Data acquisition system and data acquisition method thereof

Abstract

The invention provides a data acquisition system and a data acquisition method thereof. The data acquisition system comprises a control device, a mechanical arm, an execution terminal, interactive equipment, a first binocular camera and a second binocular camera, the control device is provided with a software program, the interaction device is worn by an operator, and the control device receives state information of the mechanical arm, the first binocular camera, the second binocular camera and the interaction device. And controlling the mechanical arm and the execution tail end to act according to hand data information of an operator collected by the interaction equipment, and recording data of the first binocular camera, the second binocular camera, the mechanical arm and the execution tail end in real time. According to the data acquisition system and the data acquisition method, the data can be recorded and processed efficiently in real time, so that more accurate data can be provided for training and optimization of a large model.

Description

Technical Field

[0001] The present invention relates to the technical field of large data models based on deep learning, and in particular to a data acquisition system and a data acquisition method thereof. Background Art

[0002] With the rapid development of artificial intelligence and machine learning, big models have become an important force driving technological progress. However, traditional data collection methods face many challenges in terms of efficiency and quality, especially in the application of multimodal big models. Multimodal big models can integrate data from different sensors, such as vision, hearing, touch, etc., to achieve more complex and efficient decision-making and operations.

[0003] In robotic systems, efficient data collection is critical. These systems often need to obtain real-time data from multiple sensors to support the training and iteration of machine learning models. However, existing data collection methods often have problems such as slow speed and uneven data quality, which prolongs the model training cycle and limits the flexibility and accuracy of large models in practical applications.

[0004] Therefore, there is an urgent need for an improved data acquisition system and data acquisition method that can improve the speed and efficiency of multi-source data acquisition while ensuring data quality. Summary of the invention

[0005] The present invention is proposed in view of the above technical problems, and provides a data acquisition system and a data acquisition method thereof, which focuses on the needs of multimodal large models, ensures that the system can quickly and efficiently acquire multi-source data, and perform real-time and high-precision multi-source data collection on the execution process of the robotic arm and the execution terminal. It can collect real-time and accurate multi-source data for the training and optimization of large models, and provide a solid data foundation for intelligent decision-making.

[0006] According to a first aspect of an embodiment of the present invention, there is provided a data acquisition system, comprising a hardware device and a software program, wherein the hardware device comprises a control device, a mechanical arm, an execution end, an interactive device, a first binocular camera and a second binocular camera, wherein the first binocular camera is located at the end of the mechanical arm and is used to acquire data of the execution end, and the second binocular camera is used to acquire global data of the data acquisition system; The control device sets the software program, the interactive device is worn by an operator for control, the control device receives status information of the robotic arm, the first binocular camera, the second binocular camera and the interactive device, controls the robotic arm and the execution terminal action according to the operator's hand data information collected by the interactive device, and records multi-source data in the data acquisition system in real time, the multi-source data including various data of the first binocular camera, the second binocular camera, the robotic arm and the execution terminal.

[0007] According to a second aspect of an embodiment of the present invention, there is provided a data acquisition system as in the first aspect, wherein the hardware equipment of the data acquisition system further comprises an ultrasonic ranging sensor, a photoelectric sensor, and a proximity switch sensor, wherein the ultrasonic ranging sensor is located on the robotic arm for acquiring information about the surrounding environment; the photoelectric sensor is located on the robotic arm for environmental monitoring; the proximity switch sensor is located on the execution end for monitoring the position of the execution end clamp and monitoring objects in the surrounding environment; and the multi-source data further comprises various data of the ultrasonic ranging sensor, the photoelectric sensor, and the proximity switch sensor.

[0008] According to a third aspect of the embodiments of the present invention, there is provided a method for data acquisition using the data acquisition system of the first and second aspects, the method comprising: The hardware equipment and software programs of the data acquisition system are turned on, and the operator wears the interactive device to perform control operations. The control device and the interactive device are kept in the same local area network; The interactive device senses the change of the operator's hand, analyzes the data of the relative displacement and relative posture change of the operator's hand, and transmits the data information to the control device, and the control device controls the movement of the robot arm and the posture change of the execution end according to the relative displacement and relative posture change data of the operator's hand; The operator controls the movement of the robot arm and the action of the execution end according to the target position to complete an execution task, and the control device records the multi-source data in the data acquisition system in real time according to the control process of the operator; When the operator controls the robotic arm and the execution terminal to complete an execution task, the control device records the data corresponding to the current task at a preset frequency, and adds one to the recorded number of tasks, and then determines whether the number of tasks stored in the current data acquisition system reaches the preset number of tasks. If the saved number of tasks reaches the preset number of tasks, the operator stops controlling the robotic arm and the execution terminal to perform the task, and the data acquisition system completes the data collection. After completing an execution task, if the recorded number of tasks does not reach the preset number of tasks, the operator continues to operate the execution task action from the beginning to control the robotic arm and the execution terminal to perform the task again, and the control device again records the data of the second execution process in real time, and so on, until the number of tasks recorded by the control device reaches the preset number of tasks, that is, the data collection is completed.

