement of the torso and the posture movement of the robotic arm to obtain a target activity radius;

[0104] D2. determining a target working range of the robotic arm based on the target activity radius;

[0105] D3, performing a disassembly operation on the first tool according to the target working range and the tool changing operation steps to obtain a disassembly result; the disassembly result includes a disassembly success or a disassembly failure;

[0106] D4. When the disassembly result is successful, control the robot arm to grab the tool to be replaced and dock it with the first tool position to obtain a tool installation result; the tool installation result includes normal installation and abnormal installation;

[0107] D5. When the tool installation result is normal, control the robot arm to rotate and tighten the first tool until the torque of the robot arm is greater than the preset tightening torque and stops the rotation, thereby completing the replacement of the first tool.

[0108] Specifically, the controller monitors the tilt angle, rotation amplitude and overall posture of the humanoid robot's trunk in real time to ensure that the robot arm can complete the operation in the best posture. Based on the current posture of the humanoid robot, the controller will calculate the robot arm's activity radius, that is, the spatial range in which the robot arm can move safely and efficiently in the current posture. This activity radius is determined based on the mobility and physical limitations of the trunk and the robot arm to ensure that when performing disassembly or installation actions, the humanoid robot will not cause operational errors or collisions due to limited space. Once the activity radius is determined, the controller will further calculate the robot arm's target working range, which refers to the space in which the robot arm can actually operate safely during the tool change process. This range will take into account the movable range of the humanoid robot itself and the spatial limitations of the surrounding environment, such as the spatial layout inside the shield machine, the presence of obstacles, and the size of the working area.

[0109] Then, the controller will start the disassembly operation of the first tool according to the target working range calculated before. During this process, the robot arm needs to accurately perform each step according to the preset tool change operation steps, including grasping, rotating, loosening and other operations. In order to ensure the success of the disassembly, the controller will monitor the force and movement trajectory of the robot arm in real time. If an abnormality occurs (such as excessive resistance during the disassembly process), the system will stop the operation in time and feedback the information of disassembly failure. On the contrary, if the robot arm successfully completes all the disassembly steps, the result of successful disassembly will be obtained. If the disassembly is successful, the controller will command the robot arm to grab the new tool and dock it with the position of the first tool. In this process, the visual module will assist the controller to determine the precise position and angle of the tool, and the feedback sensor will monitor the force of the robot arm in real time to ensure that the tool does not have too large or too small torque during the installation process, affecting the installation accuracy. If the tool is docked smoothly and the position and force meet the preset standards, the installation result is "normal installation". Otherwise, if there is a deviation or docking error, the system will feedback "installation abnormality" and prompt that adjustment or re-docking is required.

[0110] Finally, after confirming that the tool is installed normally, the controller will further control the robot arm to perform a rotation action to tighten the tool. During the tightening process, the system will monitor the rotation angle of the robot arm and the applied torque value in real time to ensure that the rotation action not only reaches the preset tightening torque, but also does not rotate excessively to avoid damage to the tool or related components. Once the tightening torque reaches the preset value, the controller will automatically stop the rotation action and complete the replacement operation of the first tool.

[0111] For easier understanding, see Figure 5 , Figure 5 A third scenario schematic diagram of a method for controlling a humanoid robot provided in an embodiment of the present application, such as Figure 5 As shown, the third scenario of the control method of the humanoid robot includes a humanoid robot 501, a first tool 502, and a first position 503. When controlling the robotic arm to replace the first tool according to the tool changing operation steps, first, the humanoid robot controls the robotic arm to move to the old tool position through a controller. The robotic arm accurately performs the loosening of the fixing parts and the tool removal operations according to the tool changing operation steps. The humanoid robot monitors the force conditions in real time through a torque sensor to ensure that the loosening operation is carried out smoothly. After the old tool is removed, the humanoid robot adjusts the posture of the robotic arm and torso, grabs the new tool, and adjusts the gripping angle and strength of the robotic arm according to the length, weight and other properties of the tool to ensure that the new tool is safely and securely grasped. After grabbing the new tool, the humanoid robot controls the robotic arm to move it to the installation position, and performs the tool fixing operation on the installation point according to the operation steps. Through real-time torque monitoring, the humanoid robot ensures that the torque applied by the robotic arm reaches the preset tightening standard to avoid the tool being installed too tightly or too loosely.

