Dexterous hand protection method and device

Abstract

The invention discloses a dexterous hand protection method and device, and relates to the technical field of dexterous hand protection. The method comprises the following steps: setting running programs of main equipment and a dexterous hand, initializing a data processing unit, setting acquisition frequency by the data processing unit, regularly or continuously collecting data from the main equipment and the dexterous hand by the data processing unit, and performing data preprocessing; the data processing unit judges whether the states of the main body equipment and the dexterous hand are abnormal or not in real time and establishes a space coordinate system, if the states of the main body equipment and the dexterous hand are judged to be abnormal in the step 3, a control instruction is sent to the control unit, a preset protection action is started, and otherwise, the step 2 is returned to continue to collect data; the posture of the dexterous hand and the running speed of the main body equipment are corrected in advance according to the falling safety height of the dexterous hand, and the dexterous hand has sufficient time to execute the protection action before falling to the ground.

Description

Technical Field

[0001] The present invention relates to the technical field of dexterous hand protection, and specifically to a dexterous hand protection method and device. Background Art

[0002] As an end effector, the application of dexterous hands is becoming more and more extensive. It can, like a human hand, achieve different functions in different scenarios, such as carrying, and in harsh environmental conditions, it can replace humans to perform high-difficulty operations, act as a caregiver robot to care for patients, and assist in completing the patient's daily self-care, etc.

[0003] The actual working environment of dexterous hands is complex and changeable. Dexterous hands are prone to collide with external objects during work, which affects their service life; as an end effector, dexterous hands are also often used in connection with main body devices such as robots. When used in connection with main body devices such as robots, the main body devices such as robots may fall during operation due to the complex environment and external influences. This may also cause the dexterous hand to support the ground during the fall of the robot, resulting in damage to the dexterous hand. Or the dexterous hand and the main body device work on a high platform. Due to operational errors, the whole may fall, or due to the insufficient fastening of the connection between the dexterous hand and the main body device, the dexterous hand will be detached from the main body device and fall, which will also cause damage to the dexterous hand.

[0004] Moreover, as a core component of the robot, the dexterous hand is costly and relatively fragile. Therefore, solving the problem of protecting the dexterous hand during work to make its life longer is an urgent problem for those skilled in the art at present. Summary of the Invention

[0005] In view of the deficiencies of the prior art, the present invention provides a dexterous hand protection method and device, which solves the problems raised in the above background art.

[0006] To achieve the above object, the present invention is realized through the following technical solutions: A dexterous hand protection method is realized based on an information acquisition module, a control module, a protection module, a power supply module, a positioning module, a main body device information acquisition unit, a dexterous hand information acquisition unit, a data processing unit, a storage unit, a control unit, a communication unit, a dexterous hand fall information acquisition system, a ranging sensor, a dexterous hand running speed and direction information acquisition system, a first positioning base, and a second positioning base;

[0007] It includes the following steps:

[0008] Step 1: The operator manually sets the operation programs of the main body device and the dexterous hand through the upper computer, and initializes the data processing unit and the real-time control system;

[0009] Step 2: The data processing unit sets the acquisition frequency. Based on the acquisition frequency, the data processing unit periodically or continuously collects data from each sensor of the main device and the dexterous hand and performs data preprocessing;

[0010] Step 3: The data processing unit determines in real time whether the states of the main device and the dexterous hand are abnormal through data analysis;

[0011] Step 4: A spatial coordinate system is established. If the judgment in Step 3 shows that the states of the main device and the dexterous hand are abnormal, the data processing unit sends a control instruction to the control unit to start a preset protection action. Otherwise, it returns to Step 2 to continue collecting data. The operating trajectory of the dexterous hand includes three stages: low risk, medium risk, and high risk. The protection actions include the contraction of the dexterous hand and the deployment of the built-in shock absorption structure of the dexterous hand;

[0012] Step 5: Receive the feedback of information to ensure the completion of the protection action. After the implementation of the above event protection action is completed, the control device resumes normal operation or enters the standby mode;

[0013] Step 6: The data processing unit records the operation logs and reports and saves them to the storage unit for subsequent staff to view using the upper computer. When the storage capacity of the storage unit reaches 90% of the warning value, it will automatically clear the earliest recorded operation logs and reports, but will retain the warning records.

[0014] Further, the data preprocessing in Step 2 includes the following steps:

[0015] Step 21: The data processing unit internally integrates a digital filter and applies the digital filter to remove noise;

[0016] Step 22: Both the main device information acquisition unit and the dexterous hand information acquisition unit internally integrate calibration sensors. The main device information acquisition unit and the dexterous hand information acquisition unit use the output of the calibration sensors to compensate for any offset or error;

[0017] Step 23: The data processing unit normalizes the received data to synchronize the data streams of different sensors;

[0018] The preset protection actions for the dexterous hand in Step 4 are:

[0019] At least one of contracting the fingers, deploying the built-in shock absorption structure, adjusting the posture to reduce damage, etc. and the braking of the main device;

[0020] The specific start conditions for the protection action in Step 4 include:

[0021] Step 41: The data processing unit establishes a spatial coordinate system and determines the state of the dexterous hand based on the acceleration data. When the acceleration data obtained by the dexterous hand information acquisition unit is the acceleration data of a single axis, it is only necessary to judge whether the dexterous hand drops according to the change of the single acceleration data. If the dexterous hand drops or the main device such as a robot falls, mark the running trajectory of the dexterous hand as the first high-risk stage, and directly start the preset protection action.

[0022] Step 42: If the dexterous hand does not drop or the main device such as a robot does not fall, then obtain the distance between the dexterous hand and an external object other than the target object to be grasped, the running speed and direction of the dexterous hand in real time, set different stages according to the running trajectory of the dexterous hand, and adopt different protection strategies when the dexterous hand is in different stages, and do not execute or execute partial protection actions.

[0023] Step 43: Judge whether the dexterous hand in Step 42 will collide with an external object other than the target object to be grasped. If it is judged that the dexterous hand in Step 42 will collide with an external object other than the target object to be grasped, directly start the preset protection action, set different stages according to the running data of the dexterous hand and the main device, and adopt different protection strategies when the dexterous hand is in different stages, and do not execute or execute partial protection actions.

[0024] Step 44: If it is judged that the dexterous hand in Step 42 will not collide with an external object other than the target object to be grasped, then return to Step 2 to continue collecting data.

[0025] The log record and report in Step 6 include saving the relevant data of the abnormal event for subsequent analysis and improvement.

[0026] Further, the judgment method in Step 3 includes the following steps:

[0027] Obtain at least one of the linear acceleration, angular velocity, height, etc. of the dexterous hand through the sensor to obtain at least one of the acceleration magnitude of the dexterous hand, whether there is abnormal rotation of the dexterous hand, and the height change of the dexterous hand, and obtain the tilt angle of the main device through the sensor.

[0028] Use the set threshold and pattern recognition algorithm to finally determine whether the dexterous hand has dropped or whether the main device such as a robot has fallen. Analyze the acceleration data of the dexterous hand, check whether there is a situation close to zero g, use the gyroscope data to evaluate whether there is abnormal rotation, use the barometric pressure sensor to monitor the rapid drop in height, analyze the tilt angle data of the main device, and the situation of zero g is generally free fall, and judge whether it is greater than the preset threshold.

