Control circuit of dexterous hand, dexterous hand and robot
By designing a smart control circuit, the synchronous acquisition of haptic signals is achieved using a programmable chip and a synchronization signal generation module, the problem of the inability to synchronously collect haptic signals in the prior art is solved and the acquisition rate is improved.
Patent Information
- Application Number
- CN202510259544.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-05
- Publication Date
- 2025-06-20
AI Technical Summary
The existing clever hands cannot collect tactile signals simultaneously, resulting in the synchronization of signal sampling that cannot be guaranteed, and also reduces the frequency of tactile signal sampling.
A smart-hand control circuit is designed, including a programmable chip, a synchronous signal generation module, a first data acquisition module and a plurality of second data acquisition modules. Through the second signal interface and the haptic signal interface, the synchronization signal generation module sends a synchronization trigger signal to the plurality of second data acquisition modules, so that the plurality of second data acquisition modules can acquire the haptic signal synchronously.
The synchronous acquisition of tactile signals by clever hands is achieved, solving the problem that tactile signals cannot be collected simultaneously in the prior art, and at the same time, the rate of tactile signals is improved.
Smart Images
Figure CN120178727A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the technical field of robotic hands, and particularly to a control circuit for a dexterous hand, a dexterous hand, and a robot. Background Art
[0002] A dexterous hand is a robotic hand usually installed on a robot to perform various complex actions such as grasping, holding, pinching, twisting, clamping, and hooking. Currently, popular dexterous hands are equipped with a vision sensor for collecting visual signals and multiple tactile sensors for collecting tactile signals.
[0003] However, the vision sensor of the existing dexterous hand is generally directly connected to the host computer through a data cable, and the host computer calculates, processes, and applies the visual signals. This results in being restricted and limited by the data cable when using the dexterous hand, which is not conducive to the widespread use of the dexterous hand. Moreover, the existing circuit for collecting tactile signals of the dexterous hand only has communication interfaces with unchanged types and quantities, but the quantity and layout structure of the tactile sensors often change according to the design of the dexterous hand. Therefore, it is easy to occur that the communication interfaces cannot match multiple tactile sensors of the dexterous hand, so the collection of tactile signals can only be completed through time-division sampling, resulting in the inability to guarantee the synchronization of tactile signal sampling and also reducing the sampling frequency of tactile signals.
[0004] It can be seen that the existing dexterous hand cannot apply visual signals without the host computer and cannot collect tactile signals synchronously. The signal collection and processing methods have, to a certain extent, affected the widespread use of the dexterous hand. Summary of the Invention
[0005] The purpose of the embodiments of this application is to provide a control circuit for a dexterous hand, a dexterous hand, and a robot to solve the technical problem that the existing dexterous hand cannot collect tactile signals synchronously.
[0006] In a first aspect, the embodiments of this application provide a control circuit for a dexterous hand. The dexterous hand is equipped with a vision sensing unit and multiple tactile sensing units. The vision sensing unit and the tactile sensing unit are respectively provided with a vision signal interface and a tactile signal interface. The control circuit includes:
[0007] A programmable chip, which is arranged inside the dexterous hand. The programmable chip is provided with a synchronization signal generation module, a first data acquisition module, and multiple second data acquisition modules. The first data acquisition module and the second data acquisition modules are respectively provided with a first signal interface and a second signal interface. The first signal interface is communicatively connected to the vision signal interface, the second signal interface is communicatively connected to the tactile signal interface, and the synchronization signal generation module is communicatively connected to the multiple second data acquisition modules.
[0008] Optionally, the programmable chip is an FPGA chip;
[0009] And / or, the synchronization signal generation module is communicatively connected to the first data acquisition module;
[0010] And / or, the vision signal interface is a USB interface, and the first signal interface is provided with a D+ pin and a D- pin communicatively connected to the vision signal interface;
[0011] And / or, the tactile sensing unit includes a plurality of tactile sensors, and the plurality of tactile sensors are communicatively connected to the second signal interface through the tactile signal interface.
