Angular velocity measuring device of humanoid five-finger dexterous hand

Abstract

The invention discloses an angular velocity measuring device for a humanoid five-finger dexterous hand, and relates to the technical field of testing equipment, non-contact measurement is adopted, an infrared sensor can perform measurement under the condition that the infrared sensor is not in contact with a mechanical structure of the five-finger dexterous hand, interference and abrasion to the mechanical structure are avoided, and meanwhile, the complexity of installation and maintenance is also reduced. The infrared sensor generally has higher measurement precision and fast response time, and can accurately capture the fast movement of the five-finger dexterous hand, thereby providing accurate angular velocity measurement. The installation of the infrared sensor is relatively simple, large-scale transformation of the five-fingered dexterous hand is not needed, and additional weight or volume on the manipulator is not needed, which is very important for maintaining the performance and flexibility of the manipulator. Because infrared measurement is not influenced by mechanical vibration and noise, more stable and reliable data can be provided, which is crucial to dynamic performance analysis and control.

Description

Technical Field

[0001] The invention relates to the technical field of testing equipment, in particular to an angular velocity measuring device imitating a human five-fingered dexterous hand. Background Art

[0002] The five-finger dexterous hand in the field of robotics is a robot end effector that highly simulates the structure and function of the human hand. It has multiple degrees of freedom and multiple joints and can perform a variety of complex grasping and manipulation tasks. The design of the five-finger dexterous hand usually includes multiple joints and links to achieve movements and flexibility similar to those of the human hand. These dexterous hands integrate advanced sensing technology and can provide force and tactile feedback, allowing robots to interact with the environment more delicately and intelligently.

[0003] With the rapid development of robotics, high-precision five-finger dexterous hands at the end of robots have been widely used in industrial automation, medical surgery, service robots and other fields. The flexibility and adaptability of the five-finger dexterous hands enable them to perform complex tasks, but at the same time, they also put forward higher requirements for performance detection and control. Among them, angular velocity is one of the key parameters for measuring the performance of the five-finger dexterous hands, and its accurate measurement is crucial for robot motion control and system optimization.

[0004] Traditional angular velocity measurement methods usually rely on sensors directly mounted on mechanical structures, such as photoelectric encoders or resolvers. Although these methods can provide accurate measurement results, they have disadvantages such as high cost, complex installation, and susceptibility to mechanical wear. In addition, for deployed robotic systems, adding or replacing sensors later often requires complex operations and high costs. Summary of the invention

[0005] In view of the above problems, the present invention provides an angular velocity measurement device imitating a humanoid five-finger dexterous hand for overcoming the above problems or at least partially solving the above problems.

[0006] The present invention provides the following scheme:

[0007] An angular velocity measuring device imitating a human five-fingered dexterous hand, comprising:

[0008] A support frame, the support frame comprising a first connecting rod and a second connecting rod, wherein the first connecting rod and the second connecting rod are connected to each other at their first ends so that a target angle is formed between the first connecting rod and the second connecting rod;

[0009] a first infrared timing trigger component, wherein the first infrared timing trigger component is connected to the second end of the first connecting rod;

[0010] a second infrared timing trigger component, wherein the second infrared timing trigger component is connected to the second end of the second connecting rod;

[0011] A control component, the control component is connected to the support frame, and the control component is communicatively connected to the first infrared timing trigger component and the second infrared timing trigger component;

[0012] The support frame is used to be arranged in a non-contact manner at a target position beside the humanoid five-finger dexterous hand whose angular velocity is to be measured, so that the movement trajectory of the fingers of the humanoid five-finger dexterous hand from the movement starting point to the movement ending point passes through the first infrared timing trigger component and the second infrared timing trigger component, and the first infrared timing trigger component and the second infrared timing trigger component can be triggered during the movement of the fingers of the humanoid five-finger dexterous hand;

[0013] The control component is used to perform the following operations:

[0014] Recording the moment when the finger of the humanoid five-finger dexterous hand triggers the first infrared timing trigger component as the starting timing moment;

[0015] Recording the moment when the finger of the humanoid five-finger dexterous hand triggers the second infrared timing trigger component as the termination timing;

[0016] Calculate the time difference between the end timing moment and the start timing moment;

[0017] The angular velocity of the fingers of the anthropomorphic five-finger dexterous hand is obtained by using the time difference and the target angle.

[0018] Preferably, the first ends of the first connecting rod and the second connecting rod are respectively connected via a rotating shaft and a locking assembly so as to adjust the target angle between the first connecting rod and the second connecting rod.

[0019] Preferably: it also includes a display, the display is connected to the support frame, the display is communicatively connected to the control component, and the display is used to display the angular velocity.

[0020] Preferably: the control component is further used to acquire the target angle, and the display is further used to display the target angle.

