Wearing equipment, control method and control device of humanoid robot

Abstract

The embodiment of the invention provides wearable equipment of a humanoid robot, a control method and a control device. The wearable device comprises a covering and a pressure sensing module, the covering can cover at least part of the area of the body of the humanoid robot, the pressure sensing module is arranged on the surface of the covering, and the pressure sensing module can collect multiple real-time pressure values of different areas of the surface of the body of the humanoid robot when the humanoid robot wears the wearable device. And transmitting the plurality of real-time pressure values to the humanoid robot, so that the humanoid robot determines whether a collision occurs at present according to the plurality of real-time pressure values, and stops moving under the condition of determining that the collision occurs at present. Therefore, the humanoid robot can stop moving immediately when collision occurs, so that injury to personnel is avoided, and the safety of the humanoid robot is improved.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to the technical field of humanoid robots, and in particular, to wearable equipment, control methods, and control devices of humanoid robots. Background Art

[0002] With the widespread popularity of humanoid robots, more and more robots are being applied to production and life. For example, they can be used in high-risk industrial production scenarios, or public service scenarios such as hotels, airports, hospitals or banks, or home service scenarios such as residences or apartments.

[0003] In the application scenarios of humanoid robots, the humanoid robots may collide with people in the scene during movement. Especially in many family service scenarios, there are elderly people and children. The humanoid robots may collide with the elderly or children, causing harm to the relevant personnel, resulting in certain safety hazards for humanoid robots. Summary of the invention

[0004] The embodiments described herein provide a wearable device, a control method, and a control apparatus for a humanoid robot, which can improve the safety of the humanoid robot.

[0005] In a first aspect, the present disclosure provides a wearable device for a humanoid robot, comprising:

[0006] A covering is used to cover at least a part of the body of the humanoid robot.

[0007] A pressure sensing module is arranged on the surface of the covering. The pressure sensing module is used to collect multiple real-time pressure values ​​of different areas on the body surface of the humanoid robot when the humanoid robot wears the wearable device, and transmit the multiple real-time pressure values ​​to the humanoid robot, so that the humanoid robot determines whether a collision occurs currently based on the multiple real-time pressure values, and stops moving if it is determined that a collision occurs currently.

[0008] In some embodiments of the present disclosure, when the humanoid robot wears the wearable device, the pressure sensing module is located on the outer surface of the cover, or between the body of the humanoid robot and the cover.

[0009] In some embodiments of the present disclosure, the pressure sensing module includes a plurality of pressure sensing units arranged along a first direction, and a distance between two adjacent pressure sensing units in the first direction is less than a preset distance; or, the pressure sensing module is a single flexible pressure sensing device.

[0010] In some embodiments of the present disclosure, when the pressure sensing module includes a plurality of the pressure sensing units arranged along the first direction, each of the pressure sensing units includes a plurality of pressure sensing sub-units arranged along a second direction, and the first direction intersects with the second direction.

[0011] The distance between two adjacent pressure sensing subunits in the second direction is smaller than a preset distance, and the pressure sensing subunits in two adjacent pressure sensing units in the first direction are staggered.

[0012] In a second aspect, the present disclosure provides a control method for a humanoid robot, wherein the humanoid robot wears a wearable device, wherein the wearable device includes a covering and a pressure sensing module, wherein the covering is used to cover at least a portion of the body of the humanoid robot, and the pressure sensing module is arranged on the surface of the covering.

[0013] The control method includes:

[0014] Acquire multiple real-time pressure values ​​of different areas on the body surface of the humanoid robot; compare all the real-time pressure values ​​with a first pressure threshold respectively; determine whether the humanoid robot is currently in collision according to whether each of the real-time pressure values ​​is greater than the first pressure threshold; when it is determined that the humanoid robot is currently in collision, control the humanoid robot to stop moving to interrupt the execution of user instructions.

[0015] In some embodiments of the present disclosure, determining whether the humanoid robot is currently in collision according to whether each of the real-time pressure values ​​is greater than the first pressure threshold comprises:

[0016] When at least one of all the real-time pressure values ​​is greater than the first pressure threshold, it is determined that the humanoid robot is currently in collision; when all the real-time pressure values ​​are less than or equal to the first pressure threshold, it is determined that the humanoid robot is currently not in collision.

[0017] In some embodiments of the present disclosure, the control method further includes:

[0018] When it is determined that the humanoid robot currently collides, image information at the collision position of the humanoid robot is obtained; based on the image information, it is determined whether the humanoid robot currently collides by mistake; when it is determined that the humanoid robot currently collides by mistake, the humanoid robot is controlled to continue moving to continue executing the user instruction.

[0019] In some embodiments of the present disclosure, each of the real-time pressure values ​​corresponds to a piece of position information.

[0020] Before acquiring the image information at the collision position of the humanoid robot, the method further includes:

[0021] When it is determined that the humanoid robot currently collides, the collision position is determined according to the position information of all the real-time pressure values ​​greater than the first pressure threshold.

[0022] In some embodiments of the present disclosure, each of the real-time pressure values ​​corresponds to a piece of position information.