[0012] Optionally, the tactile signal interface is an SPI communication interface, and the second signal interface is provided with a CS pin, a CLK pin, a MOSI pin, and a MISO pin communicatively connected to the tactile signal interface;
[0013] Or, the tactile signal interface is an I2C communication interface, and the second signal interface is provided with a CLK pin and an SDA pin communicatively connected to the tactile signal interface;
[0014] Or, the tactile signal interface is a UART communication interface, and the second signal interface is provided with a TX pin and an RX pin communicatively connected to the tactile signal interface.
[0015] Optionally, the programmable chip is further provided with a data processing unit, and the data processing unit is communicatively connected to the first data acquisition module and the second data acquisition module respectively.
[0016] Optionally, the programmable chip is further provided with a processor, a shared memory, and a control signal interface. The processor performs data interaction with the data processing unit through the shared memory, and the control signal interface is communicatively connected to the processor.
[0017] Optionally, the processor is an MCU.
[0018] Optionally, the control circuit further includes a host computer, the programmable chip is provided with a data compression unit, and the host computer is communicatively connected to the data compression unit.
[0019] Optionally, the host computer and the data compression unit are communicatively connected through EtherCat.
[0020] In a second aspect, an embodiment of the present application further provides a dexterous hand, and the dexterous hand includes the control circuit, the vision sensing unit, and a plurality of tactile sensing units of the dexterous hand as described above.
[0021] In a third aspect, an embodiment of the present application further provides a robot, and the robot includes the dexterous hand as described above.
[0022] Compared with the prior art, the embodiments of the present application mainly have the following beneficial effects:
[0023] The control circuit of the dexterous hand in the embodiments of the present application is communicatively connected to the vision signal interface through the first signal interface, enabling the first data acquisition module to acquire the vision signals detected by the vision sensing unit of the dexterous hand; it is communicatively connected to the tactile signal interface through the second signal interface, enabling the second data acquisition module to acquire the tactile signals detected by the tactile sensing unit of the dexterous hand; and since the programmable chip is provided with a synchronization signal generation module, and the synchronization signal generation module is communicatively connected to multiple second data acquisition modules, the synchronization signal generation module can send synchronization trigger signals to the multiple second data acquisition modules, enabling the multiple second data acquisition modules to synchronously acquire the tactile signals of the dexterous hand according to the synchronization trigger signals, solving the technical problem that the existing dexterous hands cannot synchronously acquire tactile signals. BRIEF DESCRIPTION OF THE DRAWINGS
[0024] In order to more clearly illustrate the solutions in the present application, the following will briefly introduce the drawings required for the description of the embodiments of the present application. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.
[0025] Figure 1 It is a schematic diagram of the frame structure of the control circuit of the dexterous hand provided by an embodiment of the present application;
[0026] Figure 2 It is a schematic diagram of the circuit connection of the control circuit of the dexterous hand provided by an embodiment of the present application;
[0027] Figure 3 It is a schematic diagram of the circuit connection of the control circuit of the dexterous hand provided by another embodiment of the present application;
[0028] Figure 4 It is a schematic diagram of the circuit connection between the second signal interface and the tactile signal interface of the control circuit of the dexterous hand provided by an embodiment of the present application;
[0029] Figure 5 It is a schematic diagram of the circuit connection between the second signal interface and the tactile signal interface of the control circuit of the dexterous hand provided by another embodiment of the present application;
[0030] Figure 6 It is a schematic diagram of the circuit connection between the second signal interface and the tactile signal interface of the control circuit of the dexterous hand provided by still another embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs; the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above drawings are intended to cover non-exclusive inclusion. The terms "first", "second", etc. in the specification and claims of this application or the above drawings are used to distinguish different objects and not to describe a specific order.
[0032] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of this application. The phrase does not necessarily refer to the same embodiment at every occurrence in the specification, nor is it an independent or alternative embodiment mutually exclusive of other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.
[0033] In order to enable those skilled in the technical field to better understand the solution of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.
