A dexterous hand protection method and device

Abstract

The present invention discloses a dexterous hand protection method and device, which relates to the technical field of dexterous hand protection. The present invention includes the following steps: setting the operating program of the main device and the dexterous hand, initializing the data processing unit, setting the collection frequency of the data processing unit, periodically or continuously collecting data from the main device and the dexterous hand and performing data preprocessing, the data processing unit determining in real time whether the status of the main device and the dexterous hand is abnormal, establishing a spatial coordinate system, and if the judgment in step 3 shows that the status of the main device and the dexterous hand is abnormal, sending a control instruction to the control unit to initiate a preset protection action, otherwise returning to step 2 to continue collecting data. The present invention corrects the posture of the dexterous hand and the operating speed of the main device in advance according to the safe height at which the dexterous hand falls, so that there is sufficient time to execute the protection action before the dexterous hand falls to the ground.

Description

Technical Field

[0001] The present invention relates to the technical field of dexterous hand protection, and in particular 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. Like human hands, they can perform different functions in different scenarios, such as carrying, performing difficult tasks instead of humans in harsh environmental conditions, serving as nursing robots to care for patients, and assisting patients in their daily lives.

[0003] The actual working environment of the dexterous hand is complex and changeable. The dexterous hand is prone to collision with external objects during work, which affects its service life. As an end effector, the dexterous hand is also often used in connection with robots and other main equipment. When used in connection with robots and other main equipment, the robots and other main equipment 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 robot's fall, causing damage to the dexterous hand, or the dexterous hand and the main equipment are working on a high platform. Due to operational errors, the whole hand falls, or the connection between the dexterous hand and the main equipment is not tight enough, the dexterous hand will separate from the main equipment and fall, which will also cause damage to the dexterous hand.

[0004] Moreover, as the core component of the robot, the dexterous hand is expensive and relatively fragile. Therefore, how to protect the dexterous hand during work and extend its life is an urgent problem to be solved by those skilled in the art. Summary of the Invention

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

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a dexterous hand protection method, based on an information acquisition module, a control module, a protection module, a power supply module, a positioning module, a main 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] The following steps are involved:

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

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

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

[0011] Step 4: Establish a spatial coordinate system. If the judgment in step 3 indicates that the status of the main device and the dexterous hand is abnormal, the data processing unit sends a control instruction to the control unit to initiate the preset protection action. Otherwise, the process returns to step 2 to continue collecting data. The trajectory of the dexterous hand includes three stages: low risk, medium risk, and high risk. The protection actions include retracting the dexterous hand and deploying the dexterous hand's built-in shock-absorbing structure.

[0012] Step 5: Receive information feedback to ensure the completion of the protection action, and after the above event protection action is completed, control the device to resume normal operation or enter 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 host computer. When the storage capacity of the storage unit reaches 90% of the warning value, the earliest recorded operation logs and reports will be automatically cleared, but the warning records will be retained.

[0014] Furthermore, the data preprocessing in step 2 includes the following steps:

[0015] Step 21: A digital filter is integrated within the data processing unit to remove noise;

[0016] Step 22: The main device information acquisition unit and the dexterous hand information acquisition unit are both internally integrated with correction sensors. The main device information acquisition unit and the dexterous hand information acquisition unit use the correction sensor output to compensate for any offset or error.

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

[0018] The default protection action of the dexterous hand in step 4 is:

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

[0020] The specific starting 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 acquired by the dexterous hand information acquisition unit is acceleration data of a single axis, it is only necessary to determine whether the dexterous hand has fallen based on the change in the single acceleration data. If the dexterous hand falls or the main device such as the robot falls, the movement trajectory of the dexterous hand is marked as the first high-risk stage, and the preset protection action is directly initiated.

[0022] Step 42: If the dexterous hand does not fall or the main device such as the robot does not fall, the distance between the dexterous hand and the external object other than the target grasped object, as well as the speed and direction of the dexterous hand are obtained in real time. Different stages are set according to the trajectory of the dexterous hand. Different protection strategies are adopted when the dexterous hand is in different stages, and protection actions are not executed or only partially executed.