[0023] The control method also includes:

[0024] Compare all the real-time pressure values ​​with a second pressure threshold value respectively, the second pressure threshold value is less than the first pressure threshold value, and the second pressure threshold value is related to the noise of the pressure sensing module; when at least one of all the real-time pressure values ​​is less than the second pressure threshold value, determine that the pressure sensing module is working abnormally; determine the position of the pressure sensing module that is working abnormally according to the position information of all the real-time pressure values ​​less than the second pressure threshold value

[0025] In a third aspect, the present disclosure provides a control device for a humanoid robot, wherein the humanoid robot wears a wearable device, wherein the wearable device includes a covering and a pressure sensing module, wherein the covering is used to cover at least a portion of the body of the humanoid robot, and the pressure sensing module is arranged on the surface of the covering.

[0026] The control device comprises:

[0027] An acquisition module is used to acquire multiple real-time pressure values ​​of different areas on the body surface of the humanoid robot; a comparison module is used to compare all the real-time pressure values ​​with a first pressure threshold respectively; a determination module is used to determine whether the humanoid robot is currently in collision according to whether each of the real-time pressure values ​​is greater than the first pressure threshold; and a control module is used to control the humanoid robot to stop moving to interrupt the execution of user instructions when it is determined that the humanoid robot is currently in collision.

[0028] In the technical solution provided by the present disclosure, the wearable device of the humanoid robot includes a covering and a pressure sensing module. The covering can cover at least a part of the body of the humanoid robot. The pressure sensing module is arranged on the surface of the covering. When the humanoid robot wears the wearable device, the pressure sensing module can collect multiple real-time pressure values ​​of different areas on the body surface of the humanoid robot, and transmit the multiple real-time pressure values ​​to the humanoid robot, so that the humanoid robot determines whether a collision occurs at present according to the multiple real-time pressure values, and stops moving when it is determined that a collision occurs. In this way, the humanoid robot can stop moving immediately when a collision occurs, thereby avoiding harm to personnel, thereby improving the safety of the humanoid robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings of the embodiments will be briefly described below. It should be noted that the drawings described below only relate to some embodiments of the present disclosure, but are not intended to limit the present disclosure, wherein:

[0030] Figure 1 A schematic diagram of the structure of a humanoid robot provided by an embodiment of the present disclosure;

[0031] Figure 2 A schematic diagram of the structure of a wearable device provided in an embodiment of the present disclosure;

[0032] Figure 3 A partial structural diagram of a pressure sensing module provided in an embodiment of the present disclosure;

[0033] Figure 4 A schematic diagram of a partial structure of another pressure sensing module provided in an embodiment of the present disclosure;

[0034] Figure 5 A flow chart of a control method provided by an embodiment of the present disclosure;

[0035] Figure 6 A flow chart of another control method provided by an embodiment of the present disclosure;

[0036] Figure 7 A flowchart of another control method provided by an embodiment of the present disclosure;

[0037] Figure 8 A schematic diagram of the structure of a control device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without creative work also fall within the scope of protection of the present disclosure.

[0039] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those skilled in the art to which the subject matter of the present disclosure belongs. It will be further understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meanings in the context of the specification and the relevant art, and will not be interpreted in an idealized or overly formal form unless otherwise explicitly defined herein. In addition, terms such as "first" and "second" are only used to distinguish one component (or a portion of a component) from another component (or another portion of a component).

[0040] Figure 1 A humanoid robot is provided in an embodiment of the present disclosure. The humanoid robot can be divided into an industrial production humanoid robot, a public service humanoid robot and a household service humanoid robot. Among them, the industrial production humanoid robot can be applied to high-risk industrial production scenarios, the public service humanoid robot can be applied to public service scenarios such as hotels, airports, hospitals and banks, and the household service humanoid robot can be applied to household service scenarios such as residences or apartments.

[0041] Based on the specific application scenarios of humanoid robots, humanoid robots can wear clothes and accessories with professional attributes. For example, industrial production humanoid robots in the semiconductor industry can wear dust-free suits, dust-free hats and masks, public service humanoid robots in hotels can wear the hotel's uniform uniforms and hats, and home service humanoid robots can wear casual clothes, which can improve the aesthetics of humanoid robots in different application scenarios.

[0042] In the specific application scenarios of humanoid robots, the humanoid robots move in response to user instructions, and may collide with people in the current application scenario during the movement. In particular, in many home service scenarios, there are elderly people and children. The humanoid robots may collide with the elderly or children, causing harm to the relevant personnel, resulting in certain safety hazards in the work of the humanoid robots.

[0043] Typically, humanoid robots usually actively avoid obstacles with the help of distance sensors or visual sensors. However, sometimes there are blind spots that make it impossible to detect surrounding obstacles (including objects and people).

[0044] In view of this, the present disclosure provides a wearable device for a humanoid robot, including a covering and a pressure sensing module. The covering can cover at least a partial area of ​​the humanoid robot's body, and the pressure sensing module is arranged on the surface of the covering. When the humanoid robot wears the wearable device, the pressure sensing module can collect multiple real-time pressure values ​​of different areas on the surface of the humanoid robot's body, and transmit the multiple real-time pressure values ​​to the humanoid robot, so that the humanoid robot determines whether a collision occurs currently based on the multiple real-time pressure values, and stops moving if it is determined that a collision occurs currently. In this way, the humanoid robot can stop moving immediately when a collision occurs, thereby avoiding harm to personnel, thereby improving the safety of the humanoid robot.

[0045] The technical solution provided by the present disclosure is described in detail below with reference to several specific embodiments.