[0029] Further, in step 41, the data processing unit records the operating trajectory of the dexterous hand in real time and inputs it into the spatial coordinate system. The data processing unit records the time t1 when the dexterous hand is fully contracted and the time t2 when the built-in shock absorption structure of the dexterous hand is fully deployed. According to the formula The height h1 required for the dexterous hand to be fully contracted and the height h2 when the built-in shock absorption structure of the dexterous hand is fully deployed are calculated. The data processing unit compares the magnitudes of h1 and h2, marks the smaller height value among h1 and h2 as the warning height h3, and marks the larger height value among h1 and h2 as the safety height h4. When the height at which the dexterous hand drops is lower than the warning height h3, the dexterous hand cannot complete the contraction or the built-in shock absorption structure of the dexterous hand cannot be fully deployed, and the protection action cannot achieve the protection effect. It is necessary for the dexterous hand to assist in adjusting its own posture to shorten the time window for the protection action when the dexterous hand drops. When the height at which the dexterous hand drops is higher than the safety height h4, it means that the dexterous hand has sufficient time to complete the protection action before dropping to the ground, and there is no need to pre-adjust the posture of the dexterous hand itself. The data processing unit marks the operating trajectory of the dexterous hand in the spatial coordinate system that is lower than the safety height h4 and higher than the warning height h3 as the first low-risk stage, and marks the operating trajectory of the dexterous hand in the spatial coordinate system that is lower than the warning height h3 as the first medium-risk stage.

[0030] Further, when the dexterous hand is in the first low-risk stage or the second low-risk stage, the protection action is executed by the data processing unit. The data processing unit records the motion trajectories of the main device and the dexterous hand and the motion height of the dexterous hand. The data processing unit marks the motion trajectories of the main device and the dexterous hand and the motion height of the dexterous hand as warning records and saves them to the storage unit. If the storage capacity of the storage unit reaches saturation, the warning records are transferred to the protection module for storage, which is convenient for subsequent staff to view;

[0031] When the dexterous hand is in the first medium-risk stage or the second medium-risk stage, the protection action is executed by the control unit. The control unit controls the main device and the dexterous hand to reduce the operating speed. At the same time, the control unit controls the dexterous hand to adjust its own posture so that the contraction direction of the dexterous hand is perpendicular to the ground, avoiding collision with the ground when the dexterous hand cannot contract in time when it drops. When the contraction direction of the dexterous hand cannot be perpendicular to the ground, the included angle between the contraction direction of the dexterous hand and the ground is kept as large as possible, and the angle size approaches 90 degrees. The deployment direction of the built-in shock absorption structure of the dexterous hand is parallel to the ground, so that the built-in shock absorption structure of the dexterous hand can be fully deployed in time when the dexterous hand drops. When the deployment direction of the built-in shock absorption structure of the dexterous hand cannot be parallel to the ground, the included angle between the deployment direction of the built-in shock absorption structure of the dexterous hand and the ground is kept as small as possible, and the angle size approaches 0 degrees;

[0032] When the dexterous hand is in the first high-risk stage or the second high-risk stage, the protection action is executed by the control unit. The control unit controls the dexterous hand to contract immediately, and at the same time, the control unit controls the shock-absorbing structure built in the dexterous hand to deploy immediately. The first low-risk stage, the first medium-risk stage, the first high-risk stage, the second low-risk stage, the second medium-risk stage, and the second high-risk stage can exist in parallel simultaneously.

[0033] Further, in step 43, the main device information acquisition unit transmits the acceleration (M_ax, M_ay, M_az), angular velocity (M_wx, M_wy, M_wz), and attitude angle (M_Roll, M_Pitch, M_Yaw) of the main device to the data processing unit. The dexterous hand information acquisition unit transmits the acceleration (H_ax, H_ay, H_az), angular velocity (H_wx, H_wy, H_wz), and attitude angle (H_Roll, H_Pitch, H_Yaw) of the dexterous hand to the data processing unit. The ranging sensor transmits the spatial position (H_px, H_py, H_pz) of the dexterous hand in the spatial coordinate system to the data processing unit;

[0034] The data processing unit calculates the acceleration difference, angular velocity difference, and attitude angle difference between the main device and the dexterous hand respectively, and calculates the comprehensive out-of-step score S sync , the acceleration difference is: The angular velocity difference is: The attitude angle difference is: Δθ max = max(|M_Roll - H_Roll|, |M_Pitch - H_Pitch|, |M_Yaw - H_Yaw|), and the comprehensive out-of-step score is: Tha is the acceleration threshold, THw is the angular velocity threshold, THθ max is the attitude angle threshold, w1, w2, and w3 are proportionality coefficients and satisfy the condition w1 + w2 + w3 = 1, random is a random value. To avoid the analysis result being too conservative due to the overly dense running trajectory of the dexterous hand, the protection action determination process is solidified, and the value range is 1 - 2.5. sp is the density of the running trajectory of the dexterous hand, and the specific values of w1, w2, and w3 are determined according to the specific running trajectories of the end of the main device and the dexterous hand;

[0035] The data processing unit determines whether the dexterous hand impacts an external object other than the target grasping object according to the comprehensive out-of-step score S sync and the attitude angle difference Δθ max Specifically: The data processing unit splits the running trajectory of the dexterous hand into several consecutive frames. The consecutive frames are a fixed time period. The data processing unit establishes a determination window. The length of the determination window is greater than 2 consecutive frames. The determination window continuously scans the running trajectory of the dexterous hand in chronological order;

[0036] The data processing unit sets condition 1 and condition 2. Condition 1 is S sync ≥1, and condition 2 is Δθ max ≥15°. When all consecutive frames within the determination window satisfy both condition 1 and condition 2, the operating trajectory of the dexterous hand is marked as the second high-risk stage. When two or more consecutive frames within the determination window satisfy either condition 1 or condition 2, the operating trajectory of the dexterous hand is marked as the second medium-risk stage. When any one consecutive frame within the determination window satisfies both condition 1 and condition 2, the operating trajectory of the dexterous hand is marked as the second low-risk stage. By setting the determination window, some interference values in image determination can be filtered out, improving the fault tolerance rate of dexterous hand protection and avoiding excessive execution times of protection actions from reducing the working efficiency of the dexterous hand.

[0037] Furthermore, the specific steps for obtaining the density sp of the operating trajectory of the dexterous hand are as follows:

[0038] The data processing unit sets a recording period. During the recording period, the data processing unit splits the recorded operating trajectory of the dexterous hand into linear displacements and rotation nodes. Taking the line segment of the linear displacement as the axis, half of the length of the dexterous hand is used as the diameter to draw a cylinder. The length of the dexterous hand is the maximum value among the three-dimensional dimensions of the dexterous hand. Taking the rotation node as the center of the sphere, one-third of the length of the dexterous hand is used as the radius to draw a sphere. The data processing unit marks the drawn cylinder as the first interference area and the drawn sphere as the second interference area;

[0039] The data processing unit inputs all the operating trajectories of the dexterous hand into the space coordinate system. During the recording period, the overlapping quantities of the first interference area and the second interference area between each operating trajectory are recorded. The overlapping quantity of the first interference area is marked as c1, and the overlapping quantity of the second interference area is marked as c2. According to the formula sp = c1×0.5 + c2×0.8, the density sp of the operating trajectory of the dexterous hand is obtained.

[0040] A dexterous hand protection device includes an information acquisition module, a control module, a protection module, a power supply module, and a positioning module. The information acquisition module includes a main device information acquisition unit and a dexterous hand information acquisition unit. The control module includes a data processing unit, a storage unit, a control unit, and a communication unit. The positioning module includes a first positioning base and a second positioning base. The dexterous hand information acquisition unit includes a dexterous hand drop information acquisition system, a ranging sensor, and a dexterous hand operating speed and direction information acquisition system;

[0041] The power supply module supplies power to the information acquisition module, the control module, the protection module, and the positioning module respectively. The information acquisition module, the protection module, and the positioning module are all in communication with the control module.