[0009] According to a fourth aspect of an embodiment of the present invention, a method for data collection according to the third aspect is provided, wherein the interactive device senses the change process of the operator's hand, and the specific implementation method is: When the operator uses a VR headset, the 3D camera configured in the interactive device identifies and locates the operator's hand data. The VR headset tracks hand data including wrists, palms, and fingers. Dynamic gestures are set based on the acquired hand data, and then the set dynamic gestures are used to control the robotic arm and the execution end. The dynamic gestures include pinching fingers, moving forward and backward, lifting upward, and compressing downward. The control device controls the robotic arm and the execution end to complete corresponding actions according to different dynamic gestures.

[0010] According to a fifth aspect of an embodiment of the present invention, a method for data collection according to the third aspect is provided, wherein the interactive device senses the change process of the operator's hand, and the specific implementation method is: When the operator uses the handle to sense the hand, an inertial measurement unit including an accelerometer and a gyroscope is arranged inside the handle, and the inertial measurement unit measures the linear acceleration and angular velocity of the handle, thereby providing data on the motion state of the handle.

[0011] According to a sixth aspect of an embodiment of the present invention, a method for data collection as in the fourth or fifth aspect is provided, wherein an operator controls the movement and action of the robotic arm according to a target position, and the control device records various data in the following manner: When the hardware device and software program of the data acquisition system are turned on, the interface of the software program displays a first binocular camera screen, and the operator clicks on the first binocular camera screen, and the control device controls the execution end on the robot arm to move to the target position; When the execution end on the robot arm moves to the target position, the operator manually controls the execution end of the robot arm to complete the execution action, and the execution action includes various refined actions such as grabbing and cutting; The control device records various data of the robotic arm, the execution end, the first binocular camera and the second binocular camera in real time.

[0012] According to a seventh aspect of an embodiment of the present invention, a method for data collection according to the sixth aspect is provided, wherein the control device controls the execution end on the robot arm to move to the target position in the following manner: Unify the robot arm coordinate system, the execution end coordinate system, the first binocular camera coordinate system and the second binocular camera coordinate system to obtain a conversion formula corresponding to the three-dimensional point of the first binocular camera coordinate system to the robot arm coordinate system; The operator clicks on the first binocular camera screen on the software program interface to obtain pixel points, and the first binocular camera gives three-dimensional point information in the first binocular camera coordinate system according to the pixel point positions; The control device calculates the three-dimensional position information in the robot base coordinate system according to the conversion formula, and controls the execution end on the robot to move to the target position according to the position information.

[0013] According to an eighth aspect of an embodiment of the present invention, a method for data collection as in the seventh aspect is provided, wherein the operator manually controls the execution end of the robotic arm to complete a process of executing an action, the distance moved by the operator's hand is proportionally reduced to control the distance moved by the robotic arm, and the angle of change in the operator's hand posture is proportionally reduced to control the change in posture of the execution end.

[0014] According to a ninth aspect of an embodiment of the present invention, a method for data collection as in the seventh aspect is provided, wherein the control device controls the process of the execution end on the robotic arm moving to the target position, and when the distance to the target position is far, the control device controls the robotic arm to move at a faster speed; when the distance to the target position is close, the control device controls the robotic arm to gradually slow down its movement.

[0015] According to a tenth aspect of an embodiment of the present invention, a method for data collection as in the ninth aspect is provided, wherein the control device controls the robotic arm and the execution end to adopt three motion modes: only moving the position without changing the posture; or, only changing the posture without moving the position; or, moving the position and changing the posture at the same time.