[0023] Step 43: Determine 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 initiate a preset protection action. Different stages are set according to the operating data of the dexterous hand and the main device. Different protection strategies are adopted when the dexterous hand is in different stages, and protection actions may not be executed or may be partially executed.

[0024] 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;

[0025] The logging and reporting in step 6 involves saving relevant data of abnormal events for subsequent analysis and improvement.

[0026] Furthermore, the determination method in step 3 includes the following steps:

[0027] Acquiring at least one of the linear acceleration, angular velocity, and height of the dexterous hand through a sensor to obtain at least one of the acceleration magnitude of the dexterous hand, whether the dexterous hand has abnormal rotation, and height change of the dexterous hand, and acquiring the tilt angle of the main device through a sensor;

[0028] Use the set threshold and pattern recognition algorithm to ultimately determine whether the dexterous hand has fallen or whether the main device such as the robot has fallen. Analyze the dexterous hand's accelerometer data to check whether there is a situation close to zero g, use gyroscope data to evaluate whether there is abnormal rotation, use the pressure sensor to monitor the rapid descent 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.

[0029] Furthermore, in step 41, the data processing unit records the 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-absorbing structure of the dexterous hand is fully deployed. According to the formula The height h1 required for the dexterous hand to fully retract and the height h2 required for the dexterous hand's built-in shock-absorbing structure to fully deploy are calculated. The data processing unit compares the sizes of h1 and h2, marks the height with the smaller value between h1 and h2 as the warning height h3, and marks the height with the larger value between h1 and h2 as the safety height h4. If the height of the dexterous hand falling is lower than the warning height h3, the dexterous hand cannot complete the retraction or the built-in shock-absorbing structure of the dexterous hand cannot complete the deployment, and the protection action cannot achieve the protection effect. The dexterous hand needs to assist in adjusting its own posture to shorten the time window for the dexterous hand to complete the protection action when the dexterous hand falls. If the height of the dexterous hand falling is higher than the safety height h4, it means that the dexterous hand has sufficient time to complete the protection action before falling to the ground, and there is no need to adjust the dexterous hand's own posture in advance. The data processing unit marks the dexterous hand's running trajectory 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 dexterous hand's running trajectory in the spatial coordinate system that is lower than the warning height h3 as the first medium-risk stage.

[0030] Furthermore, 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, which records the movement trajectory of the main device and the dexterous hand, as well as the movement height of the dexterous hand. The data processing unit marks the movement trajectory of the main device and the dexterous hand, as well as the movement height of the dexterous hand, as a warning record and saves it to the storage unit. If the storage capacity of the storage unit reaches saturation, the warning record is transferred to the protection module for storage, which is convenient for subsequent staff to review.

[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 running 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 remains perpendicular to the ground, avoiding the dexterous hand from colliding with the ground when it cannot be contracted in time when it falls. When the contraction direction of the dexterous hand cannot be kept perpendicular to the ground, the angle between the contraction direction of the dexterous hand and the ground is kept as large as possible, and the angle is close to 90 degrees. The deployment direction of the built-in shock-absorbing structure of the dexterous hand is kept parallel to the ground. When the dexterous hand falls, the built-in shock-absorbing structure can be fully deployed in time. When the deployment direction of the built-in shock-absorbing structure of the dexterous hand cannot be kept parallel to the ground, the 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 is close to 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 retract immediately, and at the same time controls the built-in shock-absorbing structure of 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 at the same time.

[0033] Furthermore, 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, and 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 posture angle difference between the main device and the dexterous hand, and calculates the comprehensive step-out score S sync , the acceleration difference is: The difference in angular velocity 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 that satisfy the condition w1+w2+w3=1, random is a random value. To avoid the dexterous hand's running trajectory being too dense, which would lead to an overly conservative analysis result, the protection action judgment process is solidified, with a value range of 1-2.5, sp is the density of the dexterous hand's running trajectory, and the specific values ​​of w1, w2, and w3 are determined according to the specific running trajectories of the main device terminal and the dexterous hand;

[0035] The data processing unit is based on the comprehensive out-of-step 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, the data processing unit divides the trajectory of the dexterous hand into several consecutive frames. The consecutive frames are fixed time periods. The data processing unit establishes a judgment window. The judgment window length is greater than two consecutive frames. The judgment window continuously scans the trajectory of the dexterous hand in chronological order.