[0042] Further, the main device information acquisition unit is used to acquire the recorded data of the main device such as a robot. The main device information acquisition unit is located at the execution end of the main device and is adjacent to the dexterous hand information acquisition unit. The main device information acquisition unit includes a first accelerometer, a first gyroscope, and a first magnetometer. The recorded data are, in sequence, the acceleration of the first accelerometer, the angular velocity of the first gyroscope, and the attitude angle of the first magnetometer. When the main device such as a robot is tilted, the acceleration (M_ax, M_ay, M_az), angular velocity (M_wx, M_wy, M_wz), and attitude angle (M_Roll, M_Pitch, M_Yaw) of the main device such as a robot can be acquired through the main device information acquisition unit;

[0043] The acceleration (H_ax, H_ay, H_az) of the dexterous hand can be acquired through the dexterous hand drop information acquisition system. The angular velocity (H_wx, H_wy, H_wz) and attitude angle (H_Roll, H_Pitch, H_Yaw) of the dexterous hand can be acquired through the dexterous hand running speed and direction information acquisition system. The distance measurement sensor is used to acquire the laser signal and infrared synchronization signal emitted by the first positioning base and the second positioning base to obtain the spatial position (H_px, H_py, H_pz) of the dexterous hand. The distance measurement sensor is installed on the surface of the dexterous hand. The dexterous hand drop information acquisition system and the dexterous hand running speed and direction information acquisition system are installed inside the dexterous hand;

[0044] The dexterous hand drop information acquisition system includes at least one of an accelerometer, a gyroscope, a barometric pressure sensor, etc. These sensors are installed inside or on the surface of the dexterous hand to collect the linear acceleration, angular velocity, and height change in three-dimensional space.

[0045] Further, when the distance measurement sensor acquires the infrared synchronization signal of the first positioning base and the second positioning base, it resets its own timer for time calibration. After completing the time calibration, the first positioning base emits a laser signal horizontally from left to right, and the second positioning base emits a laser signal vertically from top to bottom. The distance measurement sensor sequentially acquires the laser signals of the first positioning base and the second positioning base. The distance measurement sensor calculates the horizontal angle θ1 of the dexterous hand by calculating the time difference of the laser signal of the first positioning base. The distance measurement sensor calculates the vertical angle θ2 of the dexterous hand by calculating the time difference of the laser signal of the second positioning base. The distance measurement sensor forwards the horizontal angle θ1 and the vertical angle θ2 to the data processing unit through the communication unit. The data processing unit establishes a spatial coordinate system and uses the triangulation method to calculate the three-dimensional coordinates of the dexterous hand;

[0046] The following is the specific calculation process of the three-dimensional coordinates of the dexterous hand in the spatial coordinate system:

[0047] The first positioning base and the second positioning base are located in a cubic space coordinate system with a length of d. The coordinates of the first positioning base are (0, d, d), the coordinates of the second positioning base 520 are (d, 0, d), and the coordinates of the dexterous hand are (H_px, H_py, H_pz);

[0048] Given the horizontal angle θ1 of the first positioning base, the direction of the dexterous hand in the plane where the x-axis and y-axis are located is That is, H_py = H_px × tanθ1 + d. Given the vertical angle θ2 of the second positioning base 520, the direction of the dexterous hand in the plane where the z-axis and y-axis are located is That is, H_pz = H_py × tanθ2 + d. Substitute the calculation formula of H_py into H_pz, and we get H_pz = (H_px × tanθ1 + d) × tanθ2 + d. The dexterous hand obtains the specific value of H_pz through the integrated air pressure sensor on itself, and substitute it into the formula to obtain the specific value of H_px, and then substitute the value of H_px into the expression of H_py to obtain the specific value of H_py, and calculate the three-dimensional coordinates of the dexterous hand in the space coordinate system;

[0049] The ranging sensor is used to detect the distance between the dexterous hand and external objects other than the target object to be grasped. The dexterous hand running speed and direction information acquisition system is used to obtain the distance between the dexterous hand and external objects, as well as the running speed and direction of the dexterous hand. The data obtained by the ranging sensor and the dexterous hand running speed and direction information acquisition system can be used to judge whether the dexterous hand will collide with external objects other than the target object to be grasped;

[0050] To ensure that they can accurately capture the information of the dexterous hand, various types of sensors should be installed at appropriate positions. The accelerometer and gyroscope should be as close as possible to the center of gravity, and the air pressure sensor needs to be exposed to the external environment to correctly sense the height change;

[0051] The ranging sensor includes at least one of a laser ranging probe, an ultrasonic ranging probe, an infrared ranging probe, etc.;

[0052] The data processing unit is responsible for receiving data from each sensor, using algorithms to analyze and judge the states of the main device and the dexterous hand. The storage unit is used to store information such as speed, acceleration, and distance processed by the data processing unit;

[0053] The data processing unit is used to calculate the motion states of the main device and the dexterous hand. The storage unit is used to save the analysis data generated by the calculation of the data processing unit. The control unit is communicatively connected to the host computer through the communication unit. The control unit is used to control the main device and the dexterous hand to perform target protection actions to protect the main device and the dexterous hand. The function of the communication unit is to upload information such as the obtained speed, acceleration, and distance to the host computer, and transmit the control instructions sent by the host computer to the control unit. The host computer is specifically a human-computer interaction device. The operator views the information of the main device and the dexterous hand through the host computer, and also inputs parameters or control instructions through the host computer;

[0054] The control unit includes a feedback loop, which is used to receive the status information from the actuator to ensure the correct execution of the protection action;

[0055] The dexterous hand drop information acquisition system further includes an impact sensor, which acquires impact force data for subsequent analysis and improvement of the set threshold and protection action;

[0056] The acceleration data on the dexterous hand may include at least one of the x-axis acceleration, y-axis acceleration, and z-axis acceleration. The state of the dexterous hand is judged according to the acceleration data. When the acceleration data acquired by the dexterous hand information acquisition unit is the acceleration data of a single axis, it is only necessary to judge whether the dexterous hand drops according to the change of the single acceleration data. For example, when the acquired z-axis acceleration at the current moment is obtained, the z-axis acceleration at the current moment is compared with the preset z-axis acceleration to judge whether the dexterous hand drops;

[0057] The communication unit includes at least one of a wireless network communication module, an Ethernet interface, a wired serial port, or a USB interface. The communication unit includes a wireless network SOC or an Ethernet interface. The wireless network SOC is a wireless network communication module, and communicates with the host computer through the built-in antenna and the RJ45 network port respectively. This communication unit does not need to connect a data cable. As long as the host computer supports common communication protocols, including modbus, TCP / IP, and UDP, the data of the pressure detection device can be accessed, and it can be connected to the entire motion control system as an independent network node device. The wired serial port or the USB interface is used as an interface that requires a cable connection and can be used as a backup when the network is not available.

[0058] The present invention has the following beneficial effects:

[0059] 1. Through the setting of the information acquisition module, when used in connection with a main device such as a robot, if the main device such as a robot falls during operation due to a complex environment and external influences, or when the dexterous hand and the main device are working on a high platform and the whole falls due to an operation error, or when the dexterous hand detaches from the main device and falls because the connection between the dexterous hand and the main device is not tight enough, or when the dexterous hand collides with an external object during work, the dexterous hand will trigger a protection action, such as contracting the fingers, expanding the built-in shock-absorbing structure, adjusting the posture, etc., so as to protect the dexterous hand and avoid damage to the dexterous hand.

