Dexterous hand data acquisition method and device, chip and storage medium

Abstract

The invention provides a dexterous hand data acquisition method and device, a chip and a storage medium, and is applied to a dexterous hand, the dexterous hand comprises a plurality of finger mechanisms, and the method comprises the following steps: in a first period, reading sensing data acquired by each sensor in a first sensor group in a time-sharing manner through a first interface, the first interface is an interface connected with a sensor in the first finger mechanism, the first finger mechanism is any one of the plurality of finger mechanisms, and the first sensor group comprises a plurality of position sensors and a first touch sensor in the first finger mechanism; and in a second period, sensing data collected by each sensor in the second sensor group is read in a time-sharing mode through the first interface, the second period is the next period of the first period, and the second sensor group comprises a plurality of position sensors and a second touch sensor in the first finger mechanism. According to the technical scheme, the updating rate requirements of different types of sensing data can be met, and the communication bandwidth is saved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of data acquisition, in particular to a dexterous hand data acquisition method and device, a chip and a storage medium. BACKGROUND

[0002] In the field of embodied intelligent robots, a dexterous hand that can quickly respond and accurately control is one of the key points. Through the position sensor, the motion state (such as angle, displacement) of the dexterous hand finger joint can be monitored in real time, and the dexterous hand driving system and transmission structure can be cooperated to realize high-precision motion control. The tactile sensor can provide multi-dimensional force feedback (pressure, friction, etc.), and improve the ability and reliability of object grasping in complex environments (such as visual perception being disturbed by light, irregular object shape, etc.).

[0003] Each finger of the dexterous hand is provided with a position sensor and a tactile sensor, and how to acquire the sensing data collected by these sensors in the dexterous hand to determine the state of the dexterous hand and control the dexterous hand becomes a technical problem to be solved. SUMMARY

[0004] The present application provides a dexterous hand data acquisition method, device, chip and storage medium, which aims to acquire sensing data in the dexterous hand.

[0005] In a first aspect, a dexterous hand data acquisition method is provided, applied to a dexterous hand, the dexterous hand comprising a plurality of finger mechanisms, each finger mechanism being provided with a first tactile sensor, a second tactile sensor and a plurality of position sensors, the first tactile sensor, the second tactile sensor and the plurality of position sensors in the same finger mechanism being connected with the same interface, and the method comprising: In a first period, reading the sensing data collected by each sensor in a first sensor group through a first interface in time, wherein the first interface is an interface connected with the sensors in a first finger mechanism, the first finger mechanism is any finger mechanism in the plurality of finger mechanisms, and the first sensor group comprises the plurality of position sensors and the first tactile sensor in the first finger mechanism; In a second period, reading the sensing data collected by each sensor in a second sensor group through the first interface in time, wherein the second period is the next period of the first period, and the second sensor group comprises the plurality of position sensors and the second tactile sensor in the first finger mechanism.

[0006] In the technical solution, the plurality of position sensors and the plurality of tactile sensors in the same finger mechanism of the dexterous hand are connected with the same interface, in the first period, the sensing data collected by each sensor in the first sensor group is read by the first interface in time, and in the second period, the sensing data collected by each sensor in the second sensor group is read by the first interface in time, the second period is the next period of the first period, since the first sensor group includes the plurality of position sensors and the first tactile sensor in the first finger mechanism, and the second sensor group includes the plurality of position sensors and the second tactile sensor in the first finger, that is, in each period, the sensing data collected by all the position sensors in the finger mechanism and the sensing data collected by one tactile sensor in the finger mechanism are read, so that all the position sensing data corresponding to the finger mechanism is obtained in each period, and all the tactile sensing data corresponding to the finger mechanism is obtained in a plurality of periods, the reading rate of the position sensing data in the finger mechanism can be improved according to the priority of data acquisition, so as to adapt to the update rate requirement of different types of sensing data, and communication bandwidth can be saved.

[0007] With reference to the first aspect, in a possible implementation manner, the reading, in the first period, of the sensing data collected by each sensor in the first sensor group by the first interface in time comprises: reading, in time, the sensing data collected by each sensor in the first sensor group by the first interface in response to a target timing interrupt signal, the target timing interrupt signal being a timing interrupt signal with the highest priority.

[0008] Reading the sensing data collected by the plurality of position sensors and the one tactile sensor in the finger mechanism based on the timing interrupt signal with the highest priority can ensure the highest priority of sensing data reading, and is beneficial to the real-time performance and accuracy of the sensing data.

[0009] With reference to the first aspect, in a possible implementation manner, after the reading, in the first period, of the sensing data collected by each sensor in the first sensor group by the first interface in time, the method further comprises: performing data operation on the sensing data collected by the position sensors in the first sensor group to obtain position data of the first finger mechanism in the first period.

[0010] The position data of the finger mechanism is obtained by performing data operation on the position sensing data collected in one period, so that the real-time performance and accuracy of the position data of the finger mechanism can be improved.

[0011] With reference to the first aspect, in a possible implementation manner, after the reading of the sensing data collected by each sensor in the second sensor group through the first interface in the second period, the method further includes: generating a haptic sensor data packet according to the sensing data collected by each haptic sensor in the plurality of finger mechanisms in the first period and the second period; and sending the haptic sensor data packet to a task control system.