[0036] The data processing unit sets conditions 1 and 2, and condition 1 is S sync ≥1, condition 2 is Δθ max ≥15°, when all consecutive frames in the judgment window meet condition one and condition two, 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 one or condition two, the trajectory of the dexterous hand is marked as the second medium-risk stage; when any consecutive frame in the judgment window meets condition one and condition two, the trajectory of the dexterous hand is marked as the second low-risk stage. By setting the judgment window, some interference values ​​of image judgment can be filtered out, the fault tolerance rate of dexterous hand protection can be improved, and the working efficiency of the dexterous hand can be reduced by too many times of executing protection actions.

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

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

[0039] The data processing unit inputs the movement trajectories of all dexterous hands into the spatial coordinate system, and records the number of overlaps between the first interference area and the second interference area between each movement trajectory during the recording period. The overlapping number of the first interference area is marked as c1, and the overlapping number of the second interference area is marked as c2. The density sp of the movement trajectory of the dexterous hand is obtained according to the formula sp=c1×0.5+c2×0.8.

[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 fall information acquisition system, a distance measurement sensor, and a dexterous hand running speed and direction information acquisition system.

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

[0042] Furthermore, the main device information acquisition unit is used to acquire recorded data of a 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 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 the robot is tilted, the main device information acquisition unit can acquire 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 the robot.

[0043] The dexterous hand's acceleration (H_ax, H_ay, H_az) can be acquired through the dexterous hand's fall information acquisition system, and the dexterous hand's angular velocity (H_wx, H_wy, H_wz) and attitude angle (H_Roll, H_Pitch, H_Yaw) can be acquired through the dexterous hand's running speed and direction information acquisition system. The ranging 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 ranging sensor is installed on the surface of the dexterous hand, and the dexterous hand's fall information acquisition system and the dexterous hand's running speed and direction information acquisition system are installed inside the dexterous hand.

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

[0045] Furthermore, when the distance measuring sensor obtains the infrared synchronization signal from the first positioning base and the second positioning base, it resets its own timer to perform time calibration. After the time calibration is completed, 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 measuring sensor obtains the laser signals from the first positioning base and the second positioning base in sequence. The distance measuring sensor obtains the horizontal angle θ1 of the dexterous hand by calculating the time difference of the laser signal from the first positioning base, and obtains the vertical angle θ2 of the dexterous hand by calculating the time difference of the laser signal from the second positioning base. The distance measuring 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 calculates the three-dimensional coordinates of the dexterous hand by using triangulation.

[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 cube 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] The horizontal angle θ1 of the first positioning base is known, and 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 directions are located is That is, H_pz=H_py×tanθ2+d. Substituting the calculation formula of H_py into H_pz, we get H_pz=(H_px×tanθ1+d)×tanθ2+d. The dexterous hand obtains the specific value of H_pz through its integrated air pressure sensor and substitutes it into the formula Get the specific value of H_px, and then substitute the value of H_px into the expression of H_py Get the specific value of H_py and calculate the three-dimensional coordinates of the dexterous hand in the spatial coordinate system;

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

[0050] To ensure they can accurately capture information about the dexterous hand, various sensors should be installed in appropriate locations. Accelerometers and gyroscopes should be as close to the center of gravity as possible, while air pressure sensors should be exposed to the external environment to accurately sense altitude changes.