[0060] 2. By analyzing the running trajectory of the dexterous hand and correcting the posture of the dexterous hand and the running speed of the main device in advance according to the safe height at which the dexterous hand falls, there is sufficient time to execute the protection action before the dexterous hand hits the ground. By calculating the comprehensive out-of-step score and the posture angle difference between the main device and the dexterous hand, it can be judged whether the dexterous hand collides with an external object other than the target object to be grasped. By setting a judgment window, some interference values of image judgment can be filtered out, improving the fault tolerance rate of dexterous hand protection and at the same time avoiding excessive execution times of the protection action from reducing the working efficiency of the dexterous hand.

[0061] Of course, any product implementing the present invention does not necessarily need to achieve all the above-mentioned advantages simultaneously. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0063] Figure 1 It is a program block diagram of a dexterous hand protection device of the present invention;

[0064] Figure 2 It is a program block diagram of the dexterous hand information acquisition unit of the present invention;

[0065] Figure 3 It is a program block diagram of the communication unit of the present invention;

[0066] Figure 4 It is a structural schematic diagram of the first positioning base and the second positioning base of the present invention.

[0067] In the drawings, the components represented by each reference numeral are as follows:

[0068] In the figure: 100 - Information acquisition unit, 110 - Main device information acquisition unit, 120 - Dexterous hand information acquisition unit, 121 - Dexterous hand drop information acquisition system, 122 - Distance measurement sensor, 123 - Dexterous hand running speed and direction information acquisition system, 200 - Control module, 210 - Data processing unit, 220 - Storage unit, 230 - Control unit, 240 - Communication unit, 241 - Wireless network communication module, 242 - Ethernet interface, 300 - Protection module, 400 - Power supply module, 500 - Positioning module, 510 - First positioning base, 520 - Second positioning base. Detailed implementation manners

[0069] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0070] Please refer to Figures 1-4 , the present invention provides a technical solution: a method for protecting a dexterous hand, which is implemented based on an information acquisition module 100, a control module 200, a protection module 300, a power supply module 400, a positioning module 500, a main device information acquisition unit 110, a dexterous hand information acquisition unit 120, a data processing unit 210, a storage unit 220, a control unit 230, a communication unit 240, a dexterous hand drop information acquisition system 121, a distance measurement sensor 122, a dexterous hand running speed and direction information acquisition system 123, a first positioning base 510, and a second positioning base 520;

[0071] It includes the following steps:

[0072] Step 1: An operator manually sets the operation programs of the main device and the dexterous hand through a host computer, and initializes the data processing unit 210 and the real-time control system;

[0073] Step 2: The data processing unit 210 sets the acquisition frequency to 166 Hz, and the data processing unit 210 regularly or continuously collects data from various sensors of the main device and the dexterous hand based on the acquisition frequency and performs data preprocessing;

[0074] Step 3: The data processing unit 210 determines in real time whether the states of the main device and the dexterous hand are abnormal through data analysis;

[0075] Step 4: Establish a spatial coordinate system. If the judgment in Step 3 shows that the states of the main device and the dexterous hand are abnormal, the data processing unit 210 sends a control instruction to the control unit 230 to initiate a preset protection action; otherwise, return to Step 2 to continue collecting data. The operating trajectory of the dexterous hand includes three stages: low risk, medium risk, and high risk. The protection actions include the contraction of the dexterous hand and the deployment of the built-in shock-absorbing structure of the dexterous hand;

[0076] Step 5: Receive feedback on information to ensure the completion of the protection action. After the implementation of the above event protection action is completed, the control device resumes normal operation or enters the standby mode;

[0077] Step 6: The data processing unit 210 records the operation logs and reports and saves them to the storage unit 220 for subsequent staff to view using the host computer. When the storage capacity of the storage unit 220 reaches 90% of the warning value, the earliest recorded operation logs and reports will be automatically cleared, but the warning records will be retained.

[0078] Among them, the data preprocessing in Step 2 includes the following steps:

[0079] Step 21: The data processing unit 210 internally integrates a digital filter and applies the digital filter to remove noise;

[0080] Both the main device information acquisition unit 110 and the dexterous hand information acquisition unit 120 internally integrate calibration sensors. The main device information acquisition unit 110 and the dexterous hand information acquisition unit 120 use the calibrated sensors to output to compensate for any offsets or errors;

[0081] Step 23: The data processing unit 210 normalizes the received data to synchronize the data streams of different sensors;

[0082] The preset protection actions for the dexterous hand in Step 4 are:

[0083] At least one of contracting the fingers, deploying the built-in shock-absorbing structure, adjusting the posture to reduce damage, etc. and braking of the main device;

[0084] The specific activation conditions for the protection action in Step 4 include:

[0085] Step 41: The data processing unit 210 establishes a spatial coordinate system and judges the state of the dexterous hand according to the acceleration data. When the acceleration data obtained by the dexterous hand information acquisition unit 120 is the acceleration data of a single axis, it is only necessary to judge whether the dexterous hand drops according to the change of the single acceleration data. If the dexterous hand drops or the main device such as a robot falls, the operating trajectory of the dexterous hand is marked as the first high-risk stage, and the preset protection action is directly initiated;

[0086] Step 42: If there is no fall of the dexterous hand or fall of the main device such as the robot, the distance between the dexterous hand and external objects other than the target object to be grasped, the running speed and direction of the dexterous hand are obtained in real time. Different stages are set according to the running trajectory of the dexterous hand. Different protection strategies are adopted when the dexterous hand is in different stages, and some or no protection actions are executed.

[0087] Step 43: Determine whether the dexterous hand in Step 42 will collide with external objects other than the target object to be grasped. If it is determined that the dexterous hand in Step 42 will collide with external objects other than the target object to be grasped, directly activate the preset protection actions. Different stages are set according to the running data of the dexterous hand and the main device. Different protection strategies are adopted when the dexterous hand is in different stages, and some or no protection actions are executed.

[0088] Step 44: If it is determined that the dexterous hand in Step 42 will not collide with external objects other than the target object to be grasped, return to Step 2 to continue collecting data.

[0089] The log recording and reporting in Step 6 include saving the relevant data of abnormal events for subsequent analysis and improvement.

[0090] Among them, the judgment method in Step 3 includes the following steps:

[0091] At least one of the linear acceleration, angular velocity, height, etc. of the dexterous hand is obtained through a sensor to obtain at least one of the acceleration magnitude of the dexterous hand, whether there is abnormal rotation of the dexterous hand, and the height change of the dexterous hand, and the tilt angle of the main device is obtained through the sensor.

[0092] Use the set threshold and pattern recognition algorithm to finally determine whether the dexterous hand has fallen or whether the main device such as the robot has fallen. For example, analyze the accelerometer data of the dexterous hand, check whether there is a situation close to zero g, use gyroscope data to evaluate whether there is abnormal rotation, use a pressure sensor to monitor a rapid decrease in height, analyze the tilt angle data of the main device, and the situation of zero g is generally free fall, and judge whether it is greater than the preset threshold.