[0034] Please refer to Figure 1-6 , the first part of the embodiment of this application provides a control circuit for a dexterous hand. The dexterous hand generally refers to a robotic hand that is usually arranged on a robot to perform various complex actions such as grasping, holding, pinching, twisting, clamping, hooking, etc. The dexterous hand is provided with a visual sensing unit for detecting visual signals and a plurality of tactile sensing units for detecting tactile signals. The visual sensing unit can specifically be various camera modules capable of detecting visual signals, and the tactile sensing unit can specifically be a single tactile sensor capable of detecting tactile signals or a tactile sensor module composed of a plurality of tactile sensors. Among them, the visual signal refers to image information or information such as pose calculated from the image information; the tactile signal refers to one or more of the information such as the magnitude of force, the direction of force, the position of the point of application of force, the number of forces, the deformation information of the object surface, temperature information, texture information, hardness, mass distribution, etc. The visual sensing unit and the tactile sensing unit of the dexterous hand are respectively provided with a visual signal interface and a tactile signal interface for enabling the detected visual signal and tactile signal to be respectively sent to the following first signal interface and second signal interface through the visual signal interface and the tactile signal interface.
[0035] A programmable chip is also provided inside the dexterous hand. Specifically, the programmable chip can be arranged in the internal installation space of the dexterous hand to better prevent dust, pollution and facilitate circuit connection.
[0036] It should be noted that the programmable chip here refers to a type of chip that contains programmable logic units internally and can define the functions and behaviors of the programmable logic units by programming with a hardware description language, thereby enabling different circuit designs. For example, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field programmable gate arrays (FPGAs), etc. In the embodiments of the present application, the programmable chip selects an FPGA chip.
[0037] The control circuit of the dexterous hand includes the above-mentioned programmable chip. The programmable chip is provided with a synchronization signal generation module, a first data acquisition module, and multiple second data acquisition modules. Among them, the synchronization signal generation module refers to a module set on the programmable chip for generating multiple channels of synchronization trigger signals (SYNC). The multiple channels of synchronization trigger signals are used to enable multiple data acquisition modules (such as multiple second data acquisition modules) set on the programmable chip to perform synchronous sampling on data. When the multiple data acquisition modules set on the programmable chip receive the synchronization trigger signal, they can immediately start synchronous sampling of the data until a single data sampling is completed, and when they receive the synchronization trigger signal again, they can start synchronous sampling of the data again.
[0038] The synchronization signal generation module is communicatively connected to the multiple second data acquisition modules, so that the synchronization signal generation module can send synchronization trigger signals to the multiple second data acquisition modules, thereby enabling the multiple second data acquisition modules to start synchronous sampling after receiving the synchronization trigger signals.
[0039] The first data acquisition module and the second data acquisition module are respectively provided with a first signal interface and a second signal interface. The first signal interface is communicatively connected to the vision signal interface, so that the first data acquisition module can acquire the vision signals detected by the vision sensing unit; the second signal interface is communicatively connected to the tactile signal interface, so that the second data acquisition module can acquire the tactile signals detected by the tactile sensing unit. It can be understood that since the multiple second data acquisition modules all receive the synchronization trigger signals sent by the synchronization signal generation module, the multiple second data acquisition modules can perform synchronous sampling when acquiring tactile signals.
[0040] The control circuit of the dexterous hand according to the embodiment of the present application is communicatively connected to the vision signal interface through the first signal interface, enabling the first data acquisition module to acquire the vision signals detected by the vision sensing unit of the dexterous hand; it is communicatively connected to the tactile signal interface through the second signal interface, enabling the second data acquisition module to acquire the tactile signals detected by the tactile sensing unit of the dexterous hand; and since a synchronization signal generation module is provided on the programmable chip and the synchronization signal generation module is communicatively connected to multiple second data acquisition modules, the synchronization signal generation module can send synchronization trigger signals to the multiple second data acquisition modules, enabling the multiple second data acquisition modules to synchronously acquire the tactile signals of the dexterous hand according to the synchronization trigger signals, solving the technical problem that the existing dexterous hand cannot synchronously acquire tactile signals. At the same time, compared with the existing method of completing the acquisition of the tactile signals of the dexterous hand through time-division sampling, the control circuit of the dexterous hand according to the embodiment of the present application also has a higher rate of acquiring tactile signals. Moreover, since the vision sensing unit of the dexterous hand is communicatively connected to the first signal interface through the vision signal interface, and the first signal interface is provided on the programmable chip, and the programmable chip is disposed within the dexterous hand, the acquisition of the vision signals of the dexterous hand can be performed independently of the data line (connecting the vision sensing unit), which is conducive to the wide application of the dexterous hand.