[0051] The distance measuring sensor includes at least one of a laser distance measuring probe, an ultrasonic distance measuring probe and an infrared distance measuring probe;

[0052] The data processing unit is responsible for receiving data from various sensors and using algorithms to analyze and determine the status 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 state of the main device and the dexterous hand, the storage unit is used to store the analysis data calculated by the data processing unit, the control unit is connected to the host computer through the communication unit, and 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 the acquired speed, acceleration, distance and other information to the host computer, and transmit the control instructions issued 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 status information from the actuator to ensure that the protection action is correctly executed;

[0055] The dexterous hand fall information acquisition system also includes an impact sensor, which acquires impact force data for subsequent analysis and improvement of set thresholds and protective actions;

[0056] The acceleration data on the dexterous hand may include at least one of the x-axis acceleration, the y-axis acceleration, and the z-axis acceleration, and the state of the dexterous hand is determined based on the acceleration data. When the acceleration data acquired by the dexterous hand information acquisition unit is acceleration data of a single axis, it is only necessary to determine whether the dexterous hand has fallen based on the change of the single acceleration data. For example, when the current z-axis acceleration is acquired, the current z-axis acceleration is compared with the preset z-axis acceleration to determine whether the dexterous hand has fallen.

[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, which communicates with the host computer through a built-in antenna and an RJ45 network port respectively. The communication unit does not need to be connected to a data cable. It only needs the host computer to support commonly used communication protocols, including modbus, TCP / IP, and UDP, to access the data of the pressure detection device. It can be used as an independent network node device to access the entire motion control system. The wired serial port or USB interface is an interface that requires a cable connection and can be used as a backup when the network is not connected.

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

[0059] 1. The present invention is provided with an information acquisition module. When the present invention is connected to a main device such as a robot and used, if the robot or other main device falls during operation due to a complex environment and external influences, or if the dexterous hand and the main device are working on a high platform and the whole falls due to an operational error, or if the connection between the dexterous hand and the main device is not tight enough and the dexterous hand is separated from the main device and falls, when the dexterous hand collides with an external object during operation, the dexterous hand will trigger a protective action, such as retracting the fingers, deploying 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 trajectory of the dexterous hand and correcting its posture and the speed of the main device in advance according to the safe height at which the dexterous hand might fall, sufficient time can be allowed to execute protective actions before the dexterous hand falls to the ground. By calculating the comprehensive desynchronization score and posture angle difference between the main device and the dexterous hand, it can be determined whether the dexterous hand has collided with external objects other than the target grasped object. By setting a judgment window, some interference values ​​of image judgment can be filtered out, thereby improving the fault tolerance of the dexterous hand protection and avoiding excessive execution of protective actions that reduce the working efficiency of the dexterous hand.

[0061] 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

[0062] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0063] Figure 1 This is a flowchart of a dexterous hand protection device of the present invention;

[0064] Figure 2 This is a flowchart of the dexterous hand information acquisition unit of the present invention;

[0065] Figure 3 is a flowchart 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 accompanying drawings, the components represented by the reference numerals 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 fall information acquisition system, 122-distance measuring 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 DESCRIPTION

[0069] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0070] See also Figure 1-4 The present invention provides a technical solution: a dexterous hand protection method, 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 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;

[0071] The following steps are involved:

[0072] Step 1: The operator manually sets the operating programs of the main device and the dexterous hand through the 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. The data processing unit 210 periodically or continuously collects data from the main device and various sensors of the dexterous hand based on the acquisition frequency and performs data preprocessing;

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

[0075] Step 4: Establish a spatial coordinate system. If the judgment in step 3 indicates that the status of the main device and the dexterous hand is abnormal, the data processing unit 210 sends a control instruction to the control unit 230 to initiate a preset protective action. Otherwise, the process returns to step 2 to continue collecting data. The trajectory of the dexterous hand includes three stages: low risk, medium risk, and high risk. The protective actions include retracting the dexterous hand and deploying the dexterous hand's built-in shock-absorbing structure.

[0076] Step 5: Receive information feedback to ensure the completion of the protection action, and after the above event protection action is completed, control the device to resume normal operation or enter standby mode;

[0077] Step 6: The data processing unit 210 records the operation log and report and saves it 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 log and report will be automatically cleared, but the warning record will be retained.