[0046] Figure 2 A schematic diagram of the structure of a wearable device provided in an embodiment of the present disclosure is shown in FIG. Figure 1 The humanoid robot shown can wear Figure 2 The wearable device 100 shown in FIG. Figure 2 As shown, the wearable device 100 includes a cover 110 and a pressure sensing module 120 , and the pressure sensing module 120 is disposed on the surface of the cover 110 .

[0047] When the humanoid robot wears the wearable device 100, the cover 110 can cover at least part of the humanoid robot's body, and the pressure sensing module 120 can receive the power provided by the humanoid robot to enter the working state and establish a communication connection with the humanoid robot. In the working state, the pressure sensing module 120 can collect multiple real-time pressure values ​​of different areas on the surface of the humanoid robot's body, and transmit the multiple real-time pressure values ​​to the humanoid robot, so that the humanoid robot determines whether a collision currently occurs based on the multiple real-time pressure values, and stops moving if it is determined that a collision currently occurs.

[0048] Exemplarily, the covering 110 may be a textile formed of at least one of cotton, linen, wool, silk and chemical fiber, and the covering 110 may also be a textile with occupational attributes. When the humanoid robot wears the wearable device 100, the covering 110 may cover the torso, arms, hands, torso and arms, torso and hands, arms and hands, and torso, arms and hands of the humanoid robot.

[0049] When a humanoid robot wears the wearable device 100, the pressure sensing module 120 can be set on the inner surface of the cover 110, that is, the pressure sensing module 120 is located between the cover 110 and the body of the humanoid robot, to ensure the aesthetics of the wearable device 100, or set on the outer surface of the cover 110, that is, the cover 110 is located between the pressure sensing module 120 and the body of the humanoid robot, or partially set on the outer surface of the cover 110 and partially set on the inner surface of the cover 110.

[0050] When the humanoid robot wears the wearable device 100, if at least part of the pressure sensing modules 120 are arranged on the outer surface of the cover 110, a shielding material can be set on the pressure sensing modules 120 on the outer surface of the cover 110 to shield all the pressure sensing modules 120 on the outer surface of the cover 110, thereby ensuring the aesthetics of the wearable device 100.

[0051] Exemplarily, the pressure sensing module 120 is replaceable. When the humanoid robot wears the wearable device 100 , the pressure sensing module 120 is located on the outer surface of the cover 110 , which facilitates the real-time replacement of the pressure sensing module 120 .

[0052] For example, Figure 3 A partial structural diagram of a pressure sensing module provided in an embodiment of the present disclosure is shown in FIG. Figure 4 A partial structural diagram of another pressure sensing module provided in an embodiment of the present disclosure is shown in FIG. Figure 3 and Figure 4 As shown, the pressure sensing module 120 includes a plurality of pressure sensing units 121 arranged along a first direction, and a distance S1 between two adjacent pressure sensing units 121 in the first direction is less than a preset distance L.

[0053] The pressure sensing unit 121 may include a bar-shaped pressure sensor extending along a third direction, the third direction intersecting the first direction, such as Figure 3 As shown, the pressure sensing unit 121 may include a plurality of pressure sensing subunits 1211 arranged along the second direction. For example, the pressure sensing subunits 1211 are conventional pressure sensors. The first direction intersects with the second direction. Figure 4 shown.

[0054] If the pressure sensing unit 121 includes a strip-shaped pressure sensor extending along the third direction, each pressure sensing unit 121 can convert at least one real-time pressure into a corresponding voltage, thereby obtaining at least one real-time pressure value, and the real-time pressure value is essentially a voltage value representing the pressure magnitude, and all the collected real-time pressure values ​​are sent to the humanoid robot. In this way, multiple pressure sensing units 121 can simultaneously collect multiple real-time pressure values ​​of different areas on the body surface of the humanoid robot, and transmit the multiple real-time pressure values ​​to the humanoid robot.

[0055] If the pressure sensing unit 121 includes a plurality of pressure sensing subunits 1211 arranged along the second direction, each pressure sensing subunit 1211 can convert a real-time pressure into a corresponding voltage, thereby obtaining a real-time pressure value, and send the collected real-time pressure value to the humanoid robot. In this way, the plurality of pressure sensing subunits 1211 can simultaneously collect a plurality of real-time pressure values ​​of different areas on the body surface of the humanoid robot, and transmit the plurality of real-time pressure values ​​to the humanoid robot.

[0056] The preset distance L can be determined based on the width of the finger. The spacing S1 between two adjacent pressure sensing units 121 in the first direction is set to be smaller than the preset distance L. When the finger collides with the gap between two adjacent pressure sensing units 121, the pressure sensing module 120 can collect the corresponding real-time pressure value, thereby improving the accuracy of the real-time pressure value.

[0057] like Figure 4 As shown, the spacing S2 between two adjacent pressure sensing subunits 1211 in the second direction is set to be smaller than the preset distance L. When a finger collides with the gap between two adjacent pressure sensing subunits 1211, the pressure sensing module 120 can collect the corresponding real-time pressure value, thereby improving the accuracy of the real-time pressure value.

[0058] In other embodiments, the pressure sensing module 120 may also be a single flexible pressure sensing device, which may simultaneously collect multiple real-time pressure values ​​of different areas on the body surface of the humanoid robot and send the multiple real-time pressure values ​​to the humanoid robot.