[0093] Among them, in Step 41, the data processing unit 210 records the running trajectory of the dexterous hand in real time and inputs it into the space coordinate system. The data processing unit 210 records the time t1 when the dexterous hand is fully contracted and the time t2 when the built-in shock absorption structure of the dexterous hand is fully deployed. According to the formula The height h1 required for the complete contraction of the dexterous hand and the height h2 when the built-in shock-absorbing structure of the dexterous hand is fully deployed are calculated. The data processing unit 210 compares the magnitudes of h1 and h2, marks the smaller height among h1 and h2 as the warning height h3, and marks the larger height among h1 and h2 as the safety height h4. When the height at which the dexterous hand drops is lower than the warning height h3, the dexterous hand cannot complete the contraction or the built-in shock-absorbing structure of the dexterous hand cannot be fully deployed, and the protection action cannot achieve the protection effect. It is necessary for the dexterous hand to assist in adjusting its own posture to shorten the time window for completing the protection action when the dexterous hand drops. When the height at which the dexterous hand drops is higher than the safety height h4, it means that before the dexterous hand drops to the ground, the dexterous hand has sufficient time to complete the protection action and does not need to pre-adjust its own posture. The data processing unit 210 marks the movement trajectory of the dexterous hand in the space coordinate system that is lower than the safety height h4 and higher than the warning height h3 as the first low-risk stage, and marks the movement trajectory of the dexterous hand in the space coordinate system that is lower than the warning height h3 as the first medium-risk stage.

[0094] Among them, when the dexterous hand is in the first low-risk stage or the second low-risk stage, the protection action is executed by the data processing unit 210. The data processing unit 210 records the movement trajectories of the main device and the dexterous hand and the movement height of the dexterous hand. The data processing unit 210 marks the movement trajectories of the main device and the dexterous hand and the movement height of the dexterous hand as a warning record and saves it to the storage unit 220. If the storage capacity of the storage unit 220 reaches saturation, the warning record is transferred to the protection module 300 for storage, which is convenient for subsequent staff to view;

[0095] When the dexterous hand is in the first medium-risk stage or the second medium-risk stage, the protection action is executed by the control unit 230. The control unit 230 controls the main device and the dexterous hand to reduce the running speed. At the same time, the control unit 230 controls the dexterous hand to adjust its own posture so that the contraction direction of the dexterous hand is perpendicular to the ground, avoiding collision with the ground when the dexterous hand cannot contract in time when it drops. When the contraction direction of the dexterous hand cannot be perpendicular to the ground, the included angle between the contraction direction of the dexterous hand and the ground is kept as large as possible, and the angle size approaches 90 degrees. The deployment direction of the built-in shock-absorbing structure of the dexterous hand is parallel to the ground, so that the built-in shock-absorbing structure of the dexterous hand can be fully deployed in time when the dexterous hand drops. When the deployment direction of the built-in shock-absorbing structure of the dexterous hand cannot be parallel to the ground, the included angle between the deployment direction of the built-in shock-absorbing structure of the dexterous hand and the ground is kept as small as possible, and the angle size approaches 0 degrees;

[0096] When the dexterous hand is in the first high-risk stage or the second high-risk stage, the protection action is executed by the control unit 230. The control unit 230 controls the dexterous hand to contract immediately, and at the same time, the control unit 230 controls the shock-absorbing structure built in the dexterous hand to deploy immediately. The first low-risk stage, the first medium-risk stage, the first high-risk stage, the second low-risk stage, the second medium-risk stage, and the second high-risk stage can exist in parallel simultaneously.

[0097] Among them, in step 43, the main device information acquisition unit 110 transmits the acceleration (M_ax, M_ay, M_az), angular velocity (M_wx, M_wy, M_wz), and attitude angle (M_Roll, M_Pitch, M_Yaw) of the main device to the data processing unit 210. The dexterous hand information acquisition unit 120 transmits the acceleration (H_ax, H_ay, H_az), angular velocity (H_wx, H_wy, H_wz), and attitude angle (H_Roll, H_Pitch, H_Yaw) of the dexterous hand to the data processing unit 210. The ranging sensor 122 transmits the spatial position (H_px, H_py, H_pz) of the dexterous hand in the space coordinate system to the data processing unit 210;

[0098] The data processing unit 210 calculates the acceleration difference, angular velocity difference, and attitude angle difference between the main device and the dexterous hand respectively, and calculates the comprehensive out-of-step score S sync , the acceleration difference is: The angular velocity difference is: The attitude angle difference is: Δθ max = max(|M_Roll - H_Roll|, |M_Pitch - H_Pitch|, |M_Yaw - H_Yaw|), the comprehensive out-of-step score is: Tha is the acceleration threshold, THw is the angular velocity threshold, THθ max is the attitude angle threshold, Tha = 2g, that is, 19.6m / s 2 , THw = 50rad / s, THθ max = 15°, w1, w2, and w3 are proportionality coefficients and satisfy the condition w1 + w2 + w3 = 1, random is a random value, and the value range is 1 - 2.5, sp is the density of the running trajectory of the dexterous hand, and the specific values of w1, w2, and w3 are determined according to the specific running trajectories of the end of the main device and the dexterous hand. The initial values of w1, w2, and w3 are 0.3, 0.3, and 0.4 respectively;

[0099] The data processing unit 210 based on the comprehensive out-of-step score S sync and the attitude angle difference Δθ maxDetermine whether the dexterous hand collides with external objects other than the target grasping object. Specifically: The data processing unit 210 splits the movement trajectory of the dexterous hand into several consecutive frames. The consecutive frames are in a fixed time period of 0.03 seconds. The data processing unit 210 establishes a determination window. The length of the determination window is greater than 2 consecutive frames, specifically 3 consecutive frames. The determination window continuously scans the movement trajectory of the dexterous hand in chronological order;

[0100] The data processing unit 210 sets condition 1 and condition 2. Condition 1 is S sync ≥ 1, and condition 2 is Δθ max ≥ 15°. When all consecutive frames within the determination window satisfy both condition 1 and condition 2, mark the movement trajectory of the dexterous hand as the second high-risk stage. When two or more consecutive frames within the determination window satisfy either condition 1 or condition 2, mark the movement trajectory of the dexterous hand as the second medium-risk stage. When any one consecutive frame within the determination window satisfies both condition 1 and condition 2, mark the movement trajectory of the dexterous hand as the second low-risk stage.

[0101] Among them, the specific steps for obtaining the density sp of the movement trajectory of the dexterous hand are as follows:

[0102] The data processing unit 210 sets the recording period to 1 minute. During the recording period, the data processing unit 210 splits the recorded movement trajectory of the dexterous hand into linear displacements and rotation nodes. Taking the line segment of the linear displacement as the axis, draw a cylinder with half of the length of the dexterous hand as the diameter. The length of the dexterous hand is the maximum value among the three-dimensional dimensions of the dexterous hand. Taking the rotation node as the center of the sphere, draw a sphere with one-third of the length of the dexterous hand as the radius. The data processing unit 210 marks the drawn cylinder as the first interference area and the drawn sphere as the second interference area;

[0103] The data processing unit 210 inputs all the movement trajectories of the dexterous hand into the space coordinate system. During the recording period, record the overlapping quantity between the first interference area and the second interference area among each movement trajectory. Mark the overlapping quantity of the first interference area as c1 and the overlapping quantity of the second interference area as c2. Obtain the density sp of the movement trajectory of the dexterous hand according to the formula sp = c1 × 0.5 + c2 × 0.8.