[0078] The data preprocessing in step 2 includes the following steps:

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

[0080] Step 22: The main device information acquisition unit 110 and the dexterous hand information acquisition unit 120 are both internally integrated with correction sensors. The main device information acquisition unit 110 and the dexterous hand information acquisition unit 120 use the correction sensor output to compensate for any offset or error;

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

[0082] The default protection action of the dexterous hand in step 4 is:

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

[0084] The specific starting conditions for the protection action in step 4 include:

[0085] Step 41: The data processing unit 210 establishes a spatial coordinate system and determines the state of the dexterous hand based on the acceleration data. When the acceleration data acquired by the dexterous hand information acquisition unit 120 is acceleration data of a single axis, it is only necessary to determine whether the dexterous hand has fallen based on the change in the single acceleration data. If the dexterous hand falls or the main device such as the robot falls, the trajectory of the dexterous hand is marked as the first high-risk stage, and the preset protective action is directly initiated.

[0086] Step 42: If the dexterous hand does not fall or the main device such as the robot does not fall, the distance between the dexterous hand and the external object other than the target grasped object, as well as the speed and direction of the dexterous hand are obtained in real time. Different stages are set according to the trajectory of the dexterous hand. Different protection strategies are adopted when the dexterous hand is in different stages, and protection actions are not executed or only partially executed.

[0087] Step 43: Determine 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 initiate a preset protection action. Different stages are set according to the operating data of the dexterous hand and the main device. Different protection strategies are adopted when the dexterous hand is in different stages, and protection actions may not be executed or may be partially executed.

[0088] 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;

[0089] The logging and reporting in step 6 involves saving relevant data of abnormal events for subsequent analysis and improvement.

[0090] The determination method in step 3 includes the following steps:

[0091] Acquiring at least one of the linear acceleration, angular velocity, and height of the dexterous hand through a sensor to obtain at least one of the acceleration magnitude of the dexterous hand, whether the dexterous hand has abnormal rotation, and height change of the dexterous hand, and acquiring the tilt angle of the main device through a sensor;

[0092] Use the set threshold and pattern recognition algorithm to ultimately determine whether the dexterous hand has fallen or whether the main device such as the robot has fallen. For example, analyze the dexterous hand's accelerometer data to check whether there is a situation close to zero g, use gyroscope data to evaluate whether there is abnormal rotation, use the pressure sensor to monitor the rapid descent 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.

[0093] Among them, in step 41, the data processing unit 210 records the trajectory of the dexterous hand in real time and inputs it into the spatial coordinate system. The data processing unit 210 records the time t1 when the dexterous hand is fully contracted and the time t2 when the dexterous hand's built-in shock-absorbing structure is fully deployed. According to the formula The height h1 required for the dexterous hand to fully retract and the height h2 required for the dexterous hand's built-in shock-absorbing structure to fully deploy are calculated. The data processing unit 210 compares the sizes of h1 and h2, marks the height with the smaller value between h1 and h2 as the warning height h3, and marks the height with the larger value between h1 and h2 as the safety height h4. If the height of the dexterous hand falling is lower than the warning height h3, the dexterous hand cannot complete the retraction or the dexterous hand's built-in shock-absorbing structure cannot complete the deployment, and the protection action cannot achieve the protection effect. The dexterous hand needs to assist in adjusting its own posture to shorten the time window for completing the protection action when the dexterous hand falls. If the height of the dexterous hand falling is higher than the safety height h4, it means that the dexterous hand has sufficient time to complete the protection action before falling to the ground, and there is no need to pre-adjust the dexterous hand's own posture. The data processing unit 210 marks the dexterous hand's running trajectory 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 dexterous hand's running trajectory in the spatial 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, and the data processing unit 210 records the movement trajectory of the main device and the dexterous hand, as well as the movement height of the dexterous hand. The data processing unit 210 marks the movement trajectory of the main device and the dexterous hand, as well as 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, so that subsequent staff can view it.

[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, and 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 remains perpendicular to the ground, so as to avoid the dexterous hand from colliding with the ground when it cannot be contracted in time when it falls. When the contraction direction of the dexterous hand cannot be kept perpendicular to the ground, the angle between the contraction direction of the dexterous hand and the ground is kept as large as possible, and the size of the angle approaches 90 degrees. The deployment direction of the built-in shock-absorbing structure of the dexterous hand is kept parallel to the ground. When the dexterous hand falls, the built-in shock-absorbing structure can be fully deployed in time. When the deployment direction of the built-in shock-absorbing structure of the dexterous hand cannot be kept parallel to the ground, the 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 size of the angle 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 retract immediately. At the same time, the control unit 230 controls the built-in shock-absorbing structure of 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 at the same time.