[0112] See also Figure 6 , Figure 6 600 is a schematic diagram of a tool change control device based on a humanoid robot shield machine provided in an embodiment of the present application. The tool change control device based on a humanoid robot shield machine 600 includes: a determination module 610, an acquisition module 620, and a control module 630. The tool change control device based on a humanoid robot shield machine is applied to a humanoid robot, and the humanoid robot includes a visual module, a mechanical arm, a trunk part, and a support leg. Among them,

[0113] A determination module 610 is used to determine a first tool position and first attribute information of a first tool of a shield machine cutter head that needs to be replaced; the first attribute information includes at least one of the following: the length of the first tool position, the weight of the first tool, and the tool change operation steps of the first tool position;

[0114] The determination module 610 is further used to determine the current position information of the humanoid robot;

[0115] An acquisition module 620 is used to acquire, through the visual module, a first image of the first cutter position in the shield machine and the ground below the first cutter position when the distance between the current position information and the cutter head of the shield machine is within a preset distance range;

[0116] A control module 630 is configured to determine a first position using the first image, and control the humanoid robot to move to the first position;

[0117] The acquisition module 620 is further used to acquire second attribute information of the humanoid robot, where the second attribute information includes at least one of the following: the height of the humanoid robot, the length of the mechanical arm of the humanoid robot, and the force parameter of the humanoid robot;

[0118] The determination module 610 is further configured to adjust a target posture parameter of the humanoid robot according to the first attribute information and the second attribute information;

[0119] The control module 630 is also used to control the torso part and the robotic arm to complete corresponding posture movements according to the target posture parameters through the humanoid robot, and control the robotic arm to replace the first tool according to the tool changing operation steps.

[0120] In a possible embodiment, the determination module 610 is specifically used to determine the first tool position and first attribute information of the first tool that needs to be changed on the shield machine cutter head:

[0121] Obtaining a tool identification in the cutter head of the shield machine to obtain n tool identifications; each tool identification corresponds to a tool; n is an integer greater than 1;

[0122] According to the n tool identifiers, wear detection operations are performed on the tools in the cutter head of the shield machine in sequence to obtain n tool wear parameters;

[0123] Determine a maximum value among the n wear parameters, and use a tool corresponding to the maximum value as the first tool;

[0124] The first tool position and the first attribute information of the first tool are determined.

[0125] In a possible embodiment, the acquisition module 620 performs wear detection operations on the tools in the shield machine cutter head in sequence according to the n tool identifiers to obtain n tool wear parameters, specifically for:

[0126] The second tool is photographed at m angles by the visual module to obtain m photographed images; m is an integer greater than 1; the second tool is the tool corresponding to the second tool identifier; the second tool identifier is any tool identifier among the n tool identifiers;

[0127] Acquire a target standard image set corresponding to the second tool identifier from a preset standard image library; the preset standard image library stores k standard image sets, each standard image set corresponds to p standard images of a tool, and each standard image corresponds to a shooting angle; k is an integer greater than 1; p is an integer greater than or equal to m;

[0128] Determine the similarity between each of the m captured images and a standard image of a corresponding shooting angle in the target standard image set to obtain m similarities;

[0129] Determine the similarities among the m similarities that are less than a preset similarity, and obtain i similarities; i is a positive integer less than or equal to m;

[0130] Calculating the deviation between each of the i similarities and the preset similarity threshold to obtain i deviations;

[0131] Determine the target deviation corresponding to the i deviations;

[0132] Determine the damage parameter corresponding to the target deviation; the damage parameter includes a tool defect value and a tool wear thickness value;

[0133] The damage parameter is calculated using a preset formula to obtain a tool wear parameter of the second tool.