[0104] A dexterous hand protection device, such as Figures 1-3As shown in the figure, it includes an information acquisition module 100, a control module 200, a protection module 300, a power supply module 400, and a positioning module 500. The information acquisition module 100 includes a main device information acquisition unit 110 and a dexterous hand information acquisition unit 120. The control module 200 includes a data processing unit 210, a storage unit 220, a control unit 230, and a communication unit 240. The positioning module 500 includes a first positioning base 510 and a second positioning base 520. The dexterous hand information acquisition unit 120 includes a dexterous hand drop information acquisition system 121, a ranging sensor 122, and a dexterous hand running speed and direction information acquisition system 123;

[0105] The power supply module 400 supplies power to the information acquisition module 100, the control module 200, the protection module 300, and the positioning module 500 respectively. The information acquisition module 100, the protection module 300, and the positioning module 500 all establish communication with the control module 200;

[0106] The main device information acquisition unit 110 is a unit for acquiring the tilt angle of the main device such as a robot. This unit includes a gyroscope. Specifically, when the main device such as a robot is tilted, the tilt angular velocity of the main device such as a robot can be acquired through the gyroscope, and then the tilt angle of the main device such as a robot can be obtained by integrating the tilt angular velocity.

[0107] Among them, the main device information acquisition unit 110 is used to acquire the recorded data of the main device such as a robot. The main device information acquisition unit 110 is located at the execution end of the main device and is adjacent to the dexterous hand information acquisition unit 120. The main device information acquisition unit 110 includes a first accelerometer, a first gyroscope, and a first magnetometer. The recorded data are the acceleration of the first accelerometer, the angular velocity of the first gyroscope, and the attitude angle of the first magnetometer in sequence. When the main device such as a robot is tilted, the acceleration (M_ax, M_ay, M_az), angular velocity (M_wx, M_wy, M_wz), and attitude angle (M_Roll, M_Pitch, M_Yaw) of the main device such as a robot can be acquired through the main device information acquisition unit 110;

[0108] The dexterous hand drop information acquisition system 121 can acquire the acceleration (H_ax, H_ay, H_az) of the dexterous hand. The dexterous hand running speed and direction information acquisition system 123 can acquire the angular velocity (H_wx, H_wy, H_wz) and attitude angles (H_Roll, H_Pitch, H_Yaw) of the dexterous hand. The ranging sensor 122 is used to acquire the laser signal and infrared synchronization signal emitted by the first positioning base 510 and the second positioning base 520 to obtain the spatial position (H_px, H_py, H_pz) of the dexterous hand. By acquiring the spatial position of the dexterous hand in real time, the running trajectory of the dexterous hand can be drawn in the spatial coordinate system. The ranging sensor 122 is installed on the surface of the dexterous hand, and the dexterous hand drop information acquisition system 121 and the dexterous hand running speed and direction information acquisition system 123 are installed inside the dexterous hand;

[0109] The dexterous hand drop information acquisition system 121 includes at least one of an accelerometer, a gyroscope, a barometric sensor, etc. These sensors are installed inside or on the surface of the dexterous hand to collect linear acceleration, angular velocity, and height change in three-dimensional space.

[0110] Among them, when the ranging sensor 122 acquires the infrared synchronization signal of the first positioning base 510 and the second positioning base 520, it resets its own timer for time calibration. After completing the time calibration, the first positioning base 510 emits a laser signal horizontally from left to right, and the second positioning base 520 emits a laser signal vertically from top to bottom. The ranging sensor 122 sequentially acquires the laser signals of the first positioning base 510 and the second positioning base 520. The ranging sensor 122 calculates the horizontal angle θ1 of the dexterous hand by calculating the time difference of the laser signal of the first positioning base 510. The ranging sensor 122 calculates the vertical angle θ2 of the dexterous hand by calculating the time difference of the laser signal of the second positioning base 520. The ranging sensor 122 forwards the horizontal angle θ1 and the vertical angle θ2 to the data processing unit 210 through the communication unit 240. The data processing unit 210 establishes a spatial coordinate system and calculates the three-dimensional coordinates of the dexterous hand using the triangulation method;

[0111] The following is the specific calculation process of the three-dimensional coordinates of the dexterous hand in the spatial coordinate system:

[0112] As Figure 4 shown, the first positioning base 510 and the second positioning base 520 are located in a cube spatial coordinate system with a length of d. The first positioning base 510 and the second positioning base 520 are respectively fixed above one side of the main device through brackets with a height of d. A is the main device of the robotic arm, B is the dexterous hand at the end of the main device. The coordinates of the first positioning base 510 are (0, d, d), the coordinates of the second positioning base 520 are (d, 0, d), and the coordinates of the dexterous hand are (H_px, H_py, H_pz);

[0113] Given the horizontal angle θ1 of the first positioning base 510, the direction of the dexterous hand in the plane where the x-axis and y-axis are located is That is, H_py = H_px × tanθ1 + d. Given the vertical angle θ2 of the second positioning base 520, the direction of the dexterous hand in the plane where the z-axis and y-axis are located is That is, H_pz = H_py × tanθ2 + d. Substitute the calculation formula of H_py into H_pz to get H_pz = (H_px × tanθ1 + d) × tanθ2 + d. The dexterous hand obtains the specific value of H_pz through the integrated air pressure sensor on itself and substitutes it into the formula to obtain the specific value of H_px, and then substitute the value of H_px into the expression of H_py to obtain the specific value of H_py, and calculate the three-dimensional coordinates of the dexterous hand in the space coordinate system;

[0114] The distance measurement sensor 122 is used to detect the distance between the dexterous hand and external objects other than the target object to be grasped. The dexterous hand running speed and direction information acquisition system 123 is used to obtain the distance between the dexterous hand and external objects, as well as the running speed and direction of the dexterous hand. The data obtained by the distance measurement sensor 122 and the dexterous hand running speed and direction information acquisition system 123 can be used to determine whether the dexterous hand will collide with external objects other than the target object to be grasped;

[0115] To ensure that they can accurately capture the information of the dexterous hand, various types of sensors should be installed at appropriate positions. The accelerometer and gyroscope should be as close as possible to the center of gravity, and the air pressure sensor needs to be exposed to the external environment to correctly sense the height change;

[0116] The distance measurement sensor 122 includes at least one of a laser distance measurement probe, an ultrasonic distance measurement probe, an infrared distance measurement probe, etc.;

[0117] The data processing unit 210 is responsible for receiving data from each sensor, analyzing and judging the states of the main device and the dexterous hand using algorithms. The storage unit 220 is used to store information such as speed, acceleration, and distance processed by the data processing unit 210;

[0118] The data processing unit 210 is used to calculate the motion states of the main device and the dexterous hand. The storage unit 220 is used to save the analysis data generated by the calculation of the data processing unit 210. The control unit 230 is communicatively connected to the host computer through the communication unit 240. The control unit 230 is used to control the main device and the dexterous hand to perform the target protection actions to protect the main device and the dexterous hand. The function of the communication unit 240 is to upload information such as the obtained speed, acceleration, and distance to the host computer, and transmit the control instructions issued by the host computer to the control unit 230. The host computer is specifically a human-computer interaction device. The operator views the information of the main device and the dexterous hand through the host computer, and also inputs parameters or control instructions through the host computer;

[0119] The control unit 230 includes a feedback loop, and the feedback loop is used to receive the status information from the actuator to ensure the correct execution of the protection action;

[0120] The dexterous hand drop information acquisition system 121 further includes an impact sensor. The impact sensor acquires impact force data for subsequent analysis and improvement of the set threshold and protection action;

[0121] The acceleration data on the dexterous hand may include at least one of the x-axis acceleration, y-axis acceleration, and z-axis acceleration. The state of the dexterous hand is judged according to the acceleration data. When the acceleration data acquired by the dexterous hand information acquisition unit 120 is the acceleration data of a single axis, it is only necessary to judge whether the dexterous hand has dropped according to the change of the single acceleration data. For example, when the acquired z-axis acceleration at the current moment is obtained, the magnitude of the current moment z-axis acceleration is compared with the preset z-axis acceleration to judge whether the dexterous hand has dropped;

[0122] The communication unit 240 includes at least one of a wireless network communication module 241, an Ethernet interface 242, a wired serial port or a USB interface. The communication unit 240 includes a wireless network SOC or an Ethernet interface 242. The wireless network SOC is the wireless network communication module 241, and communicates with the host computer through the built-in antenna and the RJ45 network port respectively. This communication unit 240 does not need to connect a data cable. As long as the host computer supports common communication protocols, and the communication protocols include modbus, TCP / IP, UDP, the data of the pressure detection device can be accessed, and it can be accessed as an independent network node device into the entire motion control system. The wired serial port or the USB interface is used as the interface that requires cable connection and can be used as a backup when the network is not available.