[0059] In some embodiments, Figure 4 As shown, the pressure sensing subunits 1211 in two adjacent pressure sensing units 121 in the first direction are staggered.

[0060] For example, Figure 4 As shown, two adjacent pressure sensing units 121 are a first pressure sensing unit 121a and a second pressure sensing unit 121b. The first pressure sensing unit 121a includes a first pressure sensing subunit 1211a_1, a second pressure sensing subunit 1211a_2 and a third pressure sensing subunit 1211a_3. The second pressure sensing unit 121b includes a first pressure sensing subunit 1211b_1 and a second pressure sensing subunit 1211b_2.

[0061] The first pressure sensing subunit 1211b_1 is located in an area corresponding to the gap between the first pressure sensing subunit 1211a_1 and the second pressure sensing subunit 1211a_2, and the second pressure sensing subunit 1211b_2 is located in an area corresponding to the gap between the second pressure sensing subunit 1211a_2 and the third pressure sensing subunit 1211a_3.

[0062] In this way, when colliding with the gap between two adjacent pressure sensing units 121 , the pressure sensing module 120 can collect a relatively accurate real-time pressure value, thereby improving the accuracy of the real-time pressure value.

[0063] The humanoid robot includes a control device and a moving mechanism. The control device can control the moving mechanism to move according to a user instruction, and the movement of the moving mechanism drives the entire humanoid robot to move. In the process of the humanoid robot moving in response to the user instruction, the control device can receive multiple real-time pressure values ​​sent by the pressure sensing module 120, and compare the multiple real-time pressure values ​​with the first pressure threshold respectively.

[0064] The control device can also determine whether the humanoid robot is currently in collision according to whether each real-time pressure value is greater than the first pressure threshold, and when it is determined that the humanoid robot is currently in collision, an interrupt execution control signal can be issued. The moving mechanism stops moving based on the interrupt execution control signal, and the stopping of the moving mechanism drives the entire humanoid robot to stop moving, so as to interrupt the execution of the previous user instruction.

[0065] In this way, the humanoid robot can stop moving immediately when a collision occurs, thereby avoiding harm to personnel and improving the safety of the humanoid robot.

[0066] The present disclosure also provides a control method for a humanoid robot, which is applied to a humanoid robot wearing the wearable device 100 provided in any of the above embodiments.

[0067] Figure 5 A flow chart of a control method provided by an embodiment of the present disclosure is shown in FIG. Figure 5 As shown, the specific steps of the control method include:

[0068] S101, obtaining multiple real-time pressure values ​​of different areas on the body surface of the humanoid robot.

[0069] Exemplarily, based on the pressure sensing module in the wearable device, in the process of the humanoid robot moving in response to user instructions, real-time pressure values ​​of multiple areas on the body surface of the humanoid robot can be obtained, that is, multiple real-time pressure values ​​can be obtained.

[0070] S102: Compare all real-time pressure values ​​with the first pressure threshold respectively.

[0071] Exemplarily, the first pressure threshold is a basis for judging whether the humanoid robot is currently in collision. The first pressure threshold can be determined according to the minimum pressure value that can be collected by the pressure sensing module. For example, the voltage corresponding to the minimum pressure value that can be collected by the pressure sensing module is determined as the first pressure threshold. When a real-time pressure value is greater than the first pressure threshold, the location where the pressure sensing module that collects the real-time pressure value is located currently has a collision. When a real-time pressure value is less than or equal to the first pressure threshold, the location where the pressure sensing module that collects the real-time pressure value is located currently has no collision.

[0072] In this way, by comparing all real-time pressure values ​​with the first pressure threshold, it can be determined whether all areas on the surface of the humanoid robot's body covered by the wearable device are currently in collision, that is, whether the humanoid robot is currently in collision.

[0073] S103, determining whether the humanoid robot is currently in collision according to whether each real-time pressure value is greater than a first pressure threshold.

[0074] Exemplarily, when at least one of all the real-time pressure values ​​is greater than the first pressure threshold, it is determined that at least one area on the body surface of the humanoid robot is currently in collision, and then it is determined that the humanoid robot is currently in collision. When all the real-time pressure values ​​are less than or equal to the first pressure threshold, it is determined that no area on the body surface of the humanoid robot is currently in collision, and then it is determined that the humanoid robot is currently in collision.

[0075] S104, when it is determined that the humanoid robot is currently in collision, the humanoid robot is controlled to stop moving to interrupt the execution of the user instruction.

[0076] Exemplarily, when it is determined that the humanoid robot is currently in a collision, an interrupt execution control signal is generated to control the humanoid robot to stop moving, thereby controlling the humanoid robot to interrupt the execution of user instructions, so that the humanoid robot can stop moving immediately when a collision occurs.

[0077] In the disclosed embodiment, multiple real-time pressure values ​​of different areas on the body surface of the humanoid robot are obtained and all the real-time pressure values ​​are compared with the first pressure threshold respectively. According to whether each real-time pressure value is greater than the first pressure threshold, it is determined whether the humanoid robot is currently in a collision. When it is determined that the humanoid robot is currently in a collision, the humanoid robot is controlled to stop moving to interrupt the execution of user instructions. In this way, the humanoid robot can stop moving immediately when a collision occurs, thereby avoiding harm to personnel and improving the safety of the humanoid robot.