[0012] After the sensing data collected by the haptic sensors of each finger is obtained through a plurality of periods, the haptic sensor data packet is generated and sent to the task control system, so that the task control system generates a corresponding control task or control instruction, thereby realizing the control of the dexterous hand.

[0013] With reference to the first aspect, in a possible implementation manner, the generating of the haptic sensor data packet according to the sensing data collected by each haptic sensor in the plurality of finger mechanisms in the first period and the second period includes: obtaining a first sensing data set from the sensing data collected by each haptic sensor in the plurality of finger mechanisms in the first period and the second period, the first sensing data set including a plurality of sensing data belonging to the same finger mechanism; and generating the haptic sensor data packet according to the interface identifier corresponding to the first sensor data set, the plurality of sensing data in the first sensing data set, and the sensor identifier corresponding to each of the plurality of sensing data in the first sensing data set.

[0014] The haptic sensor data packet is generated according to the sensing data collected by the haptic sensors of one finger mechanism, which reduces the amount of data in the data packet and facilitates the task control system to directly perceive the haptic state of each finger mechanism according to each haptic sensor data packet.

[0015] With reference to the first aspect, in a possible implementation manner, before the generating of the haptic sensor data packet according to the interface identifier corresponding to the first sensor data set, the plurality of sensing data in the first sensing data set, and the sensor identifier corresponding to each of the plurality of sensing data in the first sensing data set, the method further includes: generating a check code according to the interface identifier corresponding to the first sensor data set, the plurality of sensing data in the first sensing data set, and the sensor identifier corresponding to each of the plurality of sensing data in the first sensing data set; and the generating of the haptic sensor data packet according to the interface identifier corresponding to the first sensor data set, the plurality of sensing data in the first sensing data set, and the sensor identifier corresponding to each of the plurality of sensing data in the first sensing data set includes: generating the haptic sensor data packet according to the interface identifier corresponding to the first sensor data set, the plurality of sensing data in the first sensing data set, the sensor identifier corresponding to each of the plurality of sensing data in the first sensing data set, and the check code.

[0016] Before generating the data packet, a check code is generated, and the haptic sensor data packet is generated according to the check code and the sensor data, so that the task control system checks the accuracy of the sensor data.

[0017] With reference to the first aspect, in a possible implementation manner, the method further includes: in the first period, reading, by a second interface, sensor data collected by each sensor in a third sensor group in time; the second interface is an interface connected with sensors in a second finger mechanism, the second finger mechanism is any finger mechanism in the plurality of finger mechanisms except the first finger mechanism, and the third sensor group includes a plurality of position sensors and a first haptic sensor in the second finger mechanism; and performing data operation on the sensor data collected by the position sensors in the third sensor group to obtain position data of the second finger mechanism in the first period.

[0018] In the same period, sensor data collected by a plurality of position sensors of other finger mechanisms is also acquired through other interfaces and data operation is performed, so that position data of all fingers of the dexterous hand can be obtained in one period, thereby facilitating better control of the dexterous hand.

[0019] In a second aspect, a dexterous hand data acquisition device is provided and applied to a dexterous hand, the dexterous hand including a plurality of finger mechanisms, each of the finger mechanisms being provided with a first haptic sensor, a second haptic sensor and a plurality of position sensors, the first haptic sensor, the second haptic sensor and the plurality of position sensors in the same finger mechanism being connected with the same interface. The device includes: The time-sharing reading module is configured to read, in a first period, sensor data collected by each sensor in a first sensor group in time through a first interface, the first interface being an interface connected with sensors in a first finger mechanism, the first finger mechanism being any finger mechanism in the plurality of finger mechanisms, and the first sensor group including a plurality of position sensors and a first haptic sensor in the first finger mechanism. The time-sharing reading module is further configured to read, in a second period, sensor data collected by each sensor in a second sensor group in time through the first interface, the second period being a next period of the first period, and the second sensor group including a plurality of position sensors and a second haptic sensor in the first finger mechanism.

[0020] In a third aspect, a master chip is provided, comprising a memory and a processor, the memory being connected to the processor, the processor being configured to execute one or more computer programs stored in the memory, and the processor, when executing the one or more computer programs, causes the master chip to perform the dexterous hand data acquisition method of the first aspect.

[0021] In a fourth aspect, a computer-readable storage medium is provided, which stores a computer program, and the computer program comprises program instructions, and the program instructions, when executed by a processor, cause the processor to perform the dexterous hand data acquisition method of the first aspect.