[0041] In addition, the programmable chip can change its communication interface by writing a hardware description language (such as Verilog or VHDL) to adapt to different types of communication protocols. Therefore, the type of the first signal interface can be set according to the type of the vision signal interface of the vision sensing unit, and the type of the second signal interface can be set according to the type of the tactile signal interface of the tactile sensing unit. When the communication protocol type of the vision signal interface or the tactile signal interface changes, only by programming to correspondingly change the communication protocol type of the first signal interface or the second signal interface to correspond to it, it can be ensured that the first data acquisition module can successfully acquire the vision signals and the second data acquisition module can successfully acquire the tactile signals. Thus, the control circuit of the dexterous hand according to the embodiment of the present application can be connected to different types of vision signal interfaces and tactile signal interfaces, adapting to the characteristics of large variations in the tactile signal interface and the vision signal interface of the dexterous hand.
[0042] Please refer to Figure 3 , in one embodiment, the synchronization signal generation module is communicatively connected to the first data acquisition module, enabling the synchronization signal generation module to send synchronization trigger signals to the first data acquisition module. Since the synchronization signal generation module also sends synchronization trigger signals to multiple second data acquisition modules, the control circuit of the dexterous hand in this embodiment can achieve synchronous acquisition of vision signals and multiple tactile signals.
[0043] It should be noted that since the formats and sizes of visual signals and tactile signals are different, the rates at which the first data acquisition module acquires visual signals and the second data acquisition module acquires tactile signals are also different. Therefore, it is necessary to reasonably set the interval time for the first data acquisition module to acquire visual signals and the interval time for the second data acquisition module to acquire tactile signals, so that when each pair of tactile signals completes N (N is a positive integer) synchronous samplings, one synchronous sampling of visual signals is completed, thereby achieving synchronous acquisition of visual signals and multiple tactile signals. Exemplarily, in some embodiments, N can be taken as 50, so that when each pair of tactile signals completes 50 synchronous samplings, one synchronous sampling of visual signals is completed.
[0044] Please refer to Figure 4 , in one embodiment, the tactile signal interface is an SPI communication interface, and the second signal interface is provided with a CS pin, a CLK pin, a MOSI pin, and a MISO pin that are communicatively connected to the tactile signal interface. Among them, the CS pin is used to enable the second signal interface to select a specific tactile signal interface; the CLK pin is used to provide a clock signal for SPI communication, and the second signal interface sends a clock signal to the tactile signal interface through the CLK pin to control the data transfer rate between the two; the MOSI pin is used to enable the second signal interface to send data to the tactile signal interface, and the MISO pin is used to enable the tactile signal interface to send data to the second signal interface. The second signal interface is also provided with a VCC pin as a power supply pin to provide the required DC power for SPI communication; the second signal interface is also provided with a GND pin as a ground pin to provide a common ground reference point for SPI communication to ensure that both communication parties have the same potential reference. It can be understood that by setting the tactile signal interface as an SPI communication interface, the tactile signal interface that needs to communicate with the second signal interface can be selected by pulling low or pulling high the CS pin, so that the control circuit of the dexterous hand in this embodiment can selectively acquire the tactile signals detected by multiple tactile sensing units.
[0045] Please refer to Figure 5 , in one embodiment, the tactile signal interface is an I2C communication interface, and the second signal interface is provided with a CLK pin and an SDA pin that are communicatively connected to the tactile signal interface. Among them, the SDA pin is used to enable two-way data transfer between the second signal interface and the tactile signal interface, and the CLK pin is used to provide a synchronous clock signal for data transfer between the second signal interface and the tactile signal interface, so that the control circuit of the dexterous hand in this embodiment can acquire the tactile signals detected by the tactile sensing unit through the second signal interface and the tactile signal interface. The second signal interface is also provided with a VCC pin as a power supply pin to provide the required DC power for I2C communication; the second signal interface is also provided with a GND pin as a ground pin to provide a common ground reference point for I2C communication to ensure that both communication parties have the same potential reference.