[0134] In a possible embodiment, the determination module 610 is further configured to calculate the damage parameter using a preset formula to obtain the tool wear parameter of the second tool:

[0135] Performing weight calculation based on a preset first weight factor, a second weight factor, a preset formula, the tool defect value, and the tool wear thickness value to obtain a tool wear parameter of the second tool;

[0136] The preset formula is: ,in, is the tool wear parameter of the second tool, is the first weight factor, is the second weight factor, is the defect value of the tool, is the tool wear thickness value, To correct the parameters.

[0137] In a possible embodiment, the control module 630, in determining the first position by using the first image and controlling the humanoid robot to move to the first position, is specifically configured to:

[0138] identifying an empty position in the first image to obtain a plurality of empty positions;

[0139] determining distances between the plurality of open positions and the first tool position to obtain a plurality of distances;

[0140] Determine a distance among the multiple distances that is less than or equal to the target length to obtain at least one distance;

[0141] Determine an open position corresponding to the at least one distance among the multiple open positions to obtain at least one open position;

[0142] Determine an open position that is closest to the at least one open position and the current position information, and obtain a target open position;

[0143] Determine the first position information according to the target open position;

[0144] Performing path planning according to the current position information and the first position information to obtain a first moving path;

[0145] When an obstacle appears on the first moving path, identifying attribute information of the obstacle to obtain third attribute information;

[0146] adjusting the first moving path according to the third attribute information to obtain a second moving path;

[0147] The humanoid robot is controlled to move to the first position according to the first moving path.

[0148] In a possible embodiment, the control module 630 is further used to control the robot arm to replace the first tool according to the tool changing operation steps:

[0149] Determine the activity radius of the robotic arm according to the posture movement of the trunk part and the posture movement of the robotic arm to obtain a target activity radius;

[0150] Determining a target working range of the robotic arm based on the target activity radius;

[0151] Performing a disassembly operation on the first tool according to the target working range and the tool changing operation steps to obtain a disassembly result; the disassembly result includes a disassembly success or a disassembly failure;

[0152] When the disassembly result is successful, the robot arm is controlled to grab the tool to be replaced and dock it with the first tool position to obtain a tool installation result; the tool installation result includes normal installation and abnormal installation;

[0153] When the tool installation result is normal, the robot arm is controlled to rotate to tighten the first tool until the robot arm torque is greater than the preset tightening torque and stops rotating, thereby completing the replacement of the first tool.

[0154] In a possible embodiment, before controlling the robot arm to replace the first tool according to the tool changing operation steps, the control module 630 is further configured to:

[0155] Based on the weight of the first tool and the force parameters of the humanoid robot, determining whether the humanoid robot has the ability to grab the first tool;

[0156] If the humanoid robot has the ability to grab the first tool, controlling the humanoid robot to move to the position of the first tool;

[0157] The gripping angle of the robot arm is adjusted according to the length of the first tool so that the robot arm grips the first tool.

[0158] It is worth noting that the specific implementation of the control device 600 based on the humanoid robot shield machine tool change is shown in the above Figure 2 The description of the shield machine tool changing method based on the humanoid robot shown in the figure, for example, the determination module 610 is used to execute the relevant content of S220, and the acquisition module 620 is used to execute the relevant content of S230 and S250. The various units or modules in the control device 600 for changing the shield machine tool based on the humanoid robot can be respectively or completely combined into one or several other units or modules to constitute, or one (some) of the units or modules can be further divided into multiple smaller units or modules in function to constitute, which can achieve the same operation without affecting the realization of the technical effect of the embodiment of the present invention. The above-mentioned units or modules are divided based on logical functions. In practical applications, the functions of one unit (or module) are realized by multiple units (or modules), or the functions of multiple units (or modules) are realized by one unit (or module).