[0123] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution of the present invention and its inventive concept, makes equivalent replacements or changes, and should be covered by the protection scope of the present invention.

Claims

1. A method for protecting dexterous hands, characterized in that: The method is implemented based on an information acquisition module (100), a control module (200), a protection module (300), a power supply module (400), a positioning module (500), a main device information acquisition unit (110), a dexterous hand information acquisition unit (120), a data processing unit (210), a storage unit (220), a control unit (230), a communication unit (240), a dexterous hand fall information acquisition system (121), a distance measurement sensor (122), a dexterous hand running speed and direction information acquisition system (123), a first positioning base (510) and a second positioning base (520); The following steps are involved: Step 1: Setting the operating programs of the main device and the dexterous hand, and initializing the data processing unit (210); Step 2: The data processing unit (210) sets the collection frequency, and the data processing unit (210) periodically or continuously collects data from the main device and the dexterous hand and performs data preprocessing; Step 3: The data processing unit (210) determines in real time whether the status of the main device and the dexterous hand is abnormal, and the sensor obtains the acceleration of the dexterous hand, whether the dexterous hand has abnormal rotation and height change of the dexterous hand, and obtains the tilt angle of the main device through the sensor; Step 4: Establishing a spatial coordinate system. If the judgment in step 3 shows that the status of the main device and the dexterous hand is abnormal, a control instruction is sent to the control unit (230) to start a preset protection action. Otherwise, the process returns to step 2 to continue collecting data. The running trajectory of the dexterous hand includes three stages: low risk, medium risk and high risk. The protection action includes the contraction of the dexterous hand and the deployment of the built-in shock-absorbing structure of the dexterous hand. Step 5: Receive information feedback to ensure the completion of the protection action, and after the protection action is completed, control the device to resume normal operation or enter standby mode; Step 6: The data processing unit (210) records the operation log and report and saves them to the storage unit (220). When the storage capacity of the storage unit (220) reaches the warning value, the earliest recorded operation log and report will be automatically cleared, but the warning record will be retained.

2. A dexterous hand protection method according to claim 1, characterized in that: The data preprocessing in step 2 includes the following steps: Step 21: A digital filter is integrated inside the data processing unit (210) and the digital filter is used to remove noise; Step 22: Correction sensors are integrated into the main device information acquisition unit (110) and the dexterous hand information acquisition unit (120), and the correction sensor output is used to compensate for any offset or error; Step 23: The data processing unit (210) synchronizes the data streams of different sensors; The preset protection actions of the dexterous hand in step 4 are: At least one of retracting fingers, deploying built-in shock-absorbing structures, and adjusting posture to reduce damage and braking of the main device; The specific starting conditions of the protection action in step 4 include: Step 41: The data processing unit (210) establishes a spatial coordinate system and determines the state of the dexterous hand according to the acceleration data; when the acceleration data acquired by the dexterous hand information acquisition unit (120) is the acceleration data of a single axis, it is only necessary to determine whether the dexterous hand has fallen according to the change of the single acceleration data; if the dexterous hand has fallen or the main device has fallen, the running trajectory of the dexterous hand is marked as the first high-risk stage, and the preset protection action is directly initiated; Step 42: If the dexterous hand does not fall or the main device does not fall, the distance between the dexterous hand and the external object other than the target grasping object and the running speed and direction of the dexterous hand are obtained in real time, and different stages are set according to the running trajectory of the dexterous hand. Different protection strategies are adopted when the dexterous hand is in different stages, and the protection action is not executed or partially executed; Step 43: determining whether the dexterous hand in step 42 will collide with an external object other than the target grasped object. If it is determined that the dexterous hand in step 42 will collide with an external object other than the target grasped object, directly starting the preset protection action, setting different stages according to the operation data of the dexterous hand and the main device, and adopting different protection strategies when the dexterous hand is in different stages, and not executing or executing part of the protection action; Step 44: if it is determined that the dexterous hand in step 42 will not collide with an external object other than the target grasping object, then return to step 2 to continue collecting data; The logging and reporting in step 6 includes saving the relevant data of the abnormal event for subsequent analysis and improvement.

3. A dexterous hand protection method according to claim 1, characterized in that: The determination method in step 3 includes the following steps: Acquire at least one of the linear acceleration, angular velocity and height of the dexterous hand through the sensor to obtain the acceleration magnitude of the dexterous hand, whether the dexterous hand has abnormal rotation and the height change of the dexterous hand, and acquire the tilt angle of the main device through the sensor; Use the set threshold and pattern recognition algorithm to ultimately determine whether the dexterous hand has fallen or the main device has fallen. Analyze the accelerometer data of the dexterous hand to check whether there is a situation close to zero g, use the gyroscope data to evaluate whether there is abnormal rotation, use the air pressure sensor to monitor the rapid drop in height, and analyze the tilt angle data of the main device. The zero g situation is generally a free fall, and determine whether it is greater than the preset threshold.

4. A dexterous hand protection method according to claim 2, characterized in that: In step 41, the data processing unit (210) records the running trajectory of the dexterous hand in real time and inputs it into the spatial coordinate system, records the time t1 when the dexterous hand is completely retracted and the time t2 when the built-in shock-absorbing structure of the dexterous hand is completely deployed, and calculates the time t2 according to the formula The height h1 required for the dexterous hand to fully contract and the height h2 required for the built-in shock-absorbing structure of the dexterous hand to fully expand are calculated, and the sizes of h1 and h2 are compared. The height with the smaller value between h1 and h2 is marked as the warning height h3, and the height with the larger value between h1 and h2 is marked as the safety height h4. The running trajectory in the spatial coordinate system that is lower than the safety height h4 and higher than the warning height h3 is marked as the first low-risk stage, and the running trajectory in the spatial coordinate system that is lower than the warning height h3 is marked as the first medium-risk stage.

5. A dexterous hand protection method according to claim 1, characterized in that: When the dexterous hand is in the first low-risk stage or the second low-risk stage, the protection action is executed by the data processing unit (210), the movement trajectory of the main device and the dexterous hand and the movement height of the dexterous hand are recorded, the movement trajectory and the movement height are marked as warning records and saved in the storage unit (220), and if the storage capacity of the storage unit (220) reaches saturation, the warning record is transferred to the protection module (300) for storage; When the dexterous hand is in the first medium-risk stage or the second medium-risk stage, the protection action is executed by the control unit (230), and the control unit (230) controls the main device and the dexterous hand to reduce the running speed, and at the same time, the control unit (230) controls the dexterous hand to adjust its posture so that the contraction direction of the dexterous hand remains perpendicular to the ground, and the deployment direction of the built-in shock-absorbing structure of the dexterous hand remains parallel to the ground; When the dexterous hand is in the first high-risk stage or the second high-risk stage, the protection action is executed by the control unit (230), the control unit (230) controls the dexterous hand to shrink immediately, and at the same time the control unit (230) controls the built-in shock-absorbing structure of the dexterous hand to unfold immediately, and the first low-risk stage, the first medium-risk stage, the first high-risk stage, the second low-risk stage, the second medium-risk stage and the second high-risk stage can exist in parallel at the same time.