[0046] Please refer to Figure 6 In one embodiment, the tactile signal interface is a UART communication interface. The second signal interface is provided with a TX pin and an RX pin that are communicatively connected to the tactile signal interface. The TX pin, as the data transmission pin, is responsible for converting the parallel data inside the second signal interface into serial data and sending it to the tactile signal interface. The RX pin, as the data reception pin, is responsible for receiving the serial data from the tactile signal interface and converting it into parallel data for internal processing by the second signal interface. The second signal interface is also provided with a VCC pin as the power supply pin to provide the required DC power for UART communication. The second signal interface is further provided with a GND pin as the ground pin to provide a common ground reference point for UART communication, ensuring that both communication parties have the same potential reference.
[0047] Please refer to Figure 2-3 In one embodiment, the visual signal interface of the visual sensing unit is a USB interface. The first signal interface is provided with a D+ pin and a D- pin that are communicatively connected to the visual signal interface, enabling the visual signal interface to transmit visual signals based on the voltage difference between the D+ pin and the D- pin, which helps improve noise immunity and data integrity and achieve stable transmission of visual signals. The first signal interface is also provided with a VCC pin as the power supply pin and a GND pin as the ground pin.
[0048] In some other embodiments, the visual signal interface of the visual sensing unit can also be set to other communication interfaces capable of transmitting visual signals. For example, the visual signal interface can be set to a MIPI (Mobile Industry Processor Interface) interface.
[0049] In one embodiment, the tactile sensing unit includes a plurality of tactile sensors, each of which is used to collect tactile signals. The plurality of tactile sensors are communicatively connected to the second signal interface through the tactile signal interface. Exemplarily, each tactile sensor is provided with an SPI communication interface, and the SPI communication interfaces of the plurality of tactile sensors form the tactile signal interface, enabling the plurality of tactile sensors to communicate with the second signal interface through the tactile signal interface. For example, in Figure 2-3 the upper right shows the specific structure in which a tactile sensing unit composed of two tactile sensors forms a tactile signal interface through the SPI communication interfaces of the two tactile sensors and communicates with the second signal interface.
[0050] Please refer to Figure 1, in one embodiment, the programmable chip is further provided with a data processing unit, and the data processing unit is respectively communicatively connected to the first data acquisition module and the second data acquisition module, so that the data processing unit can perform computational processing on the data acquired by the first data acquisition module and / or the second data acquisition module. It should be noted that the specific meaning of "the data processing unit is respectively communicatively connected to the first data acquisition module and the second data acquisition module" here refers to that the data processing unit can respectively read the data acquired by the first data acquisition module and the second data acquisition module. For example, the data processing unit can directly read the data acquired by the first data acquisition module and the second data acquisition module in the form of on-chip address operation based on the programmable logic unit, wiring resources, and storage unit of the programmable chip.
[0051] Understandably, after the first data acquisition module acquires the visual signal detected by the vision sensing unit through the first signal interface, since it is communicatively connected to the data processing unit, it can send the visual signal to the data processing unit, so that the data processing unit can perform corresponding computational processing on the visual signal; after the second data acquisition module acquires the tactile signal detected by the tactile sensing unit through the second signal interface, since it is also communicatively connected to the data processing unit, it can send the tactile signal to the data processing unit, so that the data processing unit can perform corresponding computational processing on the tactile signal. It should be noted that the specific methods for the data processing unit to perform computational processing on the tactile signal and the visual signal adopt the existing methods for performing computational processing on the tactile signal and the visual signal. For example, the method for the data processing unit to perform computational processing on the visual signal can be ISP processing, image distortion calibration, image segmentation, image recognition, image calibration, and image feature analysis on the image data, and the method for the data processing unit to perform computational processing on the tactile signal can be multi-tactile fusion, tactile feature analysis and calibration, etc.
[0052] Please refer to Figure 1 , in one embodiment, the programmable chip is further provided with a processor and a shared memory, and the processor performs data interaction with the data processing unit through the shared memory, so that the processor can obtain the visual signal and the tactile signal that have been computationally processed by the data processing unit, so that the processor can generate a control command for controlling the movement of the dexterous hand according to the acquired visual signal and tactile signal. Exemplarily, the specific method for the processor to perform data interaction with the data processing unit through the shared memory can be: after the data processing unit finishes computational processing of the data, it stores the data in the shared memory in a predefined format, and the processor reads the stored data according to the predefined format.