[0159] It can be seen that the control device for tool changing of a shield machine based on a humanoid robot described in the embodiment of the present application first determines the first tool and first attribute information that need to be changed for the shield machine cutter disc, determines the current position information of the humanoid robot, and when the distance between the current position information and the shield machine cutter disc is within a preset distance range, the first image of the first tool position in the shield machine and the ground below the first tool position is obtained through the visual module. Then, the first position is determined using the first image, and the humanoid robot is controlled to move to the first position. Then, the second attribute information of the humanoid robot is obtained, and the second attribute information includes at least one of the following: the height of the humanoid robot, the length of the robotic arm of the humanoid robot, and the force parameters of the humanoid robot. The target posture parameters of the humanoid robot are determined according to the first attribute information and the second attribute information. Finally, the humanoid robot controls the torso and the robotic arm to complete corresponding posture movements according to the target posture parameters, and controls the robotic arm to replace the first tool according to the tool changing operation steps. In this way, based on the powerful posture control ability of the humanoid robot and the flexibility of the robotic arm, the humanoid robot can efficiently replace the cutting tools on the target shield machine cutterhead, ensuring the safety of personnel and reducing costs.

[0160] See also Figure 7 , Figure 7 is a schematic diagram of the structure of a humanoid robot provided in an embodiment of the present application, such as Figure 7 As shown, the humanoid robot 700 includes a processor 710, a memory 720, a communication interface 730, and one or more programs 721. The one or more programs 721 are stored in the memory 720 and are configured to be executed by the processor 710. The processor 710, the memory 720, and the communication interface 730 are interconnected and perform communication work with each other.

[0161] Among them, the processor is mainly used for:

[0162] Determine a first tool position and first attribute information of a first tool of a shield machine cutter head that needs to be replaced; the first attribute information includes at least one of the following: the length of the first tool position, the weight of the first tool, and the tool change operation steps of the first tool position;

[0163] Determining current position information of the humanoid robot;

[0164] When the distance between the current position information and the cutter head of the shield machine is within a preset distance range, acquiring a first image of the first cutter position in the shield machine and the ground below the first cutter position through the visual module;

[0165] determining a first position using the first image, and controlling the humanoid robot to move to the first position;

[0166] Acquire second attribute information of the humanoid robot, where the second attribute information includes at least one of the following: height of the humanoid robot, length of a mechanical arm of the humanoid robot, and force parameters of the humanoid robot;

[0167] Determining a target posture parameter of the humanoid robot according to the first attribute information and the second attribute information;

[0168] The humanoid robot controls the trunk part and the mechanical arm to complete corresponding posture movements according to the target posture parameters, and controls the mechanical arm to replace the first tool according to the tool changing operation steps.

[0169] The one or more programs are stored in the memory 720 and are configured to be executed by the processor. The one or more programs include instructions for executing any step in the above method embodiment. The memory 720 can be a volatile memory such as a dynamic random access memory DRAM, or a non-volatile memory such as a mechanical hard disk. The memory 720 is used to store a set of executable program codes, and the processor 710 is used to call one or more programs 721 stored in the memory 720, and can execute part or all of the steps of any humanoid robot control method recorded in the above humanoid robot control method embodiment.

[0170] Among them, the processor can be, for example, a central processing unit (CPU), a general processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It can implement or execute various exemplary logic blocks, units and circuits described in conjunction with the disclosure of this application. The processor can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of DSP and microprocessors, and the like. The communication unit can be a communication interface, a transceiver, a transceiver circuit, and the like, and the storage unit can be a memory.

[0171] The memory may be a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memories. The nonvolatile memory may be a read-only memory (ROM), a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0172] An embodiment of the present application also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute part or all of the steps of any method recorded in the above method embodiment, and the above computer includes a humanoid robot.