[0016] The beneficial effect of the present invention is that by performing real-time, high-precision multi-source data collection on the execution process of the robot arm and the execution terminal, not only can the motion trajectory and operating environment of the robot arm be monitored in real time, but also multi-source data can be efficiently recorded and processed, thereby providing more accurate multi-source data for the training and optimization of large models, thereby improving the performance and reliability of large models in various application scenarios.

[0017] With reference to the following description and the accompanying drawings, specific embodiments of the invention are disclosed in detail, indicating the manner in which the principles of the invention may be employed.

[0018] It should be understood that the embodiments of the present invention are not limited thereby. Features described and / or shown for one embodiment may be used in one or more other embodiments in the same or similar manner, combined with features in other embodiments, or replace features in other embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings are included to provide a further understanding of the present invention, and constitute a part of the specification, illustrate preferred embodiments of the present invention, and together with the description are used to explain the principle of the present invention, wherein the same elements are represented by the same reference numerals throughout.

[0020] In the attached picture: Figure 1 It is a flow chart of the data acquisition method of the present invention. DETAILED DESCRIPTION

[0021] With reference to the accompanying drawings, the above and other features of the present invention will become apparent through the following description. In the specification and the accompanying drawings, specific embodiments of the present invention are specifically disclosed, which show some embodiments in which the principles of the present invention can be adopted, and it should be understood that the present invention is not limited to the described embodiments.

[0022] The present invention first provides a data acquisition system, which includes hardware equipment and software programs. The hardware equipment includes a control device, a mechanical arm, an execution end, an interactive device and two visual cameras. In a preferred embodiment of the present invention, the visual camera adopts a first RGB binocular camera and a second RGB binocular camera. The control device is provided with a software program. The interactive device can be a VR head display, a game controller or a mixed reality (MR) device, etc. The operator chooses to wear various interactive devices for control according to different application scenarios. The execution end is installed at the end of the mechanical arm to perform specific tasks. For example, when a picking robot is used, a picking execution end is installed at the end of the mechanical arm to perform specific picking tasks, such as picking various fruits. Of course, in other application scenarios, different execution ends can be replaced as needed, and the mechanical arm drives different execution ends to perform different tasks. The first RGB binocular camera is located at the end of the mechanical arm for obtaining the picture data of the execution end, and the second RGB binocular camera is set at a corresponding position as needed to obtain the picture data of the data acquisition system as a whole. Preferably, the data acquisition system of the present invention is provided with multiple sensors, and the hardware device is provided with multiple sensors to collect more abundant multi-source data. Among them, the ultrasonic ranging sensor is located on the robotic arm to obtain information about the surrounding environment and help the robotic arm make smarter decisions; the photoelectric sensor is located on the robotic arm, which can judge the lighting conditions by photoelectric signal conversion, and is used for environmental monitoring to adjust the operation of various mechanisms in the system; the proximity switch sensor is located on the execution end, which can monitor the position of the gripper of the execution end to ensure that it reaches the correct opening and closing state when grasping or releasing objects, or by monitoring objects in the surrounding environment, it can prevent accidental collisions of the execution end, thereby improving the safety of operation.

[0023] During the data collection process, the operator wears the interactive device to operate and opens the software program of the control device. The control device receives the status information of the robot arm, the first RGB binocular camera, the second RGB binocular camera and the interactive device, controls the robot arm and performs the terminal action to complete the task according to the operator's hand data information collected by the interactive device, and records the multi-source data of the first RGB binocular camera, the second RGB binocular camera, the robot arm and the terminal in real time. In a preferred embodiment, the control device will also receive the status information of each sensor and record richer multi-source data including each sensor in real time.

