Interaction information acquisition equipment and control method

Abstract

The invention provides interaction information acquisition equipment and a control method. The interaction information acquisition equipment comprises a holding bracket; the operation end comprises a grabbing and clamping operation mechanism and a main end feedback mechanism, the grabbing and clamping operation mechanism is used for an operator to conduct grabbing and clamping, and the main end feedback mechanism collects grabbing and clamping actions input through the grabbing and clamping operation mechanism; the execution end comprises a clamping jaw mechanism, a slave end driving mechanism and a multi-dimensional force sensor, the slave end driving mechanism drives the clamping jaw mechanism to execute the clamping action and capture the actual clamping force of the clamping jaw mechanism according to the clamping action, and the multi-dimensional force sensor collects the interaction force generated when the execution end interacts with the external environment entity; the holding support, the multi-dimensional force sensor, the slave end driving mechanism and the clamping jaw mechanism are sequentially arranged in a stacked mode. The main end feedback mechanism is further configured to drive the grabbing and clamping operation mechanism to move according to the actual clamping force so as to apply clamping feedback force to an operator. The interactive information acquisition equipment provided by the invention has relatively high interactive force acquisition precision, spatial degree of freedom and portability.

Description

Technical Field

[0001] This application relates to the field of data acquisition technology, specifically to an interactive information acquisition device and control method. Background Technology

[0002] In the field of robot operation and human-machine collaboration, there are still many challenges in accurately collecting the interaction force information between humans, machines and the environment. The interaction information collection devices in related technologies are still insufficient in terms of force feedback accuracy, spatial degrees of freedom and portability, and cannot meet the needs of use. Summary of the Invention

[0003] The purpose of this application is to provide an interactive information acquisition device and control method to overcome the shortcomings of the prior art. It has high force feedback accuracy, spatial freedom and portability, thus enabling it to achieve accurate acquisition of interactive information.

[0004] The first aspect of this application provides an interactive information acquisition device, comprising: Hold the support; The operating end, set on the gripping bracket, includes a gripping operating mechanism and a main end feedback mechanism. The gripping operating mechanism is configured for the operator to perform gripping, and the main end feedback mechanism is configured to capture the gripping action input by the operator through the gripping operating mechanism. The execution end includes a gripper mechanism, a slave-end drive mechanism, and a multi-dimensional force sensor. The slave-end drive mechanism is configured to drive the gripper mechanism to perform the gripping action on the target object and to capture the actual gripping force of the gripper mechanism. The multi-dimensional force sensor is configured to collect the interaction force when the execution end interacts with the external environment entity. The gripping bracket, the multi-dimensional force sensor, the slave-end drive mechanism, and the gripper mechanism are stacked sequentially. The master-end feedback mechanism is also configured to drive the gripping operation mechanism to move according to the actual gripping force, so as to apply a gripping feedback force to the operator.

[0005] Preferably, the multidimensional force sensor is a six-dimensional force sensor.

[0006] Preferably, the gripping mechanism includes two finger rings, and the main end feedback mechanism includes a main end drive and a main end transmission assembly. The main end drive drives the two finger rings to slide closer to each other or further away from each other through the main end transmission assembly.

[0007] Preferably, the gripping mechanism includes a main end guide rail, which is disposed on the housing of the gripping bracket or the main end drive component, and the two finger rings are slidably disposed on the main end guide rail. The main end drive component is a main end motor, and the main end transmission assembly includes a main end gear and two main end racks meshing with the main end gear. The main end gear is located at the output end of the main end motor, and the two main end racks and the two finger rings are arranged in a one-to-one correspondence. The main end motor is used to drive the main end gear to rotate, thereby causing the two main end racks to move horizontally, and further causing the two rings to slide along the main end guide rail to approach or move away from each other.

[0008] Preferably, the gripper mechanism includes two gripping jaws, and the slave-end drive mechanism includes a slave-end drive member and a slave-end transmission assembly. The slave-end drive member drives the two gripping jaws to slide closer to each other or further away from each other through the slave-end transmission assembly.

[0009] Preferably, each of the gripping claws includes a fingertip mechanism, a finger pad mechanism, and a finger root mechanism connected in sequence; the fingertip mechanism, the finger pad mechanism, and the finger root mechanism are respectively used to grip target objects of different sizes and / or different materials.