[0021] Preferably: it also includes a switch button, and the switch button is connected to the support frame.

[0022] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0023] An angular velocity measurement device for anthropomorphic five-finger dexterous hand provided in an embodiment of the present application adopts non-contact measurement. The infrared sensor can perform measurements without contacting the mechanical structure of the five-finger dexterous hand, avoiding interference and wear on the mechanical structure, while also reducing the complexity of installation and maintenance. Infrared sensors usually have high measurement accuracy and fast response time, and can accurately capture the rapid movement of the five-finger dexterous hand, thereby providing accurate angular velocity measurement. The installation of infrared sensors is relatively simple, and does not require large-scale modification of the five-finger dexterous hand, nor does it require additional weight or volume to be added to the manipulator, which is crucial to maintaining the performance and flexibility of the manipulator. Since infrared measurements are not affected by mechanical vibration and noise, they can provide more stable and reliable data, which is crucial for dynamic performance analysis and control.

[0024] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0026] Figure 1 1 is a schematic structural diagram of an angular velocity measurement device imitating a human five-finger dexterous hand provided by an embodiment of the present invention;

[0027] Figure 2 This is a schematic diagram of the use state of an angular velocity measurement device imitating a human five-finger dexterous hand provided by an embodiment of the present invention;

[0028] Figure 3 The present invention provides a measurement flow chart of an angular velocity measurement device that simulates a human five-fingered dexterous hand.

[0029] In the figure: a measuring device 100, a humanoid five-finger dexterous hand 200, a host computer 300, a first connecting rod 1, a second connecting rod 2, a first infrared timing trigger component 3, a second infrared timing trigger component 4, a display 5, and a switch button 6. DETAILED DESCRIPTION

[0030] The technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention.

[0031] See also Figure 1 , Figure 2 , Figure 3 , is an angular velocity measurement device imitating a human five-finger dexterous hand provided by an embodiment of the present invention, such as Figure 1 , Figure 2 , Figure 3 As shown, the measuring device 100 may include:

[0032] A support frame, the support frame comprising a first connecting rod 1 and a second connecting rod 2, wherein the first connecting rod 1 and the second connecting rod 2 are connected at their respective first ends so that a target angle is formed between the first connecting rod 1 and the second connecting rod 2;

[0033] A first infrared timing trigger component 3, wherein the first infrared timing trigger component 3 is connected to the second end of the first connecting rod 1;

[0034] A second infrared timing trigger component 4, wherein the second infrared timing trigger component 4 is connected to the second end of the second connecting rod 2;

[0035] A control component, the control component is connected to the support frame, and the control component is communicably connected to the first infrared timing trigger component 3 and the second infrared timing trigger component 4;

[0036] The support frame is used to be arranged at a target position beside the humanoid five-finger dexterous hand 200 whose angular velocity is to be measured in a non-contact manner, so that the movement trajectory of the fingers of the humanoid five-finger dexterous hand 200 from the movement starting point to the movement ending point passes through the first infrared timing trigger component 3 and the second infrared timing trigger component 4, and the first infrared timing trigger component 3 and the second infrared timing trigger component 4 can be triggered during the movement of the fingers of the humanoid five-finger dexterous hand 200;

[0037] The control component is used to perform the following operations:

[0038] Recording the moment when the finger of the humanoid five-finger dexterous hand 200 triggers the first infrared timing trigger component 3 as the starting timing moment;

[0039] Recording the moment when the finger of the humanoid five-finger dexterous hand 200 triggers the second infrared timing trigger component 4 as the end timing moment;

[0040] Calculate the time difference between the end timing moment and the start timing moment;

[0041] The angular velocity of the fingers of the anthropomorphic five-finger dexterous hand 200 is obtained by using the time difference and the target angle.

[0042] The angular velocity measuring device 100 of the humanoid five-finger dexterous hand provided in the embodiment of the present application can measure the angular velocity without changing the structure of the five-finger dexterous hand, thereby reducing the measurement cost and complexity. The angular velocity of the five-finger dexterous hand can be measured wirelessly, and can be set up next to the humanoid five-finger dexterous hand 200 whose angular velocity is to be measured in a contactless manner. Since there is no need to directly contact the humanoid five-finger dexterous hand 200 and no need to physically contact the mechanical parts, interference or wear on the mechanical structure is prevented, and the entire installation and maintenance process is simplified.

[0043] The device has excellent measurement accuracy and fast response speed, and can accurately monitor the dynamic movement of the five-fingered dexterous hand, ensuring the accurate measurement of angular velocity.

[0044] At the same time, the installation process of the device is very convenient. It does not require complicated modifications to the five-finger dexterous hand, nor does it increase the weight or volume burden of the manipulator, which is extremely important for maintaining the manipulator's operational performance and flexibility.