[0024] Accordingly, the present invention also provides a method for data acquisition using a data acquisition system, see Figure 1 , Figure 1 It is a flow chart of the data collection method of the present invention, as shown in the figure: The data collection method of the present invention is specifically implemented as follows: First, the hardware equipment and software program of the data acquisition system are turned on, and the operator wears the interactive device to perform control operations. The control device and the interactive device are kept in the same local area network. The hardware equipment includes a control device, a robotic arm, an execution terminal, an interactive device and two visual cameras, such as a first RGB binocular camera and a second RGB binocular camera. In a preferred embodiment, the hardware equipment of the data acquisition system also includes various sensors to collect more abundant multi-source data covering various sensor data; Then, the interactive device senses the change of the operator's hand, analyzes the data of the relative displacement and relative posture change of the operator's hand, and transmits the data information to the control device. The control device controls the movement of the robot arm, the posture change of the execution end, and the action execution of the execution end (such as opening and closing of the gripper, etc.) according to the relative displacement and relative posture change data of the operator's hand. Finally, the operator controls the movement of the robot arm and the action of the execution end according to the target position to complete an execution task. At the same time, the control device records the multi-source data in the data acquisition system in real time according to the operator's control process. These multi-source data include the robot arm, the execution end, the first RGB binocular camera, the second RGB binocular camera, and the data of each sensor to complete a data collection. For example, when the application scenario is a specific application scenario where a picking robot performs tomato picking, the operator wears an interactive device to control the robot's robot arm and its execution end gripper to complete a tomato picking task. During this process, the control device collects various activity data of each hardware device in real time; When the operator controls the robot arm and the execution end to complete a task, the control device will record the data corresponding to the current task at a preset frequency, and increase the number of recorded tasks by one, and then determine whether the number of tasks stored in the current data acquisition system reaches the preset number of tasks. If the number of saved tasks reaches the preset number of tasks, the operator stops controlling the robot arm and the execution end to perform the task, and the data acquisition system completes data collection; after completing a task, if the number of recorded tasks does not reach the preset number of tasks, the operator continues to operate the task execution action from the beginning to control the robot arm and the execution end to perform the task again, and the control device records the data of the second task execution process in real time again, and so on, until the number of tasks recorded by the control device reaches the preset number of tasks, that is, the data collection is completed. After completing the preset number of data collections, the data collection work is completed, and the data collected to the preset number of tasks can be used as the original data for training this task model, so as to be input for the training and optimization of the large model.

[0025] According to a preferred embodiment of the present invention, the interactive device senses the change process of the operator's hand, and the specific implementation method is: When the operator uses a VR headset, the 3D camera configured in the interactive device identifies and locates the operator's hand data. The hand movement characteristics are composed of the fingertip direction vector and the palm normal vector. The VR headset tracks various hand data including the operator's wrist, palm, fingers, etc., and sets a variety of dynamic gestures based on the acquired hand data. These dynamic gestures are then used to control the robotic arm and the execution end. Various dynamic gestures include pinching fingers, moving forward and backward, lifting upward, and compressing downward, etc. The control device controls the robotic arm and the execution end to complete corresponding actions according to different dynamic gestures.

[0026] According to another preferred embodiment of the present invention, when the operator uses the handle to sense the hand, an inertial measurement unit (IMU) including an accelerometer and a gyroscope is provided inside the handle, and the inertial measurement unit measures the linear acceleration and angular velocity of the handle, thereby providing data about the motion state of the handle. After algorithm processing, high-precision and low-latency handle tracking can be achieved. This means that even when moving quickly, the data acquisition system can accurately reflect the actual position of the handle. In addition, the handle also includes physical buttons, which can control the robot arm or perform corresponding actions at the end according to the operator's use of different buttons.

[0027] According to an embodiment of the present invention, during the process of the operator controlling the movement of the robotic arm, the present invention optimizes the data collection process and sets the manual collection to semi-automatic collection. Specifically, during the process of the operator controlling the movement and action of the robotic arm according to the target position, the control device records various data in the following manner: When the hardware device and software program of the data acquisition system are turned on, the interface of the software program displays the first RGB binocular camera screen, and the operator clicks the first RGB binocular camera screen, and the control device controls the execution end on the robot arm to move to the vicinity of the target position; When the execution end of the robot arm moves to the target position, the operator manually controls the execution end of the robot arm to complete the execution action, which includes grasping, cutting and other refined actions; The control device records various data of the robot arm, the execution end, the first RGB binocular camera and the second RGB binocular camera in real time. After completing a task, if the robot arm needs to return to the preset position, a specific button or gesture can be set to control the robot arm to return to the preset position to complete a data collection.

[0028] In the above steps, the control device controls the execution end on the robot arm to move to the target position in the following manner: The robot arm coordinate system, the execution end coordinate system, the first RGB binocular camera coordinate system and the second RGB binocular camera coordinate system are unified to obtain a conversion formula corresponding to the three-dimensional point of the first RGB binocular camera coordinate system to the robot arm coordinate system; The operator clicks on the first RGB binocular camera screen on the software program interface to obtain pixel points, and the first RGB binocular camera gives three-dimensional point information in the first RGB binocular camera coordinate system according to the pixel point position; The control device calculates the three-dimensional position information in the robot arm base coordinate system according to the conversion formula obtained above, and controls the execution end on the robot arm to move to the target position according to the position information.