[0173] The present application also provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute some or all of the steps of any method described in the method embodiment. The computer program product may be a software installation package, and the computer includes a humanoid robot.

[0174] It should be noted that, for the above-mentioned various embodiments, for the sake of simple description, they are all expressed as a series of action combinations. Those skilled in the art should be aware that the present application is not limited by the described order of actions, because some steps in the embodiments of the present application can be performed in other orders or simultaneously. In addition, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions, steps, modules or units involved are not necessarily required by the embodiments of the present application.

[0175] In the above embodiments, the embodiments of the present application have different focuses on the description of each embodiment. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0176] Those skilled in the art can understand that to implement all or part of the processes in the above-mentioned embodiments, the processes can be completed by computer programs to instruct related hardware, and the programs can be stored in computer-readable storage media. When the programs are executed, they can include the processes of the above-mentioned method embodiments. The aforementioned storage media include: ROM or random access memory RAM, magnetic disk or optical disk and other media that can store program codes.

[0177] The steps of the method or algorithm described in the embodiments of the present application can be implemented in hardware or by executing software instructions by a processor. The software instructions can be composed of corresponding software modules, and the software modules can be stored in RAM, flash memory, ROM, EPROM, electrically erasable programmable read-only memory (electrically EPROM, EEPROM), registers, hard disks, mobile hard disks, read-only compact disks (CD-ROMs) or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC. In addition, the ASIC can be located in a terminal device or a management device. Of course, the processor and the storage medium can also exist in a terminal device or a management device as discrete components.

[0178] Those skilled in the art should be aware that in one or more of the above examples, the functions described in the embodiments of the present application can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, computer, server, or data center to another website site, computer, server, or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a digital video disc (DVD)), or a semiconductor medium (eg, a solid state disk (SSD)).

[0179] The modules / units included in the devices and products described in the above embodiments may be software modules / units or hardware modules / units, or may be partially software modules / units and partially hardware modules / units. For example, for the devices and products applied to or integrated in the chip, the modules / units included therein may all be implemented in the form of hardware such as circuits, or at least some of the modules / units may be implemented in the form of software programs, which run on the processor integrated inside the chip, and the remaining (if any) modules / units may be implemented in the form of hardware such as circuits; for the devices and products applied to or integrated in the chip module, the modules / units included therein may all be implemented in the form of hardware such as circuits, and different modules / units may be located in the same component (such as chip, circuit module, etc.) or different components of the chip module, or at least some of the modules / units may be implemented in the form of software programs. It is implemented in the form of a software program that runs on a processor integrated inside the chip module, and the remaining (if any) modules / units can be implemented in hardware such as circuits; for various devices and products applied to or integrated in the terminal equipment, the various modules / units contained therein can be implemented in hardware such as circuits, and different modules / units can be located in the same component (for example, chip, circuit module, etc.) or different components in the terminal equipment, or at least some of the modules / units can be implemented in the form of a software program that runs on a processor integrated inside the terminal equipment, and the remaining (if any) modules / units can be implemented in hardware such as circuits.

[0180] The specific implementation methods described above further illustrate the purpose, technical solutions and beneficial effects of the embodiments of the present application. It should be understood that the above description is only the specific implementation method of the embodiments of the present application and is not intended to limit the protection scope of the embodiments of the present application. Any modifications, equivalent substitutions, improvements, etc. made on the basis of the technical solutions of the embodiments of the present application should be included in the protection scope of the embodiments of the present application.