[0097] 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, Ha_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, 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;

[0098] The data processing unit 210 calculates the acceleration difference, angular velocity difference and posture angle difference between the main device and the dexterous hand, and calculates the comprehensive step-out score S sync , the acceleration difference is: The difference in angular velocity 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, i.e. 19.6m / s 2 , THw=50rad / s, THθ max =15°, 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, w1, w2, and w3 are determined according to the specific trajectory of the main device end and the dexterous hand, and the initial values ​​of w1, w2, and w3 are 0.3, 0.3, and 0.4 respectively;

[0099] The data processing unit 210 calculates the comprehensive out-of-step score S sync and attitude angle difference Δθ maxDetermining whether the dexterous hand collides with an external object other than the target grasped object is as follows: the data processing unit 210 divides the trajectory of the dexterous hand into a number of consecutive frames, each of which has a fixed time period of 0.03 seconds. The data processing unit 210 establishes a determination window, the length of which is greater than two consecutive frames, specifically three consecutive frames, and the determination window continuously scans the trajectory of the dexterous hand in chronological order;

[0100] The data processing unit 210 sets conditions 1 and 2, where condition 1 is 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.

[0101] The steps for obtaining the density sp of the 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 trajectory of the dexterous hand into linear displacement and rotation nodes. A cylinder is drawn with the linear displacement line segment as the axis and half the length of the dexterous hand as the diameter. The dexterous hand length is the maximum value of the dexterous hand's three-dimensional dimensions. A sphere is drawn with the rotation node as the sphere center and one-third of the dexterous hand length 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 the movement trajectories of all dexterous hands into the spatial coordinate system, and records the number of overlaps between the first interference area and the second interference area between each movement trajectory during the recording period. The overlapping number of the first interference area is marked as c1, and the overlapping number of the second interference area is marked as c2. The density sp of the movement trajectory of the dexterous hand is obtained according to the formula sp=c1×0.5+c2×0.8.

[0104] A dexterous hand protection device, such as Figure 1-3As shown, 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 fall information acquisition system 121, a distance measurement sensor 122 and a dexterous hand running speed and direction information acquisition system 123.

[0105] 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. 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 obtaining the tilt angle of a main device such as a robot. The unit includes a gyroscope. Specifically, when a main device such as a robot is tilted, the tilt angular velocity of the main device such as the robot can be obtained through the gyroscope, and then the tilt angular velocity is integrated to obtain the tilt angle of the main device such as the robot.

[0107] The main device information acquisition unit 110 is used to acquire recorded data of a 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. When the main device such as a robot is tilted, the main device information acquisition unit 110 can acquire 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 robot or other main device.

[0108] The acceleration (H_ax, Ha_ay, H_az) of the dexterous hand can be obtained through the dexterous hand falling information acquisition system 121, and the angular velocity (H_wx, H_wy, H_wz) and attitude angle (H_Roll, H_Pitch, H_Yaw) of the dexterous hand can be obtained through the dexterous hand running speed and direction information acquisition system 123. The ranging sensor 122 is used to obtain 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 obtaining the spatial position of the dexterous hand in real time, the running trajectory after dexterity 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 falling 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 fall information acquisition system 121 includes at least one of an accelerometer, a gyroscope, an air pressure 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 obtains the infrared synchronization signal of the first positioning base 510 and the second positioning base 520, it resets its own timer to perform time calibration. After the time calibration is completed, 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 obtains the laser signals of the first positioning base 510 and the second positioning base 520 in sequence, and the ranging sensor 122 obtains 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 obtains 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 by using triangulation.