[0029] The present invention sets the position movement of the robot arm to automatic operation at the beginning and end, which can improve the quality of collected data and speed up the data collection. At the same time, during long-distance movement, the operator's arms and hands will inevitably have slight shaking, which will cause shaking of the robot arm control, and the shaking of each data collection is also random, which will affect the learning efficiency of the model. Therefore, the semi-automatic collection of the present invention avoids the influence of the operator's body shaking to the greatest extent.

[0030] According to a preferred embodiment of the present invention, when an operator manually controls the robot arm to perform a refined execution action, the present invention optimizes the control method from three aspects, as follows: First, the operator manually controls the execution end of the robot arm to complete the execution process. The distance the operator's hand moves is proportionally reduced to control the distance the robot arm moves, and the angle of the operator's hand posture change is proportionally reduced to control the posture change of the execution end. For example, if a 1:5 ratio reduction is set, the hand moves 20cm relative to the robot arm, and the robot arm is controlled to move 4cm; the hand posture changes by 20°, and the posture of the execution end changes by 4°, which can effectively avoid unnecessary shaking of the robot arm due to slight shaking of the hand, thereby making the movement of the robot arm more stable.

[0031] Second, in the actual robot arm data collection process, it is necessary to ensure that the robot arm can accurately and smoothly reach the target position when grabbing the target and perform the corresponding end action. In order to achieve the smooth operation of the robot arm, the present invention designs a strategy for dynamically adjusting the movement speed. Specifically, the control device controls the process of the execution end on the robot arm moving to the target position. When the distance to the target position is far, the control device controls the robot arm to move at a faster speed; when the distance to the target position is close, the control device controls the robot arm to gradually slow down and move, so as to ensure the high quality of data collection.

[0032] Third, the present invention focuses on optimizing the control process of the robotic arm. The control device controls the robotic arm and the execution end to adopt three motion modes: only moving the position without changing the posture; or, only changing the posture without moving the position; or, moving the position and changing the posture at the same time.

[0033] In order to simulate the natural movement of the human arm in activities such as object grasping, the present invention designs two different movement speed modes. When the end is far away from the target, the robotic arm quickly approaches the target at a higher speed; when approaching the target, it switches to a lower speed to slowly and accurately complete the target docking. Combined with multiple movement modes, this design can better simulate the movement characteristics of joints such as human arms and wrists, thereby improving the performance and stability of the robotic arm in actual operations.

[0034] The preferred embodiments of the present invention have been described above with reference to the accompanying drawings, and many features and advantages of these embodiments are clear from this detailed description. In addition, since many modifications and changes are easily conceivable to those skilled in the art, it is not intended to limit the embodiments of the present invention to the precise structures and operations illustrated and described, but all suitable modifications and equivalents may be included.

Claims

1. A data acquisition system, characterized in that: The data acquisition system includes hardware equipment and software programs, wherein the hardware equipment includes a control device, a mechanical arm, an execution end, an interactive device, a first binocular camera and a second binocular camera, wherein the first binocular camera is located at the end of the mechanical arm and is used to obtain data from the execution end, and the second binocular camera is used to obtain global data of the data acquisition system; The control device sets the software program, the interactive device is worn by an operator for control, the control device receives status information of the robotic arm, the first binocular camera, the second binocular camera and the interactive device, controls the robotic arm and the execution terminal action according to the operator's hand data information collected by the interactive device, and records multi-source data in the data acquisition system in real time, the multi-source data including various data of the first binocular camera, the second binocular camera, the robotic arm and the execution terminal.

2. The data acquisition system according to claim 1, characterized in that: The hardware equipment of the data acquisition system also includes an ultrasonic ranging sensor, a photoelectric sensor, and a proximity switch sensor. The ultrasonic ranging sensor is located on the robotic arm to obtain information about the surrounding environment; the photoelectric sensor is located on the robotic arm for environmental monitoring; the proximity switch sensor is located on the execution end to monitor the position of the execution end clamp and monitor objects in the surrounding environment; the multi-source data also includes various data of the ultrasonic ranging sensor, the photoelectric sensor and the proximity switch sensor.