[0053] Specifically, in one embodiment, the processor selects an MCU (Microcontroller Unit). The volume and power consumption of the MCU are relatively small, which is convenient to be set on the programmable chip.
[0054] In some other embodiments, the processor can also be a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit).
[0055] Please refer to Figure 1 , in one embodiment, the programmable chip is further provided with a control signal interface, and the control signal interface is communicatively connected to the processor, so that the control signal interface can receive the control commands generated by the processor to control the actions of the dexterous hand, realizing the control of the dexterous hand. Thus, the control circuit of the dexterous hand in this embodiment independently realizes the control of the dexterous hand, that is, realizes the edge application of the collected data, enabling the collected visual signals and tactile signals to be applied independently at the dexterous hand end without relying on the host computer. In other words, compared with the prior art, it is not necessary to send the visual signals detected by the visual sensing unit and the tactile signals detected by the tactile sensing unit to the host computer to realize the control of the dexterous hand, thereby making the circuit for controlling the dexterous hand simpler and facilitating the wide use of the dexterous hand in different scenarios.
[0056] Specifically, the dexterous hand can be provided with a driving device, and the control signal interface is communicatively connected to the driving device, so that the control signal interface can send control commands to the driving device to adjust the working parameters of the driving device, thereby realizing the control of the actions of the dexterous hand.
[0057] Please refer to Figure 1 , in one embodiment, the control circuit further includes a host computer, and the programmable chip is provided with a data compression unit. The data compression unit is used to compress the data collected by the first data acquisition module and the second data acquisition module (i.e., visual signals and tactile signals) respectively and then merge them to form data to be transmitted. The host computer is communicatively connected to the data compression unit, so that the host computer can receive this data to be transmitted.
[0058] It should be noted that the process of the data compression unit compressing the data collected by the first data acquisition module and the second data acquisition module respectively and then merging them to form data to be transmitted adopts existing data compression and data merging methods.
[0059] Understandably, the data collected by the first data acquisition module and the second data acquisition module are respectively compressed by the data compression unit and then merged to form the data to be transmitted, which can reduce the size of the data to be transmitted, enabling the programmable chip to transmit data to the host computer at a higher rate. Compared with the prior art data transmission method of separately transmitting tactile signals and visual signals, it is beneficial to more quickly send the visual signals and tactile signals of the dexterous hand to the host computer for the host computer to use. Moreover, the host computer can receive all the visual signals and tactile signals on the dexterous hand through a single transmission path, which also better meets the current requirement of the dexterous hand for multi-modal perception.
[0060] In one embodiment, the host computer and the data compression unit are communicatively connected through EtherCat. Since the communication latency of EtherCAT is very low, usually at the microsecond level, real-time and accurate data transmission can be achieved. Moreover, EtherCAT communication supports data transmission speeds of up to 100 Mbps or even higher, thus ensuring that the data transmission speed meets the usage requirements. In addition, EtherCAT communication also has strong anti-interference capabilities, can effectively resist interference factors such as electromagnetic interference and noise, and ensure the stability and reliability of the data, making it suitable for transmitting the visual signals and tactile signals of the dexterous hand.
[0061] Please refer to Figure 1 , in one embodiment, the host computer is communicatively connected to the processor through EtherCat, and the processor conducts data interaction with the data compression unit through shared memory, thereby realizing the EtherCat communication connection between the host computer and the data compression unit.
[0062] Specifically, the data compression unit can be set as a sub-unit of the above-mentioned data processing unit in the data processing unit, facilitating the processor to conduct data interaction with the data compression unit through shared memory, and also enabling the data compression unit to respectively compress and then merge the visual signals and tactile signals calculated and processed by the data processing unit to form the data to be transmitted, so that the data to be transmitted sent by the data compression unit to the host computer can be more easily processed and used by the host computer.
[0063] In some other embodiments, the host computer and the data compression unit can also be communicatively connected through other communication protocols, such as network protocols.
[0064] The second part of the embodiments of the present application provides a dexterous hand, which includes the control circuit, programmable chip, visual sensing unit, and multiple tactile sensing units of the dexterous hand in the above embodiments. The visual sensing unit is communicatively connected to the first signal interface, and the tactile sensing unit is communicatively connected to the second signal interface.