[0022] The present application can achieve the following technical effects: in each cycle, the sensing data collected by all position sensors in the finger mechanism is read, and the sensing data collected by one of the tactile sensors in the finger mechanism is read, so that all position sensing data corresponding to the finger mechanism is obtained in each cycle, and all tactile sensing data corresponding to the finger mechanism is obtained in multiple cycles, the reading rate of the position sensing data in the finger mechanism can be improved according to the priority of data acquisition, so as to adapt to the update rate requirements of different types of sensing data, and communication bandwidth can be saved. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the description of the embodiments of the present application will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0024] Figure 1 and Figure 2 is a schematic diagram of the connection mode of the sensors in the dexterous hand; Figure 3 and Figure 4 is a schematic diagram of the connection scheme of the sensors in the dexterous hand provided by the embodiments of the present application; Figure 5 is a flowchart of a dexterous hand data acquisition method provided by the embodiments of the present application; Figure 6 is a structural schematic diagram of a dexterous hand data acquisition device provided by the embodiments of the present application Figure 7 is a structural schematic diagram of a master chip provided by the embodiments of the present application. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not used to limit the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of the present application.

[0026] It should be noted that the various features in the embodiments of the present application can be combined with each other without conflict, and all fall within the protection scope of the present application. In addition, although the functional modules are divided in the device schematic diagram, and the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order from the module division in the device or the order in the flowchart. Furthermore, the "first", "second", "third" and the like used in the present application do not limit the data and execution order, but only distinguish the same items or similar items with basically the same function and effect.

[0027] The dexterous hand is a key component in the field of robotics, and its mechanical structure refers to the human hand anatomy to achieve the grasping, operation and interaction of complex objects, and to give the robot the flexibility and adaptability close to the human hand. Each finger of the dexterous hand usually has multiple knuckles, and the knuckles can flexibly bend and stretch to complete various functional actions of the human hand.

[0028] In order to be able to complete various functional actions of the human hand, a plurality of position sensors and tactile sensors are arranged in each finger of the dexterous hand, and in some connection schemes, the position sensors and tactile sensors in each finger are connected by the connection mode shown in Figure 1 or Figure 2 The connection mode shown in Figure 1 requires cascading multiple master controls to achieve, which has a high implementation cost; Figure 2 The wiring of the connection mode shown in

[0029] In order to realize the simultaneous sensing of the state of the fingers under the premise of reducing the cost, the present application proposes a connection scheme of sensors in a dexterous hand, and on the basis of the connection scheme of sensors in the dexterous hand, a data acquisition scheme of the dexterous hand is proposed, which aims to better acquire the sensing data collected by the sensors in the dexterous hand.

[0030] Firstly, refer to Figure 3 and Figure 4 , Figure 3 and Figure 4 are schematic diagrams of the connection scheme of sensors in a dexterous hand provided by the embodiments of the present application, as shown in Figure 3 and Figure 4As shown, the dexterous hand 1 comprises a plurality of finger mechanisms 10 and a main controller 20, the plurality of finger mechanisms 10 comprising a thumb finger mechanism 101, an index finger mechanism 102, a middle finger mechanism 103, a ring finger mechanism 104, and a little finger mechanism 105. Each of the plurality of finger mechanisms 10 is provided with a plurality of position sensors and a plurality of tactile sensors, the plurality of position sensors and the plurality of tactile sensors in the same finger mechanism are connected with the same interface, the plurality of tactile sensors in the same finger mechanism comprises a first tactile sensor and a second tactile sensor, the first tactile sensor and the second tactile sensor are two tactile sensors in the same finger mechanism. For example, each knuckle of the finger mechanism is provided with a tactile sensor, the first tactile sensor and the second tactile sensor are tactile sensors in two adjacent knuckles of the same finger mechanism.

[0031] The plurality of position sensors and the plurality of tactile sensors in the same finger mechanism are connected with the main controller 20 through the same interface. The main controller 20 is used to receive the sensing data collected by the sensors in the plurality of finger mechanisms 10, and is responsible for the operation of each component, processing of sensing information, and execution of control instructions, etc. The main controller 20 comprises but is not limited to a microcontroller unit (MCU), a central processing unit (CPU), or a field programmable gate array (FPGA), etc.

[0032] The interface connected between the main controller 20 and the plurality of position sensors and the plurality of tactile sensors in the same finger mechanism can be a bus interface, which comprises but is not limited to a serial peripheral interface (SPI), an I2C interface, etc.

[0033] In some embodiments, the plurality of position sensors and the plurality of tactile sensors in each finger mechanism are arranged as shown in FIG. 2A. Figure 3 As shown, the number of position sensors in the finger mechanism and the number of tactile sensors in the finger mechanism are the same as the number of knuckle mechanisms of the finger mechanism, and one knuckle mechanism is provided with one position sensor and one tactile sensor. Specifically, the thumb finger mechanism 101 comprises 2 position sensors and 2 tactile sensors, the index finger mechanism 102, the middle finger mechanism 103, the ring finger mechanism 104, and the little finger mechanism 105 each comprise 3 position sensors and 3 tactile sensors.

[0034] In some embodiments, as shown in FIG. 2B, the dexterous hand 1 further comprises a palm tactile sensor, a back tactile sensor, a thumb swing position sensor, a thumb pitch position sensor, etc. Figure 3 In some embodiments, as shown in FIG. 2B, the dexterous hand 1 further comprises a palm tactile sensor, a back tactile sensor, a thumb swing position sensor, a thumb pitch position sensor, etc.

[0035] In Figure 3 and Figure 4 connection scheme, all sensors in a finger mechanism are connected to the host controller through an interface, so that the connection lines can be concentrated in the finger mechanism, the wiring mode is simple, and the host controller can perceive the state of each knuckle of the finger through an interface.