3. A method for data acquisition using the data acquisition system according to any one of claims 1 to 2, characterized in that: The method comprises: The hardware equipment and software program of the data acquisition system are turned on, and the operator wears the interactive device to perform control operations, and the control device and the interactive device are kept in the same local area network; wherein the hardware equipment includes the control device, the robotic arm, the execution terminal, the interactive device, the first binocular camera and the second binocular camera; The interactive device senses the change of the operator's hand, analyzes the data of the relative displacement and relative posture change of the operator's hand, and transmits the data information to the control device, and the control device controls the movement of the robot arm, the posture change of the execution end, and the action execution of the execution end according to the relative displacement and relative posture change data of the operator's hand; The operator controls the movement of the robot arm and the action of the execution end according to the target position to complete an execution task, and the control device records the multi-source data in the data acquisition system in real time according to the control process of the operator; When the operator controls the robotic arm and the execution terminal to complete an execution task, the control device records the data corresponding to the current task at a preset frequency, and adds one to the recorded number of tasks, and then determines whether the number of tasks stored in the current data acquisition system reaches the preset number of tasks. If the saved number of tasks reaches the preset number of tasks, the operator stops controlling the robotic arm and the execution terminal to perform the task, and the data acquisition system completes the data collection. After completing an execution task, if the recorded number of tasks does not reach the preset number of tasks, the operator continues to operate the execution task action from the beginning to control the robotic arm and the execution terminal to perform the task again, and the control device again records the data of the second execution process in real time, and so on, until the number of tasks recorded by the control device reaches the preset number of tasks, that is, the data collection is completed.

4. The method for data collection according to claim 3, wherein: The interactive device senses the change process of the operator's hand, and the specific implementation method is: When the operator uses a VR headset, the 3D camera configured in the interactive device identifies and locates the operator's hand data. The VR headset tracks hand data including wrists, palms, and fingers. Dynamic gestures are set based on the acquired hand data, and then the set dynamic gestures are used to control the robotic arm and the execution end. The dynamic gestures include pinching fingers, moving forward and backward, lifting upward, and compressing downward. The control device controls the robotic arm and the execution end to complete corresponding actions according to different dynamic gestures.

5. The method for data collection according to claim 3, wherein: The interactive device senses the change process of the operator's hand, and the specific implementation method is: When the operator uses the handle to sense the hand, an inertial measurement unit including an accelerometer and a gyroscope is arranged inside the handle, and the inertial measurement unit measures the linear acceleration and angular velocity of the handle, thereby providing data on the motion state of the handle.

6. The method for data collection according to claim 4 or 5, wherein: The operator controls the movement and action of the robot arm according to the target position, and the control device records various data in the following manner: When the hardware device and software program of the data acquisition system are turned on, the interface of the software program displays a first binocular camera screen, and the operator clicks on the first binocular camera screen, and the control device controls the execution end on the robot arm to move to the target position; When the execution end on the robot arm moves to the target position, the operator manually controls the execution end of the robot arm to complete the execution action, and the execution action includes various refined actions such as grabbing and cutting; The control device records various data of the robotic arm, the execution end, the first binocular camera and the second binocular camera in real time.

7. The method for data collection according to claim 6, wherein: The control device controls the execution end on the robot arm to move to the target position in the following manner: Unify the robot arm coordinate system, the execution end coordinate system, the first binocular camera coordinate system and the second binocular camera coordinate system to obtain a conversion formula corresponding to the three-dimensional point of the first binocular camera coordinate system to the robot arm coordinate system; The operator clicks on the first binocular camera screen on the software program interface to obtain pixel points, and the first binocular camera gives three-dimensional point information in the first binocular camera coordinate system according to the pixel point positions; The control device calculates the three-dimensional position information in the robot base coordinate system according to the conversion formula, and controls the execution end on the robot to move to the target position according to the position information.

8. The method for data collection according to claim 7, wherein: The operator manually controls the execution end of the robotic arm to complete the execution action. The distance the operator's hand moves is proportionally reduced to control the distance the robotic arm moves. The angle of the operator's hand posture change is proportionally reduced to control the posture change of the execution end.

9. The method for data collection according to claim 7, wherein: The control device controls the process of the execution end on the robotic arm moving to the target position. When the distance to the target position is far, the control device controls the robotic arm to move at a faster speed; when the distance to the target position is close, the control device controls the robotic arm to gradually slow down its movement.

10. The method for data collection according to claim 9, wherein: The control device controls the robot arm and the execution end to adopt three motion modes: only moving the position without changing the posture; or only changing the posture without moving the position; or moving the position and changing the posture at the same time.

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