Claims

1. A shield machine tool changing method based on a humanoid robot, characterized in that: Applied to a humanoid robot, the humanoid robot comprises a vision module, a mechanical arm, a trunk portion and a supporting leg; the method comprises: Determine a first tool position and first attribute information of a first tool of a shield machine cutter head that needs to be replaced; the first attribute information includes at least one of the following: the length of the first tool position, the weight of the first tool, and the tool change operation steps of the first tool position; Determining current position information of the humanoid robot; When the distance between the current position information and the cutter head of the shield machine is within a preset distance range, acquiring a first image of the first cutter position in the shield machine and the ground below the first cutter position through the visual module; determining a first position using the first image, and controlling the humanoid robot to move to the first position; Acquire second attribute information of the humanoid robot, where the second attribute information includes at least one of the following: height of the humanoid robot, length of a mechanical arm of the humanoid robot, and force parameters of the humanoid robot; Determining a target posture parameter of the humanoid robot according to the first attribute information and the second attribute information; Controlling the trunk and the robotic arm to complete corresponding posture movements according to the target posture parameters by the humanoid robot, and controlling the robotic arm to replace the first tool according to the tool changing operation steps; Wherein, the determining the first position by using the first image and controlling the humanoid robot to move to the first position includes: identifying an empty position in the first image to obtain a plurality of empty positions; determining distances between the plurality of open positions and the first tool position to obtain a plurality of distances; Determine a distance among the plurality of distances that is less than or equal to the target length, and obtain at least one distance; Determine an open position corresponding to the at least one distance among the multiple open positions to obtain at least one open position; Determine an open position that is closest to the at least one open position and the current position information, and obtain a target open position; Determine first position information according to the target open position; Performing path planning according to the current position information and the first position information to obtain a first moving path; When an obstacle appears on the first moving path, identifying attribute information of the obstacle to obtain third attribute information; adjusting the first moving path according to the third attribute information to obtain a second moving path; The humanoid robot is controlled to move to the first position according to the first moving path.

2. The method according to claim 1, characterized in that The first tool position and first attribute information of the first tool that needs to be changed on the shield machine cutter head are determined, including: Obtaining a tool identification in the cutter head of the shield machine to obtain n tool identifications; each tool identification corresponds to a tool; n is an integer greater than 1; According to the n tool identifiers, wear detection operations are performed on the tools in the cutter head of the shield machine in sequence to obtain n tool wear parameters; Determine a maximum value among the n wear parameters, and use a tool corresponding to the maximum value as the first tool; The first tool position and the first attribute information of the first tool are determined.

3. The method according to claim 2, characterized in that The wear detection operation is performed on the cutters in the cutter head of the shield machine in sequence according to the n cutter identifications to obtain n cutter wear parameters, including: The second tool is photographed at m angles by the visual module to obtain m photographed images; m is an integer greater than 1; the second tool is the tool corresponding to the second tool identifier; the second tool identifier is any tool identifier among the n tool identifiers; Acquire a target standard image set corresponding to the second tool identifier from a preset standard image library; the preset standard image library stores k standard image sets, each standard image set corresponds to p standard images of a tool, and each standard image corresponds to a shooting angle; k is an integer greater than 1; p is an integer greater than or equal to m; Determine the similarity between each of the m captured images and a standard image of a corresponding shooting angle in the target standard image set to obtain m similarities; Determine the similarities among the m similarities that are less than a preset similarity, and obtain i similarities; i is a positive integer less than or equal to m; Calculating the deviation between each of the i similarities and the preset similarity threshold to obtain i deviations; Determine the target deviation corresponding to the i deviations; Determine the damage parameter corresponding to the target deviation; the damage parameter includes a tool defect value and a tool wear thickness value; The damage parameter is calculated using a preset formula to obtain a tool wear parameter of the second tool.

4. The method according to claim 3, characterized in that The damage parameter is calculated using a preset formula to obtain the tool wear parameter of the second tool, including: Performing weight calculation based on a preset first weight factor, a second weight factor, a preset formula, the tool defect value, and the tool wear thickness value to obtain a tool wear parameter of the second tool; The preset formula is: ,in, W is the tool wear parameter of the second tool, is the first weight factor, b is the second weight factor, D is the defect value of the tool, T is the tool wear thickness value, and η is the correction parameter.