[0036] Based on Figure 3 and Figure 4 connection scheme, the data acquisition scheme of the dexterous hand of the present application can be realized. The following will be specifically introduced. It can be understood that there are multiple tactile sensors in a finger mechanism, and the following will be described with two tactile sensors in the finger mechanism, which are the first tactile sensor and the second tactile sensor. For the definition of the first tactile sensor and the second tactile sensor, please refer to the foregoing description.

[0037] Referring to Figure 5 , Figure 5 is a flowchart of a dexterous hand data acquisition method provided by an embodiment of the present application. The method is applied to a dexterous hand. For the introduction of the dexterous hand, please refer to the corresponding description of Figure 3 and Figure 4 . As shown in Figure 5 , the method comprises the following steps. S301, in a first period, reading the sensing data collected by each sensor in a first sensor group through a first interface in time.

[0038] The first interface is an interface connected to the sensors in the first finger mechanism, and the first finger mechanism is any finger mechanism of the multiple finger mechanisms of the dexterous hand. Taking the dexterous hand shown in Figure 3 as an example, the first finger mechanism can be the thumb finger mechanism, the index finger mechanism, the middle finger mechanism, the ring finger mechanism or the little finger mechanism.

[0039] The first sensor group comprises multiple position sensors and the first tactile sensor in the first finger mechanism. Taking the first finger mechanism comprising three position sensors and three tactile sensors as an example, assuming that the three position sensors in the first finger mechanism are position sensor 11, position sensor 12 and position sensor 13 in turn, and the three tactile sensors in the first finger mechanism are tactile sensor 11, tactile sensor 12 and tactile sensor 13 in turn, then the first sensor group comprises position sensor 11, position sensor 12, position sensor 13 and tactile sensor 11; or the first sensor group comprises position sensor 11, position sensor 12, position sensor 13 and tactile sensor 12; or the first sensor group comprises position sensor 11, position sensor 12, position sensor 13 and tactile sensor 13.

[0040] In the first cycle, reading the sensing data collected by each sensor in the first sensor group through the first interface in time refers to that the first cycle is divided into multiple time slices, and the sensing data collected by one sensor in the first sensor group is read in one time slice, so as to read the sensing data collected by all sensors in the first sensor group.

[0041] Taking the first sensor group including the aforementioned position sensor 11, the position sensor 12, the position sensor 13 and the tactile sensor 11 as an example, the first cycle can be divided into at least four time slices, assuming that the at least four time slices include time slice 1-time slice 4, in the time slice 1, the sensing data collected by the position sensor 11 is read, in the time slice 2, the sensing data collected by the position sensor 12 is read, in the time slice 3, the sensing data collected by the position sensor 13 is read, and in the time slice 4, the sensing data collected by the tactile sensor 11 is read, so as to read the sensing data collected by all sensors in the first sensor group.

[0042] In some possible embodiments, the sensing data collected by each sensor in the first sensor group can be read through the first interface in time in response to a target timing interrupt signal, the target timing interrupt signal being a timing interrupt signal with the highest priority. For example, the target timing interrupt signal is an interrupt signal triggered by a hardware timer.

[0043] Specifically, it is determined whether the target timing interrupt signal is received, if the target timing interrupt signal is received, it indicates that the starting time point of the first cycle is reached, and the sensing data collected by each sensor in the first sensor group is read through the first interface in time until the sensing data collected by all sensors in the first sensor group is read. Wherein, the sensing data collected by each sensor in the first sensor group can be read in a direct memory access (DMA) manner.

[0044] Reading the sensing data collected by the multiple position sensors and the tactile sensor in the finger mechanism based on the timing interrupt signal with the highest priority can ensure the highest priority of the sensing data reading, and is beneficial to the real-time and accuracy of the sensing data.

[0045] In some embodiments, the sensing data collected by each sensor in the first sensor group can also be read through the first interface in time based on other types of timing signals. For example, the starting time point of the first cycle can also be determined based on a software timing signal, so as to read the sensing data collected by each sensor in the first sensor group. The present application does not make any limitation in this regard.

[0046] S302, in the second period, reading the sensing data collected by each sensor in the second sensor group through the first interface in time.

[0047] Here, the second period is the next period of the first period, that is, the second period and the first period are two adjacent periods.

[0048] The second sensor group includes a plurality of position sensors and a second tactile sensor in the first finger mechanism. For example, the first sensor group includes the aforementioned position sensor 11, position sensor 12, position sensor 13, and tactile sensor 11, and the second sensor group includes the aforementioned position sensor 11, position sensor 12, position sensor 13, and tactile sensor 12. For another example, the first sensor group includes the aforementioned position sensor 11, position sensor 12, position sensor 13, and tactile sensor 13, and the second sensor group includes the aforementioned position sensor 11, position sensor 12, position sensor 13, and tactile sensor 11.

[0049] In the second period, the implementation principle of reading the sensing data collected by each sensor in the second sensor group through the first interface in time is the same as the implementation principle of reading the sensing data collected by each sensor in the first sensor group through the first interface in time in the first period. Please refer to the description of step S301 for details.