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

[0112] like Figure 4 As shown, the first positioning base 510 and the second positioning base 520 are located in a cube space coordinate system with a length of d. The first positioning base 510 and the second positioning base 520 are respectively fixed to one side above the main device through a bracket with a height of d. A is the main device of the robotic arm, and 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] The horizontal angle θ1 of the first positioning base 510 is known, and the direction of the dexterous hand in the plane where the x-axis and y-axis directions 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 directions are located is That is, H_pz=H_py×tanθ2+d. Substituting the calculation formula of H_py into H_pz, we get H_pz=(H_px×tanθ1+d)×tanθ2+d. The dexterous hand obtains the specific value of H_pz through its integrated air pressure sensor and substitutes it into the formula Get the specific value of H_px, and then substitute the value of H_px into the expression of H_py Get the specific value of H_py and calculate the three-dimensional coordinates of the dexterous hand in the spatial coordinate system;

[0114] The distance sensor 122 is used to detect the distance between the dexterous hand and external objects other than the target grasping object. The dexterous hand movement speed and direction information acquisition system 123 is used to obtain the distance between the dexterous hand and the external object and the movement speed and direction of the dexterous hand. The data obtained by the distance sensor 122 and the dexterous hand movement 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 grasping object.

[0115] To ensure they can accurately capture information about the dexterous hand, various sensors should be installed in appropriate locations. Accelerometers and gyroscopes should be as close to the center of gravity as possible, while air pressure sensors should be exposed to the external environment to accurately sense altitude changes.

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

[0117] The data processing unit 210 is responsible for receiving data from various sensors and using algorithms to analyze and determine the status of the main device and the dexterous hand. The storage unit 220 is used to store the speed, acceleration, distance and other information processed by the data processing unit 210;

[0118] 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 by the data processing unit 210. The control unit 230 is 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 target protection actions to protect the main device and the dexterous hand. The function of the communication unit 240 is to upload the acquired speed, acceleration, distance and other information 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 for receiving status information from the actuator to ensure that the protection action is correctly executed;

[0120] The dexterous hand fall information acquisition system 121 also includes an impact sensor, which acquires impact force data for subsequent analysis and improvement of set thresholds and protective actions;

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

[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 a wireless network communication module 241, which communicates with the host computer through a built-in antenna and an RJ45 network port respectively. The communication unit 240 does not need to be connected to a data cable. It only needs the host computer to support commonly used communication protocols, including modbus, TCP / IP, and UDP, to access the data of the pressure detection device. It can be used as an independent network node device to access the entire motion control system. The wired serial port or USB interface is an interface that requires a cable connection and can be used as a backup when the network is not accessible.

[0123] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A method for protecting dexterous hands, characterized by: The system 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: Set up the operating programs of the main device and the dexterous hand, and initialize 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 the 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 indicates 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 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 operation log and report recorded first will be automatically cleared, but the warning record will be retained; The specific starting conditions for 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 based on the acceleration data; when the acceleration data acquired by the dexterous hand information acquisition unit (120) is acceleration data of a single axis, it is only necessary to determine whether the dexterous hand has fallen based on the change of the single acceleration data. If the dexterous hand falls or the main device falls, 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 external objects other than the target grasped object, as well as the speed and direction of the dexterous hand are obtained in real time. Different stages are set according to the trajectory of the dexterous hand. Different protection strategies are adopted when the dexterous hand is in different stages, and protection actions are not executed or only partially executed. Step 43: Determine 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 initiate a preset protection action. Different stages are set according to the operating data of the dexterous hand and the main device. Different protection strategies are adopted when the dexterous hand is in different stages, and protection actions may not be executed or may be partially executed. 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; In step 41, the data processing unit (210) records the 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 fully contracted and the time t2 when the dexterous hand's built-in shock-absorbing structure is fully deployed, and according to the formula Calculate the height h1 required for the dexterous hand to fully retract and the height h2 required for the dexterous hand's built-in shock-absorbing structure to fully deploy. Compare h1 and h2, and mark the smaller of h1 and h2 as the warning height h3. Mark the larger of h1 and h2 as the safety height h4. Mark the trajectory in the spatial coordinate system below the safety height h4 and above the warning height h3 as the first low-risk stage. Mark the trajectory in the spatial coordinate system below the warning height h3 as the first medium-risk stage. 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, Ha_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), 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, and calculate the comprehensive step-out score , the acceleration difference is: , the angular velocity difference is: , the attitude angle difference is: , the comprehensive step-out score is: , Tha is the acceleration threshold, THw is the angular velocity threshold, is the attitude angle threshold, w1, w2, and w3 are proportional coefficients that satisfy the condition w1+w2+w3=1, random is a random value ranging from 1 to 2.5, and sp is the density of the trajectory of the dexterous hand. 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 loss score and attitude angle difference Determine whether the dexterous hand collides with an external object other than the target grasped object. Specifically, the trajectory of the dexterous hand is divided into several consecutive frames, each of which is a fixed time period. A judgment window is established. The judgment window length is greater than two consecutive frames. The judgment window continuously scans the trajectory of the dexterous hand in chronological order. Set conditions one and two, condition one is , condition 2 is When all consecutive frames in the judgment window meet condition one and condition two, 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 one or condition two, the trajectory of the dexterous hand is marked as the second medium-risk stage. When any consecutive frame in the judgment window meets condition one and condition two, the trajectory of the dexterous hand is marked as the second low-risk stage.