[0078] In some embodiments, Figure 6 A flow chart of another control method provided by an embodiment of the present disclosure is shown in FIG. Figure 6 for Figure 5 Based on the embodiment shown, after executing S104, the following steps are further included:

[0079] S105, obtaining image information of the collision position of the humanoid robot.

[0080] Exemplarily, each real-time pressure value corresponds to a piece of position information, and firstly, the position information corresponding to each of the multiple real-time pressure values ​​is obtained.

[0081] For example, multiple real-time pressure values ​​are received while receiving the position information of each real-time pressure value to obtain the position information corresponding to each of the multiple real-time pressure values. Alternatively, multiple real-time pressure values ​​are received while receiving the identifier of the pressure sensing module that collects each real-time pressure value, and the position information of each real-time pressure value is determined according to the identifier position information mapping table and the identifier of the pressure sensing module that collects each real-time pressure value to obtain the position information corresponding to each of the multiple real-time pressure values, wherein the identifier position information mapping table includes multiple position information and multiple identifiers, and the identifiers correspond to the position information one by one.

[0082] Secondly, the collision position is determined according to the position information of all real-time pressure values ​​greater than the first pressure threshold.

[0083] If there is a real-time pressure value greater than the first pressure threshold, the collision position is one, and the position information of the real-time pressure value can be determined as the position information of the collision position.

[0084] If multiple real-time pressure values ​​are greater than the first pressure threshold, the collision position may be multiple or one. In the case of one collision position, the area formed by the position information corresponding to all real-time pressure values ​​greater than the first pressure threshold is the collision position, and the position information closest to the center of the collision position among the position information corresponding to all real-time pressure values ​​greater than the first pressure threshold can be determined as the position information of the collision position, or the position information of the center of the collision position can be determined as the position information of the collision position.

[0085] In the case of multiple collision positions, the difference calculation is performed on the position information of any two real-time pressure values ​​among all real-time pressure values ​​greater than the first pressure threshold, wherein the area constituted by the position information corresponding to the difference of all position information less than the preset difference is a collision position, and the position information of the center of a collision position can be determined as the position information of the collision position, or the position information closest to the center of the collision position among all the position information corresponding to a collision position can be determined as the position information of the collision position.

[0086] Finally, based on the position information of the collision position, the lighting surface of the image acquisition device of the humanoid robot is controlled to face the collision position, and image information of the collision position is acquired based on the image acquisition device.

[0087] The image acquisition device may be a 3D camera, such as an existing passive binocular camera, a binocular line laser camera, a TOF camera, etc. In this way, the image information includes at least one of the following: point cloud data, a two-dimensional image, and a depth image.

[0088] The image acquisition device may be a picture acquisition device and / or a video acquisition device. If the image acquisition device includes a picture acquisition device, the image information may include a two-dimensional picture. If the image acquisition device includes a video acquisition device, the image information may include a video and / or a video frame.

[0089] If a collision position is determined, at least one image information at the collision position is obtained, such as obtaining at least one picture, at least one video frame and / or a video at the collision position. If multiple collision positions are determined, at least one image information is obtained at each collision position, that is, at least one picture, at least one video frame and / or a video at each collision position is obtained.

[0090] S106, judging whether the humanoid robot currently has an accidental collision based on the image information.

[0091] Exemplarily, at least one image information at a collision position is obtained, and whether a collision person exists in the image information is determined to determine whether the humanoid robot currently has an accidental collision. For example, if a collision person exists in the image information, it is determined that the humanoid robot currently has no accidental collision; if no collision person exists in the image information, it is determined that the humanoid robot currently has an accidental collision.

[0092] In other embodiments, at least one image information of each collision position among multiple collision positions is obtained, and by determining whether there is a collision person in the image information of each collision position, it is determined whether each collision position is currently in a false collision, thereby determining whether the humanoid robot is currently in a false collision.

[0093] For example, if there is a collision person in the image information of at least one collision position among all collision positions, it is determined that there is no false collision at the collision position, and it can be determined that the humanoid robot has no false collision at the moment. If there is no collision person in the image information of any collision position among all collision positions, it is determined that there are false collisions at all collision positions, and it can be determined that the humanoid robot has a false collision at the moment.

[0094] S107, when it is determined that the humanoid robot currently collides by mistake, the humanoid robot is controlled to continue moving to continue executing the user instruction.

[0095] Exemplarily, when it is determined that the humanoid robot currently has an accidental collision, a continue execution control signal is generated to control the humanoid robot to continue moving, so that the humanoid robot can continue to execute the user instructions before the interruption, so that the humanoid robot can resume the execution of the user instructions when it has an accidental collision.

[0096] In the embodiment of the present disclosure, by acquiring image information at the collision position of the humanoid robot when it is determined that the humanoid robot is currently in a collision, it is determined whether the humanoid robot is currently in a mistaken collision based on the image information, and when it is determined that the humanoid robot is currently in a mistaken collision, the humanoid robot is controlled to continue moving to continue executing user instructions. In this way, the humanoid robot can continue to execute user instructions when it is in a mistaken collision, so that the humanoid robot can improve work efficiency while ensuring the safety of personnel.