[0050] It can be understood that the above Figure 5 The corresponding technical solution is introduced by taking two tactile sensors (i.e., the first tactile sensor and the second tactile sensor) in the finger mechanism as an example. When the tactile sensors in the finger mechanism are not limited to two, please refer to the aforementioned step S301 or step S302 to read the sensing data collected by all position sensors in the finger mechanism and the sensing data of one tactile sensor in each period of multiple periods, so as to obtain all tactile sensor data corresponding to the finger mechanism in multiple periods.

[0051] In the above Figure 5In the corresponding technical solution, in the first period, the sensing data collected by each sensor in the first sensor group is read through the first interface in time, and in the second period, the sensing data collected by each sensor in the second sensor group is read through the first interface in time, the second period being the next period of the first period. Since the first sensor group includes a plurality of position sensors and a first tactile sensor in the first finger mechanism, and the second sensor group includes a plurality of position sensors and a second tactile sensor in the first finger, in each period, the sensing data collected by all the position sensors in the finger mechanism and the sensing data collected by one of the tactile sensors in the finger mechanism are read. In this way, all the position sensing data corresponding to the finger mechanism is obtained in each period, and all the tactile sensing data corresponding to the finger mechanism is obtained in a plurality of periods. The reading rate of the position sensing data in the finger mechanism can be improved according to the priority of data acquisition, so as to adapt to the update rate requirements of different types of sensing data, and to save communication bandwidth.

[0052] In some embodiments, after the sensing data collected by each sensor in the first sensor group is read through the first interface in time in the first period, the sensing data collected by the position sensors in the first sensor group is subjected to data operation to obtain the position data of the first finger mechanism in the first period.

[0053] In a feasible implementation, the sensing data collected by the position sensors in the first sensor group can be subjected to signal filtering first, such as removing electromagnetic interference, mechanical vibration and the like by a low-pass filter or a digital filtering algorithm; then the filtered sensing data is subjected to data calibration and calibration, such as zero-point calibration, temperature compensation and the like; and then the calibrated sensing data is subjected to forward kinematics or inverse kinematics operation to obtain the position data of the first finger mechanism in the first period.

[0054] Similarly, in the second period, after the sensing data collected by each sensor in the second sensor group is read through the first interface in time, the sensing data collected by the position sensors in the second sensor group can also be subjected to data operation to obtain the position data of the first finger mechanism in the second period.

[0055] The implementation principle of obtaining the position data of the first finger mechanism in the second period by performing data operation on the sensing data collected by the position sensors in the second sensor group is the same as the implementation principle of obtaining the position data of the first finger mechanism in the first period by performing data operation on the sensing data collected by the position sensors in the first sensor group.

[0056] The position data of the finger mechanism can be obtained according to data operation on the position sensing data collected in one period, so that the real-time performance and accuracy of the position data of the finger mechanism can be improved.

[0057] In some embodiments, the above Figure 5 The corresponding method also includes steps A1-A2 as follows: A1. In the first period, the second interface is used to read the sensing data collected by each sensor in the third sensor group in time.

[0058] Here, the second interface is an interface connected with the sensors in the second finger mechanism, and the second finger mechanism is any finger mechanism in the multiple finger mechanisms of the dexterous hand except the first finger mechanism. For example, the first finger mechanism is the index finger mechanism, and the second finger mechanism can be the thumb mechanism, the middle finger mechanism, the ring finger mechanism or the little finger mechanism.

[0059] The third sensor group includes multiple position sensors and the first tactile sensor in the second finger mechanism. Taking the second finger mechanism as the thumb mechanism for example, assuming that the thumb mechanism includes 2 position sensors and 2 tactile sensors, the 2 position sensors in the thumb mechanism are position sensor 21 and position sensor 22 in sequence, and the 2 tactile sensors in the thumb mechanism are tactile sensor 21 and tactile sensor 22 in sequence, then the third sensor group includes position sensor 21, position sensor 22 and tactile sensor 21; or, the third sensor group includes position sensor 21, position sensor 22 and tactile sensor 22.

[0060] The implementation principle of reading the sensing data collected by each sensor in the third sensor group in time through the second interface in the first period is the same as the implementation principle of reading the sensing data collected by each sensor in the first sensor group in time through the first interface in the first period, and reference can be made to the related description of step S301.

[0061] A2. Data operation is performed on the sensing data collected by the position sensors in the third sensor group, so as to obtain the position data of the second finger mechanism in the first period.

[0062] The implementation principle of performing data operation on the sensing data collected by the position sensors in the third sensor group, so as to obtain the position data of the second finger mechanism in the first period is the same as the implementation principle of performing data operation on the sensing data collected by the position sensors in the first sensor group, so as to obtain the position data of the first finger mechanism in the first period.

[0063] In the steps A1-A2, in the same cycle, the sensing data collected by the plurality of position sensors of the other finger mechanism through the other interface are also acquired and data operation is performed, so that the position data of all fingers of the dexterous hand can be obtained in one cycle, thereby facilitating better control of the dexterous hand.