[0010] Preferably, the gripping surface of the fingertip mechanism is provided with a tactile sensor for collecting contact information between the gripping claw and the object being gripped.

[0011] Preferably, the gripper mechanism includes a slave-end guide rail, which is disposed on the housing of the slave-end drive member, and the two gripping claws are slidably disposed on the slave-end guide rail. The slave-end drive is a slave-end motor, and the multi-dimensional force sensor is sandwiched between the slave-end motor and the grip bracket; The slave-end transmission assembly includes a slave-end gear and two slave-end racks that mesh with the slave-end gear. The slave-end gear is located at the output end of the slave-end motor, and the two slave-end racks and the two clamping claws are arranged in a one-to-one correspondence.

[0012] Preferably, the actuator includes a connecting flange, which is sandwiched between the slave motor and the multidimensional force sensor for rigidly connecting the slave motor and the multidimensional force sensor, and the slave gear is located on the side of the slave motor away from the multidimensional force sensor.

[0013] Preferably, the grip support is provided with a grip handle, which is suitable for operation by an operator.

[0014] Preferably, the interactive information acquisition device includes a data acquisition module, which includes at least one of a depth camera, a fisheye camera, and a self-localization tracking module. The depth camera, the fisheye camera, and the self-localization tracking module are respectively used to acquire RGB-D information of the environment in front of the interactive information acquisition device, ultra-wide-angle RGB information, and the position and attitude information of the information acquisition device. The gripping bracket or the end of the actuator is provided with an extension portion extending along a first direction, and the depth camera and the fisheye camera of the data acquisition module are disposed on the extension portion; the gripping bracket, the multi-dimensional force sensor, the slave-end drive mechanism and the gripper mechanism are stacked sequentially along a second direction, and the first direction and the second direction are perpendicular or inclined at an angle; the extension portion and the multi-dimensional force sensor are misaligned.

[0015] Preferably, the slave-end drive mechanism has a motion information acquisition structure, which is used to acquire the clamping speed and clamping position of the gripper mechanism. The master-end feedback mechanism is also configured to drive the gripping operation mechanism to move according to the clamping speed and the clamping position, so as to provide feedback to the operator on the actual clamping posture of the gripper mechanism.

[0016] Preferably, the actuator can be quickly and detachably mounted on the grip bracket.

[0017] Preferably, the interactive information acquisition device further includes a drive control module, which is used to provide stable power supply, data transmission and control for the relevant electronic components of the interactive information acquisition device.

[0018] A second aspect of this application provides a control method for an interactive information acquisition device, used to control the interactive information acquisition device as described above, the control method comprising: The operator's gripping action is obtained through the main feedback mechanism; The slave-end drive mechanism is controlled to drive the gripper mechanism to perform the gripping action on the target object and to capture the actual gripping force of the gripper mechanism. The main end feedback mechanism is controlled to drive the gripping operation mechanism to move according to the actual clamping force, so as to apply a clamping feedback force to the operator; The multidimensional force sensor acquires the interaction force between the actuator and the external environment entity.

[0019] Preferably, the master-end feedback mechanism includes a master-end drive member for driving the gripper operation mechanism to move; the slave-end drive mechanism includes a slave-end drive member for driving the gripper mechanism to move. The control method further includes: The master-end driver and the slave-end driver are subjected to bidirectional synchronous control.

[0020] Preferably, the master-end drive is a master-end motor; the slave-end drive is a slave-end motor. The control method further includes: The angle, angular velocity, and output torque of the master motor and the slave motor are controlled synchronously in both directions.

[0021] This application places the operating end and the execution end on the gripping bracket, and the gripping bracket, multi-dimensional force sensor, slave-end drive mechanism and gripper mechanism are stacked in sequence, making the structure of the interactive information acquisition device compact and portable. It can avoid interference of the gripper mechanism with the signal of the multi-dimensional force sensor when opening and closing, ensuring high force feedback accuracy. The multi-dimensional force sensor can measure the three-dimensional interactive force / three-dimensional interactive torque between the gripper mechanism and the target object, providing high spatial measurement freedom and accuracy. The operator's gripping action and the actual gripping force of the gripper mechanism are captured and collected by the master-end feedback mechanism and the slave-end drive mechanism, which are rigidly connected to them, respectively. Compared with the use of sensor acquisition, the relevant forces can be directly transmitted to the master-end feedback mechanism and the slave-end drive mechanism, which has higher acquisition accuracy.