[0065] The dexterous hand according to the embodiment of the present application is provided with the control circuit of the dexterous hand in the above embodiment, so it can also synchronously collect the tactile signals of the dexterous hand, solving the technical problem that the existing dexterous hand cannot synchronously collect tactile signals.
[0066] The third part of the embodiment of the present application further provides a robot, and the robot includes the dexterous hand in the above embodiment.
[0067] The robot according to the embodiment of the present application is provided with the dexterous hand in the above embodiment, so it can also synchronously collect the tactile signals of the dexterous hand, solving the technical problem that the existing dexterous hand cannot synchronously collect tactile signals.
[0068] Obviously, the embodiments described above are only a part of the embodiments of the present application, rather than all of the embodiments. The accompanying drawings show the preferred embodiments of the present application, but do not limit the scope of the patent of the present application. The present application can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosed content of the present application more thorough and comprehensive. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or perform equivalent replacements on some of the technical features. Any equivalent structure directly or indirectly using the content of the specification and drawings of the present application in other related technical fields is similarly within the scope of the patent protection of the present application.
Claims
1. A control circuit of a dexterous hand, wherein the dexterous hand is provided with a visual sensing unit and a plurality of tactile sensing units, wherein the visual sensing unit and the tactile sensing unit are provided with a visual signal interface and a tactile signal interface respectively, wherein: The control circuit comprises: A programmable chip, wherein the programmable chip is arranged in the dexterous hand, and the programmable chip is provided with a synchronization signal generating module, a first data acquisition module and a plurality of second data acquisition modules, the first data acquisition module and the second data acquisition module are respectively provided with a first signal interface and a second signal interface, the first signal interface is communicatively connected with the visual signal interface, the second signal interface is communicatively connected with the tactile signal interface, and the synchronization signal generating module is communicatively connected with the plurality of second data acquisition modules.
2. The control circuit of the dexterous hand according to claim 1, characterized in that: The programmable chip is an FPGA chip; And / or, the synchronization signal generating module is communicatively connected with the first data acquisition module; And / or, the visual signal interface is a USB interface, and the first signal interface is provided with a D+ pin and a D- pin communicatively connected to the visual signal interface; And / or, the tactile sensing unit includes a plurality of tactile sensors, and the plurality of tactile sensors are communicatively connected to the second signal interface via the tactile signal interface.
3. The control circuit of the dexterous hand according to claim 1, characterized in that: The tactile signal interface is an SPI communication interface, and the second signal interface is provided with a CS pin, a CLK pin, a MOSI pin and a MISO pin which are communicatively connected to the tactile signal interface; Alternatively, the tactile signal interface is an I2C communication interface, and the second signal interface is provided with a CLK pin and an SDA pin which are communicatively connected to the tactile signal interface; Alternatively, the tactile signal interface is a UART communication interface, and the second signal interface is provided with a TX pin and a RX pin communicatively connected to the tactile signal interface.
4. The control circuit of the dexterous hand according to claim 1, characterized in that: The programmable chip is also provided with a data processing unit, and the data processing unit is respectively connected to the first data acquisition module and the second data acquisition module for communication.
5. The control circuit of the dexterous hand according to claim 4, characterized in that: The programmable chip is also provided with a processor, a shared memory and a control signal interface. The processor performs data exchange with the data processing unit through the shared memory, and the control signal interface is communicatively connected with the processor.
6. The control circuit of the dexterous hand according to claim 5, characterized in that: The processor is MCU.
7. The control circuit of the dexterous hand according to claim 1, characterized in that: The control circuit also includes a host computer. The programmable chip is provided with a data compression unit. The host computer and the data compression unit are in communication connection.
8. The control circuit of the dexterous hand according to claim 7, characterized in that: The host computer and the data compression unit are connected via EtherCat communication.
9. A dexterous hand, characterized in that: The dexterous hand comprises the control circuit of the dexterous hand according to any one of claims 1 to 8, a programmable chip, a visual sensing unit and a plurality of tactile sensing units.
10. A robot, characterized in that: The robot comprises the dexterous hand according to claim 9.