[0064] It can be understood that for each finger mechanism of the dexterous hand, the sensing data in the finger mechanism can be acquired through the foregoing steps S301-S302; and the position data of the finger mechanism in one cycle can be obtained through the foregoing steps A1-A2.

[0065] In some embodiments, after the sensing data collected by each sensor in the second sensor group is read through the first interface in the second cycle, the foregoing steps A1-A2 are performed on the sensing data collected by each sensor in the second sensor group in the second cycle. Figure 5 The corresponding method further includes the following steps B1-B2. B1. Generating a tactile sensing data packet according to the sensing data collected by each tactile sensor in the plurality of finger mechanisms in the first cycle and the second cycle.

[0066] The tactile sensing data packet contains the sensing data collected by each tactile sensor in the finger.

[0067] In a feasible implementation, the tactile sensing data packet can be generated through the following steps a1-a2. a1. Acquiring a first sensing data set from the sensing data collected by each tactile sensor in the plurality of finger mechanisms in the first cycle and the second cycle.

[0068] The first sensing data set includes a plurality of sensing data belonging to the same finger mechanism, that is, the sensing data read through the same interface in a plurality of cycles. Taking the first finger mechanism exemplified by the foregoing steps S301 as an example, the first sensing data set includes the sensing data collected by the tactile sensor 11, the sensing data collected by the tactile sensor 12, and the sensing data collected by the tactile sensor 13.

[0069] a2. Generating a tactile sensing data packet according to the interface identifier corresponding to the first sensing data set, the plurality of sensing data in the first sensing data set, and the sensor identifier corresponding to each of the plurality of sensing data in the first sensing data set.

[0070] The interface identifier is used to uniquely indicate the interface, and can be used by the task control system to determine the specific finger mechanism, that is, to determine to which finger mechanism the tactile sensing data packet belongs; the sensor identifier is used to uniquely indicate the sensor, and can be used by the task control system to determine the specific tactile sensor, that is, to determine the tactile state on the specific knuckle.

[0071] The interface identifier corresponding to the first sensor data set, the plurality of sensing data in the first sensor data set, and the sensor identifier corresponding to each of the plurality of sensing data in the first sensor data set are added into the same data packet to generate the haptic sensing data packet, that is, the haptic sensing data packet includes the interface identifier corresponding to the first sensor data set, the plurality of sensing data in the first sensor data set, and the sensor identifier corresponding to each of the plurality of sensing data in the first sensor data set.

[0072] For example, the first sensor data set includes the sensing data collected by the haptic sensor 11, the sensing data collected by the haptic sensor 12, and the sensing data collected by the haptic sensor 13. The interface identifier of the first interface, the sensing data collected by the haptic sensor 11, the sensing data collected by the haptic sensor 12, the sensing data collected by the haptic sensor 13, and the sensor identifier of the haptic sensor 11, the sensor identifier of the haptic sensor 12, and the sensor identifier of the haptic sensor 13 can be added into the same data packet to obtain the haptic sensing data packet.

[0073] In the above steps a1-a2, the haptic sensing data packet is generated according to the sensing data collected by the haptic sensor of the finger mechanism, which reduces the amount of data in the data packet and facilitates the task control system to directly perceive the haptic state of each finger mechanism according to each haptic sensing data packet.

[0074] In some embodiments, the timestamps of the plurality of sensing data in the first sensor data set can also be added into the haptic sensing data packet, and the timestamps of the plurality of sensing data are used to indicate the collection time of the sensing data. Adding the timestamps of the sensing data into the data packet facilitates the task control system to identify whether the plurality of sensing data in the first sensor data set belongs to the haptic sensing data collected in the same time period (including a plurality of continuous periods), thereby determining whether the sensing data in the haptic sensing data packet is available.

[0075] In another possible implementation, the haptic sensing data packet can be generated by the following steps b1-b3: b1. Among the sensing data collected by each haptic sensor in the plurality of finger mechanisms in the first period and the second period, a first sensor data set is obtained. b2. A check code is generated according to the interface identifier corresponding to the first sensor data set, the plurality of sensing data in the first sensor data set, and the sensor identifier corresponding to each of the plurality of sensing data in the first sensor data set.

[0076] In a feasible implementation, the interface identifier corresponding to the first sensor data set, the multiple sensor data in the first sensor data set, and the sensor identifiers corresponding to the multiple sensor data in the first sensor data set can be combined into a data segment to generate a cyclic redundancy check code for the data segment to obtain a check code.

[0077] b3. Obtain a tactile sensing data packet according to the interface identifier corresponding to the first sensor data set, the multiple sensing data in the first sensing data set, the sensor identifiers corresponding to the multiple sensing data in the first sensing data set, and the check code.

[0078] Among them, the interface identifier corresponding to the first sensor data set, the multiple sensor data in the first sensor data set, the sensor identifier corresponding to each of the multiple sensor data in the first sensor data set, and the verification code can be added into the same data packet to generate a tactile sensing data packet, that is, the tactile sensing data packet includes the interface identifier corresponding to the first sensor data set, the multiple sensor data in the first sensor data set, the sensor identifier corresponding to each of the multiple sensor data in the first sensor data set, and the verification code.