[0045] In addition, the device is immune to mechanical vibration and noise, and it can produce more stable and reliable measurement data, which is very important for accurate dynamic performance analysis and effective motion control. It is suitable for rapid diagnosis and real-time monitoring, providing effective technical support for robot motion control.

[0046] In order to facilitate the adjustment of the target angle according to the actual use scenario and ensure that the first infrared timing trigger component 3 and the second infrared timing trigger component 4 can be triggered during the finger movement of the humanoid five-finger dexterous hand 200, the embodiment of the present application can also provide that the first end of each of the first connecting rod 1 and the second connecting rod 2 is connected through a rotating shaft and a locking component to adjust the target angle between the first connecting rod 1 and the second connecting rod 2. When the finger movement range of the humanoid five-finger dexterous hand 200 in the use scenario is large, the target angle can be appropriately increased so that the interval between the triggering of the first infrared timing trigger component 3 and the second infrared timing trigger component 4 is larger, which can improve the measurement accuracy of the angular velocity.

[0047] In order to conveniently display the angular velocity and target angle obtained by the solution, the embodiment of the present application may also provide a display 5, the display 5 is connected to the support frame, the display 5 is communicatively connected to the control component, and the display 5 is used to display the angular velocity. Further, the control component is also used to obtain the target angle, and the display 5 is also used to display the target angle.

[0048] In order to facilitate the control of the switches of the various components of the device, the embodiment of the present application may also provide a switch button 6, and the switch button 6 is connected to the support frame.

[0049] When the angular velocity measurement device 100 of the humanoid five-finger dexterous hand provided in the embodiment of the present application is used, the host computer 300 of the humanoid five-finger dexterous hand 200 sends a command. After the humanoid five-finger dexterous hand 200 responds to the command, the angular velocity measurement device 100 can display the angular velocity of the humanoid five-finger dexterous hand 200.

[0050] The angular velocity measuring device 100 of the humanoid five-finger dexterous hand comprises a first infrared timing trigger component 3, a first connecting rod 1, a switch button 6, a control component, a display screen, a second connecting rod 2, and a second infrared timing trigger component 4. The first infrared timing trigger component 3 identifies the starting position of the angular velocity of the humanoid five-finger dexterous hand 200 by infrared rays. In practical applications, one of the connecting rods can be used as a fixed seat base connecting rod, and the other connecting rod can be used as a rotatable connecting rod to facilitate the adjustment of the angle between the two connecting rods. The angular velocity measuring electronic device is started by the switch button 6. The first connecting rod 1 and the second connecting rod 2 can be rotated to the required angle. The end position of the movement of the humanoid five-finger dexterous hand 200 is identified by the second infrared timing trigger component 4, and the time from the start position to the end position of the humanoid five-finger dexterous hand 200 is obtained, and the angular velocity of the humanoid five-finger dexterous hand 200 is further calculated and displayed digitally on the display 5.

[0051] like Figure 3 As shown, the method for using the angular velocity measuring device of the humanoid five-finger dexterous hand provided in the embodiment of the present application is specifically operated as follows: fix the angular velocity measuring device 100 of the humanoid five-finger dexterous hand at a suitable position beside the humanoid five-finger dexterous hand 200. During installation, it is necessary to ensure that the infrared emission ports of the first infrared timing trigger component 3 and the second infrared timing trigger component 4 are aligned with the humanoid five-finger dexterous hand 200, so that the first infrared timing trigger component 3 and the second infrared timing trigger component 4 can be triggered during the movement of the fingers of the humanoid five-finger dexterous hand 200. Adjust the first connecting rod 1 and the second connecting rod 2 to the target angle, and the humanoid five-finger dexterous hand 200 can be recognized by the first infrared timing trigger component 3 after the movement starts, and the moment when the first infrared timing trigger component 3 is triggered is used as the starting moment. After the continuous movement of the fingers of the humanoid five-finger dexterous hand 200 is recognized by the second infrared timing trigger component 4, the moment when the second infrared timing trigger component 4 is triggered can be used as the ending moment.

[0052] Calculate the time difference between the end time and the start time, that is, the time period between the first infrared timing trigger component 3 and the second infrared timing trigger component 4 during the finger movement. Since the target angle between the first infrared timing trigger component 3 and the second infrared timing trigger component 4 has been locked in advance, the time for the finger to move the target angle is the time difference. The target angle is divided by the time difference to obtain the angular velocity of the finger movement of the anthropomorphic five-finger dexterous hand 200.