[0097] In some embodiments, Figure 7 A flow chart of another control method provided in an embodiment of the present disclosure is shown below. Figure 7 for Figure 5 Based on the embodiment shown, the control method further comprises:

[0098] S201: Compare all real-time pressure values ​​with the second pressure threshold respectively.

[0099] The second pressure threshold is smaller than the first pressure threshold, and the second pressure threshold is related to the noise of the pressure sensing module.

[0100] For example, when the pressure sensing module is in normal working state and is not pressed, the pressure sensing module has certain background noise due to the influence of the internal circuit structure, and the pressure sensing module will output a certain noise voltage. The second pressure threshold can be determined according to the noise voltage, and the second pressure threshold can be used as a basis for judging whether the pressure sensing module is working normally, for example, the noise voltage is determined as the second pressure threshold, or the noise voltage is determined as the second pressure threshold after it rises or drops by a certain voltage.

[0101] When a real-time pressure value is less than the second pressure threshold, the pressure sensing module that collects the real-time pressure value is normal or abnormal, and when a real-time pressure value is greater than or equal to the second pressure threshold, the pressure sensing module that collects the real-time pressure value is normal. In this way, all real-time pressure values ​​are compared with the second pressure threshold, and the parts of the pressure sensing module that are working normally and the parts that are working abnormally can be determined.

[0102] S202: When at least one real-time pressure value among all the real-time pressure values ​​is smaller than a second pressure threshold, it is determined that the pressure sensing module operates abnormally.

[0103] Exemplarily, when at least one of all the real-time pressure values ​​is less than the second pressure threshold, it is determined that at least one of the pressure sensing modules is operating abnormally, and it can be determined that the pressure sensing module is operating abnormally. When all the real-time pressure values ​​are greater than or equal to the second pressure threshold, it is determined that any one of the pressure sensing modules is operating normally, and it is determined that the pressure sensing module is operating normally.

[0104] S203: Determine the position of the abnormally operating pressure sensing module according to the position information of all real-time pressure values ​​less than the second pressure threshold.

[0105] Exemplarily, each real-time pressure value corresponds to a piece of position information, and firstly, the position information corresponding to each of the multiple real-time pressure values ​​is obtained.

[0106] For example, multiple real-time pressure values ​​are received while receiving the position information of each real-time pressure value to obtain the position information corresponding to each of the multiple real-time pressure values. Alternatively, multiple real-time pressure values ​​are received while receiving the identifier of the pressure sensing module that collects each real-time pressure value, and the position information of each real-time pressure value is determined according to the identifier position information mapping table and the identifier of the pressure sensing module that collects each real-time pressure value to obtain the position information corresponding to each of the multiple real-time pressure values, wherein the identifier position information mapping table includes multiple position information and multiple identifiers, and the identifiers correspond to the position information one by one.

[0107] Then, the position information of the abnormally working pressure sensing module is determined according to the position information of all the real-time pressure values ​​less than the second pressure threshold.

[0108] If there is a real-time pressure value less than the second pressure threshold, there is an abnormal working area in the pressure sensing module, and the position information of the real-time pressure value can be determined as the position information of the abnormal working pressure sensing module. If multiple real-time pressure values ​​are less than the second pressure threshold, there are multiple abnormal working areas in the pressure sensing module, and the position information of all real-time pressure values ​​less than the second pressure threshold can be determined as the position information of the abnormal working pressure sensing module.

[0109] According to the position information of the abnormally working pressure sensing module, the user can quickly locate the abnormally working pressure sensing module in the wearable device and replace the abnormally working pressure sensing module to improve the fault handling efficiency of the wearable device.

[0110] In the implementation of the present disclosure, by comparing all real-time pressure values ​​with the second pressure threshold respectively, the second pressure threshold is related to the noise of the pressure sensing module, when there is at least one real-time pressure value among all the real-time pressure values ​​that is less than the second pressure threshold, it is determined that the pressure sensing module is operably abnormal, and based on the position information of all real-time pressure values ​​that are less than the second pressure threshold, the position of the pressure sensing module that is operably abnormal is determined, the working status of the pressure sensing module can be monitored in real time, and the abnormal working area of ​​the wearable device can be quickly located based on the position information of the pressure sensing module that is operably abnormal, thereby improving the fault handling efficiency of the wearable device.

[0111] The present disclosure also provides a control device for a humanoid robot, which is applied to a humanoid robot wearing the wearable device 100 provided in any of the above embodiments.

[0112] Figure 8 A schematic diagram of a control device provided in an embodiment of the present disclosure is shown in FIG. Figure 8 As shown, the control device 200 includes:

[0113] The acquisition module 210 is used to acquire multiple real-time pressure values ​​of different areas on the body surface of the humanoid robot.

[0114] The comparison module 220 is used to compare all the real-time pressure values ​​with the first pressure threshold value respectively.

[0115] The determination module 230 determines whether the humanoid robot is currently in collision according to whether each of the real-time pressure values ​​is greater than the first pressure threshold.

[0116] The control module 240 is used to control the humanoid robot to stop moving so as to interrupt the execution of the user instruction when it is determined that the humanoid robot is currently in a collision.

[0117] In some embodiments, the determination module 230 is further used to determine that the humanoid robot is currently in collision when at least one of all the real-time pressure values ​​is greater than the first pressure threshold; and to determine that the humanoid robot is not currently in collision when all the real-time pressure values ​​are less than or equal to the first pressure threshold.