[0079] In the above steps b1-b3, before generating the data packet, a verification code is generated, and a tactile sensing data packet is generated based on the verification code and the sensing data, so that the mission control system can verify the accuracy of the sensing data.

[0080] It is understandable that for each finger mechanism of the dexterous hand, a tactile sensing data packet corresponding to the finger mechanism can be generated through the above steps a1-a2 or steps b1-b3, thereby obtaining tactile sensing data packets corresponding to multiple finger mechanisms of the dexterous hand.

[0081] B2. Send tactile sensing data packets to the mission control system.

[0082] Here, the task control system is the system that controls the coordinated movement of the finger mechanisms / joint structures to perform a task (including but not limited to grasping tasks, assembly tasks, etc.). The task control system can be installed inside or outside the dexterous hand.

[0083] In the above steps B1-B2, after obtaining the sensor data collected by the tactile sensors of each finger through multiple cycles, a tactile sensing data packet is generated and sent to the task control system so that the task control system generates corresponding control tasks or control instructions, thereby realizing the control of the dexterous hand.

[0084] The method of the present application is introduced above, and the device of the present application is introduced below.

[0085] See also Figure 6 , Figure 6Figure 1 is a structural schematic diagram of a dexterous hand data acquisition device provided by an embodiment of the present application. The device is applied to a dexterous hand. For the introduction of the dexterous hand, please refer to Figure 3 and Figure 4 the corresponding description; as shown in Figure 6 , the dexterous hand data acquisition device 40 comprises: a time-sharing reading module 401, configured to read, in a first period, the sensor data collected by each sensor in a first sensor group through a first interface, wherein the first interface is an interface connected with the sensors in a first finger mechanism, the first finger mechanism is any finger mechanism in the plurality of finger mechanisms, and the first sensor group comprises a plurality of position sensors and a first tactile sensor in the first finger mechanism; a time-sharing reading module 402, further configured to read, in a second period, the sensor data collected by each sensor in a second sensor group through the first interface, wherein the second period is a next period of the first period, and the second sensor group comprises a plurality of position sensors and a second tactile sensor in the first finger mechanism.

[0086] It should be noted that the above-mentioned dexterous hand data acquisition device 40 can execute the above-mentioned dexterous hand data acquisition method provided by the embodiment of the present application, has the function modules and beneficial effects corresponding to the execution method. The technical details not described in detail in the embodiment can be referred to the above-mentioned dexterous hand data acquisition method provided by the embodiment of the present application.

[0087] Referring to Figure 7 , Figure 7 Figure 2 is a structural schematic diagram of a master control chip provided by an embodiment of the present application. The master control chip 50 comprises a processor 501 and a memory 502. The memory 502 is connected to the processor 501. For example, the memory 502 is connected to the processor 501 through a bus.

[0088] The processor 501 is configured to support the master chip 50 to perform the corresponding functions in the methods in the above method embodiments. The processor 501 can be a central processing unit (CPU), a network processor (NP), a hardware chip or any combination thereof. The hardware chip can be an application specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. The PLD can be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL) or any combination thereof.

[0089] The memory 502 is configured to store program codes and the like. The memory 502 can include a volatile memory (VM) such as a random access memory (RAM), and can also include a non-volatile memory (NVM) such as a read-only memory (ROM), a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD), and can further include a combination of the above-mentioned memories.

[0090] The memory 502 is configured to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions / modules corresponding to the dexterous hand data acquisition method in the embodiments of the present application. The processor performs various functional applications and data processing of the dexterous hand data acquisition method by running the non-volatile software programs, instructions and modules stored in the memory, that is, realizes the functions of the dexterous hand data acquisition method provided by the above method embodiments.

[0091] The memory 502 can include a program storage area and a data storage area, where the program storage area can store an operating system, at least one application required by the dexterous hand data acquisition device. The data storage area can store data created according to the use of the dexterous hand data acquisition device, etc. In some embodiments, the memory can include a memory remotely arranged relative to the processor, which can be connected to the dexterous hand data acquisition device through a network. Examples of the above network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0092] The one or more modules are stored in the memory and, when executed by the one or more processors, perform the dexterous hand data acquisition method in any of the above method embodiments, for example, perform the method steps described in the above method embodiments, and realize the functions of the modules described in the above device embodiments.

[0093] The embodiments of the present application also provide a computer readable storage medium, which stores a computer program, the computer program includes program instructions, and the program instructions, when executed by a computer, cause the computer to perform the method described in the above embodiments.

[0094] Those of ordinary skill in the art can understand that all or part of the processes in the above method embodiments can be completed by a computer program instructing related hardware, and the program can be stored in a computer readable storage medium. When the program is executed, it can include the processes of the above method embodiments. The storage medium can be a magnetic disc, an optical disc, a read-only memory (ROM), a random access memory (RAM), etc.

[0095] The above only describes the preferred embodiments of the present application, and of course cannot limit the scope of the rights of the present application, so equivalent changes made according to the claims of the present application still fall within the scope of the present application.