[0022] Therefore, the aforementioned interactive information acquisition device has high interactive force acquisition accuracy, spatial freedom and portability, thus achieving accurate acquisition of interactive information.

[0023] Moreover, the gripping force of the master operator and the slave gripper mechanism is synchronized bidirectionally and in real time through the master feedback mechanism and the slave drive mechanism, allowing the operator to intuitively apply and feel the gripping force of the gripper mechanism. By combining the interaction force between the gripper mechanism and the external environment entity collected by the multi-dimensional force sensor, the gripping strategy can be adjusted in time to improve the gripping accuracy. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 These are isometric structural diagrams of interactive information acquisition devices provided in some embodiments of this application; Figure 2 This is another isometric structural diagram of the interactive information acquisition device provided in some embodiments of this application; Figure 3 These are isometric structural diagrams of the execution end and extension portion of the interactive information acquisition device provided in some embodiments of this application; Figure 4 This is an isometric structural diagram of the grip bracket and operating end of the interactive information acquisition device provided in some embodiments of this application; Figure 5 This is a flowchart of an interactive information acquisition device control method provided in some embodiments of this application; Figure 6 This is a partial flowchart of an interactive information acquisition device control method provided in some embodiments of this application.

[0026] Explanation of reference numerals in the attached figures: 1-Interactive information acquisition device; 10-Holding bracket; 11-Holding handle; 12-Extension; 13-Slot; 14-Connector; 20-Operating end, 21-Grab operating mechanism, 211-Finger ring, 212-Main end guide rail, 22-Main end feedback mechanism, 221-Main end drive component, 222-Main end transmission assembly, 2221-Main end gear, 2222-Main end rack; 30-Actuating end, 31-Gripper mechanism, 311-Finger tip mechanism, 312-Finger root mechanism, 313-Slave end guide rail, 32-Slave end drive mechanism, 322-Slave end transmission assembly, 3221-Slave end gear, 3222-Slave end rack, 33-Multi-dimensional force sensor, 34-Connecting flange, 35-Tactile sensor, 36-Bearing frame, 40-Data acquisition module, 41-Depth camera, 42-Fisheye camera, 43-Self-positioning tracking module, 45-Drive control module. Detailed Implementation

[0027] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0028] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0029] "A and / or B" includes the following three combinations: A only, B only, and a combination of A and B.

[0030] The use of "applies to" or "configured to" in this application implies open and inclusive language, which does not exclude the applicability to or configuration to devices performing additional tasks or steps. Additionally, the use of "based on" implies openness and inclusivity, because processes, steps, calculations, or other actions "based on" one or more of the stated conditions or values ​​may in practice be based on additional conditions or values ​​beyond those stated.

[0031] In this application, the term "exemplary" is used to mean "used as an example, illustration, or description." Any embodiment described as "exemplary" in this application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to make and use this application. Details are set forth in the following description for purposes of explanation. It should be understood that those skilled in the art will recognize that this application can be made without using these specific details. In other instances, well-known structures and processes are not described in detail to avoid obscuring the description of this application with unnecessary detail. Therefore, this application is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed in this application.

[0032] like Figures 1 to 4 As shown, in one aspect, a preferred embodiment of this application provides an interactive information acquisition device 1, which includes a grip support 10, an operation end 20 and an execution end 30, and has high force feedback accuracy, spatial freedom and portability, thereby achieving better accurate acquisition of interactive information.

[0033] The grip bracket 10 is suitable for operators to hold, making it convenient for operators to carry and operate the interactive information acquisition device 1.

[0034] The operating end 20 is mounted on the gripping bracket 10 and includes a gripping operating mechanism 21 and a main feedback mechanism 22. The gripping operating mechanism 21 is configured for the operator to perform gripping actions, and the main feedback mechanism 22 is configured to capture the gripping actions input by the operator through the gripping operating mechanism 21. That is, the main feedback mechanism 22 can collect the gripping control intention input through the gripping operating mechanism 21. Here, the gripping control intention may include action information such as gripping speed, gripping force, and gripping movement distance when the operator performs the gripping action.