5. The method according to any one of claims 1 to 4, characterized in that: The controlling the robot arm to replace the first tool according to the tool changing operation steps includes: Determine the activity radius of the robotic arm according to the posture movement of the torso and the posture movement of the robotic arm to obtain a target activity radius; Determining a target working range of the robotic arm based on the target activity radius; Performing a disassembly operation on the first tool according to the target working range and the tool changing operation steps to obtain a disassembly result; the disassembly result includes a disassembly success or a disassembly failure; When the disassembly result is successful, the robot arm is controlled to grab the tool to be replaced and dock it with the first tool position to obtain a tool installation result; the tool installation result includes normal installation and abnormal installation; When the tool installation result is normal, the robot arm is controlled to rotate to tighten the first tool until the robot arm torque is greater than the preset tightening torque and stops rotating, thereby completing the replacement of the first tool.

6. The method according to claim 1, characterized in that Before controlling the robot arm to replace the first tool according to the tool changing operation steps, the method further includes: Based on the weight of the first tool and the force parameters of the humanoid robot, determining whether the humanoid robot has the ability to grab the first tool; If the humanoid robot has the ability to grab the first tool, controlling the humanoid robot to move to the position of the first tool; The gripping angle of the robot arm is adjusted according to the length of the first tool so that the robot arm grips the first tool.

7. A shield machine tool changing control device based on a humanoid robot, characterized in that: Applied to a humanoid robot, the humanoid robot comprises: a visual module, a mechanical arm, a trunk part and a supporting leg, the device comprises a determination module, an acquisition module and a control module, wherein: The determination module is used to determine the first tool position and first attribute information of the first tool of the shield machine cutter head that needs to be changed; the first attribute information includes at least one of the following: the length of the first tool position, the weight of the first tool, and the tool change operation steps of the first tool position; The determination module is further used to determine the current position information of the humanoid robot; The acquisition module is used to acquire a first image of the first cutter position in the shield machine and the ground below the first cutter position through the visual module when the distance between the current position information and the cutter head of the shield machine is within a preset distance range; The control module is configured to determine a first position using the first image, and control the humanoid robot to move to the first position; The acquisition module is further used to acquire second attribute information of the humanoid robot, wherein the second attribute information includes at least one of the following: the height of the humanoid robot, the length of the mechanical arm of the humanoid robot, and the force parameter of the humanoid robot; The determination module is further used to adjust the target posture parameters of the humanoid robot according to the first attribute information and the second attribute information; The control module is further used to control the trunk part and the mechanical arm to complete corresponding posture movements according to the target posture parameters through the humanoid robot, and control the mechanical arm to replace the first tool according to the tool changing operation steps; Wherein, the determining the first position by using the first image and controlling the humanoid robot to move to the first position includes: identifying an empty position in the first image to obtain a plurality of empty positions; determining distances between the plurality of open positions and the first tool position to obtain a plurality of distances; Determine a distance among the plurality of distances that is less than or equal to the target length, and obtain at least one distance; Determine an open position corresponding to the at least one distance among the multiple open positions to obtain at least one open position; Determine an open position that is closest to the at least one open position and the current position information, and obtain a target open position; Determine first position information according to the target open position; Performing path planning according to the current position information and the first position information to obtain a first moving path; When an obstacle appears on the first moving path, identifying attribute information of the obstacle to obtain third attribute information; adjusting the first moving path according to the third attribute information to obtain a second moving path; The humanoid robot is controlled to move to the first position according to the first moving path.

8. A humanoid robot, characterized in that: The method comprises a processor and a memory storing execution instructions, wherein the memory stores one or more programs; when the processor executes the execution instructions stored in the memory, the processor executes the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: A control program for a humanoid robot is stored, including execution instructions. When a processor of the humanoid robot executes the execution instructions, the processor executes the method according to any one of claims 1 to 6.

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