Claims

1. A method for collecting data from a dexterous hand, characterized in that: Applied to a dexterous hand, the dexterous hand includes multiple finger mechanisms, each of the finger mechanisms is provided with a first tactile sensor, a second tactile sensor, and multiple position sensors, and the first tactile sensor, the second tactile sensor, and the multiple position sensors in the same finger mechanism are connected to the same interface; The method comprises: During a first period, time-sharingly read sensor data collected by each sensor in a first sensor group through a first interface, wherein the first interface is an interface connected to a sensor in a first finger mechanism, the first finger mechanism is any finger mechanism among the multiple finger mechanisms, and the first sensor group includes the multiple position sensors and the first tactile sensor in the first finger mechanism; In the second cycle, the sensor data collected by each sensor in the second sensor group is read in a time-sharing manner through the first interface, wherein the second cycle is the next cycle of the first cycle, and the second sensor group includes multiple position sensors and a second tactile sensor in the first finger mechanism.

2. The method according to claim 1, characterized in that The step of reading the sensor data collected by each sensor in the first sensor group in a time-sharing manner through the first interface during the first period includes: In response to a target timing interrupt signal, the sensing data collected by each sensor in the first sensor group is read in a time-sharing manner through the first interface. The target timing interrupt signal is a timing interrupt signal with the highest priority.

3. The method according to claim 1, characterized in that After reading the sensor data collected by each sensor in the first sensor group through the first interface in a time-sharing manner within the first cycle, the method further includes: Data calculation is performed on the sensing data collected by the position sensors in the first sensor group to obtain position data of the first finger mechanism in the first period.

4. The method according to claim 1, wherein After reading the sensor data collected by each sensor in the second sensor group in a time-sharing manner through the first interface within the second period, the method further includes: generating a tactile sensing data packet according to sensing data collected by each tactile sensor in the plurality of finger mechanisms during the first cycle and the second cycle; The tactile sensing data packet is sent to a mission control system.

5. The method according to claim 4, characterized in that Generating a tactile sensing data packet according to the sensing data collected by each tactile sensor in the plurality of finger mechanisms during the first cycle and the second cycle includes: Acquire a first sensing data set from the sensing data collected by each tactile sensor in the plurality of finger mechanisms during the first period and the second period, where the first sensing data set includes a plurality of sensing data belonging to the same finger mechanism; The tactile sensing data packet is generated according to the interface identifier corresponding to the first sensor data set, the multiple sensing data in the first sensing data set, and the sensor identifiers corresponding to the multiple sensing data in the first sensing data set.

6. The method according to claim 5, characterized in that Before generating the tactile sensing data packet according to the interface identifier corresponding to the first sensor data set, the plurality of sensor data in the first sensor data set, and the sensor identifiers corresponding to the plurality of sensor data in the first sensor data set, the method further includes: generating a verification code according to the interface identifier corresponding to the first sensor data set, the plurality of sensor data in the first sensor data set, and the sensor identifiers corresponding to the plurality of sensor data in the first sensor data set; The generating the tactile sensing data packet according to the interface identifier corresponding to the first sensor data set, the plurality of sensor data in the first sensor data set, and the sensor identifiers corresponding to the plurality of sensor data in the first sensor data set includes: The tactile sensing data packet is generated according to the interface identifier corresponding to the first sensor data set, the multiple sensing data in the first sensing data set, the sensor identifiers corresponding to the multiple sensing data in the first sensing data set, and the verification code.

7. The method according to claim 1, characterized in that The method further comprises: During the first period, time-sharingly reading sensor data collected by each sensor in a third sensor group through a second interface, wherein the second interface is an interface connected to a sensor in a second finger mechanism, the second finger mechanism is any finger mechanism among the plurality of finger mechanisms except the first finger mechanism, and the third sensor group includes the plurality of position sensors and the first tactile sensor in the second finger mechanism; Performing data calculation on the sensing data collected by the position sensors in the third sensor group to obtain position data of the second finger mechanism in the first period.

8. A dexterous hand data acquisition device, characterized in that: Applied to a dexterous hand, the dexterous hand includes multiple finger mechanisms, each of the finger mechanisms is provided with a first tactile sensor, a second tactile sensor, and multiple position sensors, and the first tactile sensor, the second tactile sensor, and the multiple position sensors in the same finger mechanism are connected to the same interface; The device comprises: a time-sharing reading module, configured to read, in a first period, sensor data collected by each sensor in a first sensor group in a time-sharing manner via a first interface, wherein the first interface is an interface connected to a sensor in a first finger mechanism, the first finger mechanism is any one of the plurality of finger mechanisms, and the first sensor group includes the plurality of position sensors and the first tactile sensor in the first finger mechanism; The time-sharing reading module is also used to read the sensor data collected by each sensor in the second sensor group through the first interface in a time-sharing manner within a second cycle, wherein the second cycle is the next cycle of the first cycle, and the second sensor group includes multiple position sensors and a second tactile sensor in the first finger mechanism.

9. A main control chip, characterized in that: The method comprises a memory and a processor, wherein the memory is connected to the processor, and the processor is used to execute one or more computer programs stored in the memory. When the processor executes the one or more computer programs, the main control chip executes the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a processor, the processor is caused to perform the method according to any one of claims 1 to 7.

Images