[0118] In some embodiments, the acquisition module 210 is further configured to acquire image information at a collision position of the humanoid robot when it is determined that the humanoid robot is currently in collision.

[0119] The determination module 230 is further configured to determine whether the humanoid robot is currently in an accidental collision based on the image information.

[0120] The control module 240 is further configured to control the humanoid robot to continue moving so as to continue executing the user instruction when it is determined that the humanoid robot currently has an accidental collision.

[0121] In some embodiments, each of the real-time pressure values ​​corresponds to a position information.

[0122] The determination module 230 is further configured to determine the collision position according to the position information of all the real-time pressure values ​​greater than the first pressure threshold when it is determined that the humanoid robot currently collides.

[0123] In some embodiments, each of the real-time pressure values ​​corresponds to a position information.

[0124] The comparison module 220 is further configured to compare all the real-time pressure values ​​with a second pressure threshold, respectively, where the second pressure threshold is smaller than the first pressure threshold, and the second pressure threshold is related to the noise of the pressure sensing module.

[0125] The determination module 230 is also used to determine that the pressure sensing module is operating abnormally when at least one of all the real-time pressure values ​​is less than the second pressure threshold; and to determine the position of the pressure sensing module that is operating abnormally based on the position information of all the real-time pressure values ​​that are less than the second pressure threshold.

[0126] The device provided in the embodiment of the present disclosure is used to execute the steps provided in any of the above method embodiments, has functional modules corresponding to the method embodiments, and has the beneficial effects of the method embodiments, which will not be repeated here.

[0127] The present disclosure also provides a humanoid robot, comprising the control device 200 and the moving mechanism provided in any one of the above embodiments.

[0128] Exemplarily, when a humanoid robot wears the wearable device 100 provided by any of the above embodiments, while the humanoid robot moves in response to user instructions, the control device 200 can receive multiple real-time pressure values ​​sent by the wearable device 100, and compare the multiple real-time pressure values ​​with the first pressure threshold respectively. The control device 200 can also determine whether the humanoid robot is currently in a collision based on whether each real-time pressure value is greater than the first pressure threshold, and when it is determined that the humanoid robot is currently in a collision, an interrupt execution control signal can be generated and sent to the moving mechanism.

[0129] The moving mechanism stops moving based on the interrupt execution control signal to drive the entire humanoid robot to stop moving, so that the humanoid robot can interrupt the execution of the previous user instruction.

[0130] In some embodiments, the humanoid robot provided by the present disclosure further includes an image acquisition device, which may be a picture collector and / or a video collector.

[0131] When the control device 200 determines that the humanoid robot is currently in a collision, the light-collecting surface of the image acquisition device is controlled to face the collision position, and the image acquisition device acquires image information at the collision position and sends the image information at the collision position to the control device 200. If the image acquisition device includes a picture collector, the image information may include a picture, and if the image acquisition device includes a video collector, the image information may include a video and / or a video frame.

[0132] In some embodiments, the humanoid robot provided by the present disclosure further includes a processor, which is used to execute a computer program stored in a memory, and the computer program implements the steps of the method embodiments of the present disclosure when executed by the processor.

[0133] Components of a humanoid robot may include, but are not limited to, one or more processors, system memory, and a bus connecting different system components (including the system memory and the processor).

[0134] The term "bus" refers to one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. For example, these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0135] The humanoid robot typically includes a variety of computer system readable media. These media can be any media that can be accessed by the humanoid robot, including volatile and non-volatile media, removable and non-removable media.

[0136] The system memory may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory. The humanoid robot may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system may be used to read and write non-removable, non-volatile magnetic media (commonly referred to as "hard drives"). A disk drive for reading and writing removable non-volatile disks (such as "floppy disks"), and an optical disk drive for reading and writing removable non-volatile optical disks (such as CD-ROMs, DVD-ROMs or other optical media) may be provided. In these cases, each drive may be connected to the bus via one or more data medium interfaces. The system memory may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present disclosure.

[0137] A program / utility having a set (at least one) of program modules may be stored, for example, in a system memory, such program modules including but not limited to an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. The program modules generally perform the functions and / or methods of the embodiments described in the embodiments of the present disclosure.

[0138] The processor executes various functional applications and data processing by running at least one program among a plurality of programs stored in the system memory, for example, implementing the method embodiment provided in the embodiment of the present disclosure.

[0139] The present disclosure also provides a computer-readable storage medium having a computer program stored thereon, and the computer program implements the steps of the above method embodiment when executed by a processor.

[0140] Any combination of one or more computer-readable media can be used. Computer-readable media can be computer-readable signal media or computer-readable storage media. Computer-readable storage media can be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: electrical connections with one or more wires, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this document, computer-readable storage media can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0141] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0142] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0143] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN) domain, or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0144] The flow chart and block diagram in the accompanying drawings show the possible architecture, function and operation of the device and method according to multiple embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a part of a module, a program segment or an instruction, and a part of the module, a program segment or an instruction includes one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two continuous square boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of special hardware and computer instructions.

[0145] Unless the context clearly indicates otherwise, the singular form of the words used herein and in the appended claims includes the plural and vice versa. Thus, when referring to the singular, the plural form of the corresponding term is generally included. Similarly, the words "comprise" and "include" are to be interpreted as inclusive rather than exclusive. Likewise, the terms "include" and "or" should be interpreted as inclusive unless such interpretation is expressly prohibited herein. Where the term "example" is used herein, particularly when it is located after a group of terms, the "example" is merely exemplary and illustrative and should not be considered exclusive or comprehensive.