2. A dexterous hand protection method according to claim 1, characterized in that: The determination method in step 3 includes the following steps: Acquiring at least one of the linear acceleration, angular velocity, and height of the dexterous hand through a sensor to determine the acceleration of the dexterous hand, whether the dexterous hand has abnormal rotation, and changes in the height of the dexterous hand, and acquiring the tilt angle of the main device through a sensor; The system uses a set threshold and pattern recognition algorithm to ultimately determine whether the dexterous hand has fallen or whether the main device has fallen. It analyzes the dexterous hand's accelerometer data to check for near-zero-g conditions, uses gyroscope data to assess for abnormal rotation, uses a pressure sensor to monitor rapid altitude descents, and analyzes the main device's tilt angle data. Zero-g conditions are generally free fall, and determines whether the tilt angle is greater than a preset threshold. The data preprocessing in step 2 includes the following steps: Step 21: A digital filter is integrated within the data processing unit (210) 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 default protection action of the dexterous hand in step 4 is: At least one of retracting the fingers, deploying the built-in shock-absorbing structure, and adjusting the posture to reduce damage, and braking the main device; The logging and reporting in step 6 involves saving relevant data of abnormal events for subsequent analysis and improvement.

3. 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, a protection action is executed by the data processing unit (210), the motion trajectory of the main device and the dexterous hand and the motion height of the dexterous hand are recorded, the motion trajectory and the motion height are marked as warning records and saved to 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. 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 expansion direction of the shock-absorbing structure built into 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 expand 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.

4. A dexterous hand protection method according to claim 1, characterized in that: The steps for obtaining the density sp of the dexterous hand's trajectory are as follows: The data processing unit (210) sets a recording period, and splits the 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 center and one-third 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; Input the running trajectories of all dexterous hands into the spatial coordinate system. During the recording period, record the number of overlaps between the first interference area and the second interference area between each running trajectory. The overlap number of the first interference area is marked as c1, and the overlap number of the second interference area is marked as c2. According to the formula Get the density sp of the dexterous hand's trajectory.

5. A dexterous hand protection device, used to implement the dexterous hand protection method according to claim 1, 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), wherein 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).

6. The dexterous hand protection device according to claim 5, 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) includes 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 fall information acquisition system (121) acquires the acceleration (H_ax, Ha_ay, H_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 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, the ranging sensor (122) is installed on the surface of the dexterous hand, and the dexterous hand fall information acquisition system (121) and the dexterous hand running speed and direction information acquisition system (123) are installed inside the dexterous hand.

7. The dexterous hand protection device according to claim 5, characterized in that: The distance measuring sensor (122) resets its own timer to perform time calibration when acquiring the infrared synchronization signals of the first positioning base (510) and the second positioning base (520). 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 acquires 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) via 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 via the communication unit (240), and the control unit (230) is used to control the main device and the dexterous hand to perform a protection action; The control unit (230) includes 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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