[0053] In summary, the angular velocity measurement device of the anthropomorphic five-finger dexterous hand provided in this application adopts non-contact measurement. The infrared sensor can perform measurements without contacting the mechanical structure of the five-finger dexterous hand, avoiding interference and wear on the mechanical structure, while also reducing the complexity of installation and maintenance. With high precision and high response speed, infrared sensors usually have high measurement accuracy and fast response time, and can accurately capture the rapid movement of the five-finger dexterous hand, thereby providing accurate angular velocity measurement. Easy to install and deploy, the installation of infrared sensors is relatively simple, and does not require large-scale modification of the five-finger dexterous hand, nor does it require additional weight or volume to be added to the manipulator, which is crucial to maintaining the performance and flexibility of the manipulator. Data stability, since infrared measurements are not affected by mechanical vibration and noise, more stable and reliable data can be provided, which is crucial for dynamic performance analysis and control.

[0054] In addition, the device provided by the embodiment of the present application can improve the safety of measurement. The non-contact measurement reduces the potential contact between the sensor and the manipulator, and reduces the safety risks caused by sensor failure or damage. The reliability of the system can be enhanced. The durability and stability of the infrared sensor help to improve the reliability of the entire measurement system and reduce system failures caused by sensor problems. It can be applied to a variety of environments. The infrared sensor can work under various lighting conditions, including low-light or no-light environments, which allows them to maintain performance in different working environments. It is also easy to integrate and expand. The infrared sensor can be easily integrated into the existing robot control system and can be combined with other sensor systems (such as vision systems) to provide more comprehensive performance monitoring.

[0055] It can reduce costs. Compared with the need to install additional contact sensors on the robot, the cost of infrared sensors is usually lower, especially when deployed on a large scale. This cost advantage is more obvious.

[0056] Improve measurement flexibility. The infrared sensor can measure any part of the five-fingered dexterous hand as long as the part can reflect infrared light, which provides greater flexibility for measurement.

[0057] Support remote monitoring, infrared sensors can be combined with wireless transmission technology to achieve remote monitoring and data analysis, which is of great significance for remote operation and maintenance.

[0058] In summary, the device for measuring the angular velocity of the five-fingered dexterous hand using infrared not only solves the technical problems of traditional measurement methods, but also brings a series of additional advantages, making the device more attractive in practical applications.

[0059] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0060] It can be known from the description of the above implementation methods that those skilled in the art can clearly understand that the present application can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product can be stored in a storage medium such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present application or certain parts of the embodiments.

[0061] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can refer to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system or system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiment. The system and system embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without creative work.

[0062] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. An angular velocity measurement device imitating a human five-fingered dexterous hand, characterized in that: include: A support frame, the support frame comprising a first connecting rod and a second connecting rod, wherein the first connecting rod and the second connecting rod are connected to each other at their first ends so that a target angle is formed between the first connecting rod and the second connecting rod; a first infrared timing trigger component, wherein the first infrared timing trigger component is connected to the second end of the first connecting rod; a second infrared timing trigger component, wherein the second infrared timing trigger component is connected to the second end of the second connecting rod; A control component, the control component is connected to the support frame, and the control component is communicatively connected to the first infrared timing trigger component and the second infrared timing trigger component; The support frame is used to be arranged in a non-contact manner at a target position beside the humanoid five-finger dexterous hand whose angular velocity is to be measured, so that the movement trajectory of the fingers of the humanoid five-finger dexterous hand from the movement starting point to the movement ending point passes through the first infrared timing trigger component and the second infrared timing trigger component, and the first infrared timing trigger component and the second infrared timing trigger component can be triggered during the movement of the fingers of the humanoid five-finger dexterous hand; The control component is used to perform the following operations: Recording the moment when the finger of the humanoid five-finger dexterous hand triggers the first infrared timing trigger component as the starting timing moment; Recording the moment when the finger of the humanoid five-finger dexterous hand triggers the second infrared timing trigger component as the termination timing; Calculate the time difference between the end timing moment and the start timing moment; The angular velocity of the fingers of the anthropomorphic five-finger dexterous hand is obtained by using the time difference and the target angle.

2. The angular velocity measurement device of the humanoid five-finger dexterous hand according to claim 1, characterized in that: The first ends of the first connecting rod and the second connecting rod are respectively connected via a rotating shaft and a locking assembly so as to adjust the target angle between the first connecting rod and the second connecting rod.

3. The angular velocity measurement device of the humanoid five-finger dexterous hand according to claim 1, characterized in that: It also includes a display, which is connected to the support frame, and the display is communicatively connected to the control component, and the display is used to display the angular velocity.

4. The angular velocity measurement device of the humanoid five-finger dexterous hand according to claim 3, characterized in that: The control component is further used to acquire the target angle, and the display is further used to display the target angle.

5. The angular velocity measurement device of the humanoid five-finger dexterous hand according to claim 1, characterized in that: It also includes a switch button, which is connected to the support frame.

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