[0146] Further aspects and scopes of adaptability become apparent from the description provided herein. It should be understood that various aspects of the present disclosure can be implemented individually or in combination with one or more other aspects. It should also be understood that the description and specific embodiments herein are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure.

[0147] Several embodiments of the present disclosure are described in detail above, but it is obvious that those skilled in the art can make various modifications and variations to the embodiments of the present disclosure without departing from the spirit and scope of the present disclosure. The protection scope of the present disclosure is defined by the attached claims.

Claims

1. A wearable device for a humanoid robot, characterized in that: include: A covering, used to cover at least a portion of the body of the humanoid robot; A pressure sensing module is disposed on the surface of the cover; The pressure sensing module is used to collect multiple real-time pressure values ​​of different areas on the body surface of the humanoid robot when the humanoid robot wears the wearable device, and transmit the multiple real-time pressure values ​​to the humanoid robot, so that the humanoid robot determines whether a collision occurs currently based on the multiple real-time pressure values, and stops moving if it is determined that a collision occurs currently.

2. The wearable device according to claim 1, characterized in that: When the humanoid robot wears the wearable device, the pressure sensing module is located on the outer surface of the cover, or between the body of the humanoid robot and the cover.

3. The wearable device according to claim 1, characterized in that: The pressure sensing module includes a plurality of pressure sensing units arranged along a first direction, and a distance between two adjacent pressure sensing units in the first direction is less than a preset distance; Alternatively, the pressure sensing module is a single flexible pressure sensing device.

4. The wearable device according to claim 3, characterized in that: In the case where the pressure sensing module includes a plurality of the pressure sensing units arranged along the first direction, each of the pressure sensing units includes a plurality of pressure sensing sub-units arranged along a second direction, and the first direction intersects the second direction; The distance between two adjacent pressure sensing subunits in the second direction is smaller than a preset distance, and the pressure sensing subunits in two adjacent pressure sensing units in the first direction are staggered.

5. A method for controlling a humanoid robot, characterized in that: The humanoid robot is equipped with a wearable device, wherein the wearable device comprises a covering and a pressure sensing module, wherein the covering is used to cover at least a part of the body of the humanoid robot, and the pressure sensing module is arranged on a surface of the covering; The method comprises: Acquiring multiple real-time pressure values ​​of different areas on the body surface of the humanoid robot; Comparing all the real-time pressure values ​​with a first pressure threshold respectively; determining whether the humanoid robot is currently in collision according to whether each of the real-time pressure values ​​is greater than the first pressure threshold; When it is determined that the humanoid robot currently collides, the humanoid robot is controlled to stop moving to interrupt the execution of the user instruction.

6. The method according to claim 5, characterized in that The determining whether the humanoid robot currently collides according to whether each of the real-time pressure values ​​is greater than the first pressure threshold comprises: When at least one of all the real-time pressure values ​​is greater than the first pressure threshold, determining that the humanoid robot is currently in collision; When all the real-time pressure values ​​are less than or equal to the first pressure threshold, it is determined that the humanoid robot is not currently in collision.

7. The method according to claim 5, characterized in that The method further comprises: When it is determined that the humanoid robot currently collides, acquiring image information at a collision position of the humanoid robot; Determining, based on the image information, whether the humanoid robot is currently in an accidental collision; When it is determined that the humanoid robot currently collides by mistake, the humanoid robot is controlled to continue moving to continue executing the user instruction.

8. The method according to claim 7, characterized in that Each of the real-time pressure values ​​corresponds to a piece of position information; Before acquiring the image information at the collision position of the humanoid robot, the method further includes: When it is determined that the humanoid robot currently collides, the collision position is determined according to the position information of all the real-time pressure values ​​greater than the first pressure threshold.

9. The method according to claim 5, characterized in that Each of the real-time pressure values ​​corresponds to a piece of position information; The method further comprises: Comparing all the real-time pressure values ​​with a second pressure threshold respectively, the second pressure threshold is less than the first pressure threshold, and the second pressure threshold is related to the noise of the pressure sensing module; When at least one of all the real-time pressure values ​​is smaller than the second pressure threshold, determining that the pressure sensing module is operating abnormally; The position of the pressure sensing module that is working abnormally is determined according to the position information of all the real-time pressure values ​​that are less than the second pressure threshold.

10. A control device for a humanoid robot, characterized in that: The humanoid robot is equipped with a wearable device, wherein the wearable device comprises a covering and a pressure sensing module, wherein the covering is used to cover at least a part of the body of the humanoid robot, and the pressure sensing module is arranged on a surface of the covering; The control device comprises: An acquisition module, used for acquiring a plurality of real-time pressure values ​​of different areas on the body surface of the humanoid robot; A comparison module, used for comparing all the real-time pressure values ​​with a first pressure threshold respectively; a determination module, configured to determine whether the humanoid robot is currently in collision according to whether each of the real-time pressure values ​​is greater than the first pressure threshold; The control module is used to control the humanoid robot to stop moving so as to interrupt the execution of the user instruction when it is determined that the humanoid robot is currently in collision.

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