6. A dexterous hand protection method according to claim 2, characterized in that: In step 43, the main device information acquisition unit (110) transmits the acceleration (M_ax, Ma_ay, Ma_az), angular velocity (M_wx, M_wy, M_wz) and attitude angle (M_Roll, M_Pitch, M_Yaw) of the main device to the data processing unit (210), the dexterous hand information acquisition unit (120) transmits the acceleration (H_ax, Ha_ay, Ha_az), angular velocity (H_wx, H_wy, H_wz) and attitude angle (H_Roll, H_Pitch, H_Yaw) of the dexterous hand to the data processing unit (210), and the ranging sensor (122) transmits the spatial position (H_px, H_py, H_pz) of the dexterous hand in the spatial coordinate system to the data processing unit (210); Calculate the acceleration difference, angular velocity difference and posture angle difference between the main device and the dexterous hand respectively, and calculate the comprehensive step-out score S sync , the acceleration difference is: The angular velocity difference is: The attitude angle difference is: Δθ max = max(|M_Roll-H_Roll|, |M_Pitch-H_Pitch|, |M_Yaw-H_Yaw|), the comprehensive out-of-step score is: Tha is the acceleration threshold, THw is the angular velocity threshold, THθ max is the attitude angle threshold, w1, w2 and w3 are proportional coefficients and satisfy the condition w1+w2+w3=1, random is a random value ranging from 1 to 2.5, sp is the density of the trajectory of the dexterous hand, and the specific value is determined according to the specific trajectory of the terminal of the main device and the dexterous hand; According to the comprehensive step-out score S sync and attitude angle difference Δθ max Determine whether the dexterous hand collides with an external object other than the target grasped object, specifically: split the running trajectory of the dexterous hand into several continuous frames, the continuous frames are fixed time periods, establish a judgment window, the length of the judgment window is greater than 2 continuous frames, and the judgment window continuously scans the running trajectory of the dexterous hand in time order; Set conditions 1 and 2, with condition 1 being S sync ≥1, condition 2 is Δθ max ≥15°, when all consecutive frames in the judgment window meet condition 1 and condition 2, the trajectory of the dexterous hand is marked as the second high-risk stage; when two or more consecutive frames in the judgment window meet condition 1 or condition 2, the trajectory of the dexterous hand is marked as the second medium-risk stage; when any consecutive frame in the judgment window meets condition 1 and condition 2, the trajectory of the dexterous hand is marked as the second low-risk stage.

7. A dexterous hand protection method according to claim 6, characterized in that: The steps for obtaining the density sp of the dexterous hand's running trajectory are as follows: The data processing unit (210) sets a recording period, splits the running trajectory of the dexterous hand into linear displacement and rotation nodes within the recording period, draws a cylinder with the linear displacement line segment as the axis and half the length of the dexterous hand as the diameter, draws a sphere with the rotation node as the sphere center and one third of the length of the dexterous hand as the radius, marks the drawn cylinder as a first interference area, and marks the drawn sphere as a second interference area; The running trajectories of all dexterous hands are input into the spatial coordinate system. During the recording period, the number of overlaps between the first interference area and the second interference area between each running trajectory is recorded. The number of overlaps in the first interference area is marked as c1, and the number of overlaps in the second interference area is marked as c2. The density sp of the running trajectory of the dexterous hand is obtained according to the formula sp=c1×0.5+c2×0.

8.

8. A dexterous hand protection device, characterized in that: The invention comprises an information acquisition module (100), a control module (200), a protection module (300), a power supply module (400) and a positioning module (500); the information acquisition module (100) comprises a main device information acquisition unit (110) and a dexterous hand information acquisition unit (120); the control module (200) comprises a data processing unit (210), a storage unit (220), a control unit (230) and a communication unit (240); the positioning module (500) comprises a first positioning base (510) and a second positioning base (520); and the dexterous hand information acquisition unit (120) comprises a dexterous hand fall information acquisition system (121), a distance measuring sensor (122) and a dexterous hand running speed and direction information acquisition system (123); The power supply module (400) provides power to the information acquisition module (100), the control module (200), the protection module (300) and the positioning module (500) respectively, and the information acquisition module (100), the protection module (300) and the positioning module (500) all establish communication with the control module (200).

9. The dexterous hand protection device according to claim 8, characterized in that: The main device information acquisition unit (110) is used to acquire recorded data of the main device. The main device information acquisition unit (110) is located at the execution end of the main device and is adjacent to the dexterous hand information acquisition unit (120). The main device information acquisition unit (110) comprises a first accelerometer, a first gyroscope, and a first magnetometer. The recorded data are acceleration, angular velocity, and attitude angle in sequence. The main device information acquisition unit (110) acquires the acceleration (M_ax, M_ay, M_az), angular velocity (M_wx, M_wy, M_wz), and attitude angle (M_Roll, M_Pitch, M_Yaw) of the main device. The dexterous hand falling information acquisition system (121) acquires the acceleration (H_ax, Ha_ay, Ha_az) of the dexterous hand, the dexterous hand running speed and direction information acquisition system (123) acquires the angular velocity (H_wx, H_wy, H_wz) and attitude angle (H_Roll, H_Pitch, H_Yaw) of the dexterous hand, the distance sensor (122) is used to acquire the laser signal and infrared synchronization signal emitted by the first positioning base (510) and the second positioning base (520) to obtain the spatial position (H_px, H_py, H_pz) of the dexterous hand, the distance sensor (122) is installed on the surface of the dexterous hand, and the dexterous hand falling information acquisition system (121) and the dexterous hand running speed and direction information acquisition system (123) are installed inside the dexterous hand.

10. The dexterous hand protection device according to claim 8, characterized in that: When the distance measuring sensor (122) obtains the infrared synchronization signals of the first positioning base (510) and the second positioning base (520), it resets its own timer to perform time calibration. The first positioning base (510) emits a laser signal horizontally from left to right, and the second positioning base (520) emits a laser signal vertically from top to bottom. The distance measuring sensor (122) sequentially obtains the laser signals of the first positioning base (510) and the second positioning base (520). The distance measuring sensor (122) calculates the time difference of the laser signal of the first positioning base (510) to obtain the horizontal angle θ1 of the dexterous hand, and calculates the time difference of the laser signal of the second positioning base (520) to obtain the vertical angle θ2 of the dexterous hand. The distance measuring sensor (122) forwards the horizontal angle θ1 and the vertical angle θ2 to the data processing unit (210) through the communication unit (240). The data processing unit (210) establishes a spatial coordinate system and calculates the three-dimensional coordinates of the dexterous hand. The data processing unit (210) is used to calculate the motion state of the main device and the dexterous hand, the storage unit (220) is used to store the analysis data calculated and generated by the data processing unit (210), the control unit (230) is connected to the host computer through the communication unit (240), and the control unit (230) is used to control the main device and the dexterous hand to perform protection actions; The control unit (230) comprises a feedback loop, the feedback loop is used to receive status information from the actuator to ensure that the protection action is correctly executed; The communication unit (240) includes a wireless network communication module (241) and an Ethernet interface (242).

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