[0035] The actuator 30 is also mounted on the gripping bracket 10 and includes a gripper mechanism 31, a slave-end drive mechanism 32, and a multi-dimensional force sensor 33. The slave-end drive mechanism 32 is configured to drive the gripper mechanism 31 to perform a gripping action on the target object according to the gripping control intention, so that the gripping mechanism clamps the target object and achieves the operator's desired gripping speed, gripping force, and gripping tightness. The slave-end drive mechanism 32 is also configured to capture the actual gripping force of the gripper mechanism 31, that is, the actual gripping force between the gripper mechanism 31 and the object being gripped.

[0036] The multi-dimensional force sensor 33 is configured to collect the interaction forces when the execution end 30 interacts with external environmental entities. Specifically, it can include the three-dimensional interaction forces and three-dimensional interaction torques between the execution end 30 and the external environmental entities. For example, after the gripper mechanism 31 grips the target object, the execution end 30 may need to move the target object to the target position. During this process, the execution end 30 may directly or indirectly interact with other entities in the external environment besides the target object. For example, the interaction force generated when the execution end 30 directly touches other obstacles, or the interaction force generated when the gripper mechanism 31 places the target object on the target table or ground and the target table or ground indirectly comes into contact. At this time, the multi-dimensional force sensor 33 collects the interaction forces.

[0037] The multidimensional force sensor 33 is preferably a six-dimensional force sensor, which can detect the three-dimensional interactive force and three-dimensional interactive torque between the actuator 30 and the external environment entity.

[0038] The gripping bracket 10, multi-dimensional force sensor 33, slave-end drive mechanism 32, and gripper mechanism 31 are stacked sequentially. This arrangement serves two purposes: firstly, the slave-end drive mechanism 32 isolates the multi-dimensional force sensor 33 from the gripper mechanism 31, preventing interference with the signal from the multi-dimensional force sensor 33 during opening and closing, thus ensuring high force feedback accuracy; secondly, it allows for a compact overall structure of the actuator 30, making the interactive information acquisition device 1 small and portable. The master-end feedback mechanism 22 is also configured to drive the gripping operation mechanism 21 to move based on the actual gripping force, applying feedback force to the operator. In other words, the gripping operation mechanism 21 can move under the drive of the master-end feedback mechanism 22, acting on the operator, for example, the operator's fingers, providing real-time feedback information and enabling the operator to accurately perceive the actual gripping force between the gripper mechanism 31 and the target object.

[0039] Compared with related technologies, the interactive information acquisition device 1 provided in this application embodiment, by setting the operation end 20 and the execution end 30 on the gripping bracket 10 respectively, and stacking the gripping bracket 10, multi-dimensional force sensor 33, slave-end drive mechanism 32 and gripper mechanism 31 in sequence, makes the interactive information acquisition device 1 compact and portable. At the same time, it can avoid interference of the gripper mechanism 31 with the signal of the multi-dimensional force sensor 33 when opening and closing, ensuring high force feedback accuracy. The multi-dimensional force sensor 33 can measure the multi-dimensional interaction force / interaction torque when the execution end 30 interacts with the external environment entity, providing high spatial measurement freedom and accuracy. This handheld data acquisition device can also intuitively allow users to feel and apply interactive force. Therefore, the above-mentioned interactive information acquisition device 1 has high interaction force accuracy, spatial freedom and portability, thereby achieving accurate acquisition of interactive information.

[0040] The structure of the gripping operation mechanism 21 can be determined according to actual needs, and this application embodiment does not limit it. In some embodiments, the gripping operation mechanism 21 may include two finger rings 211, each finger ring 211 being suitable for at least one finger to pass through. The master-end feedback mechanism 22 may include a master-end drive member 221 and a master-end transmission assembly 222. The master-end drive member 221 drives the two finger rings 211 to slide closer or further apart through the master-end transmission assembly 222. During gripping sensing, one hand of the operator can grip the gripping bracket 10, and two fingers of the other hand (hereinafter referred to as operating fingers), such as the thumb and index finger, can be hooked into the two finger rings 211 respectively. The two operating fingers pull the two finger rings 211 closer and closer. The master-end transmission assembly 222 and the master-end drive member 221 connected to the finger rings can sense information about the gripping action / gripping control intention, such as the distance / approach speed between the two finger rings 211 and the driving force on the finger rings 211. The slave-end drive mechanism 32 can then drive the gripper machine according to the gripping action / gripping control intention. The gripper 31 performs the clamping action, and the gripper mechanism 31 applies a clamping force to the target object that is the same as or approximately the same as the gripping force of the operator. The slave drive mechanism 32 can also capture the actual clamping force of the gripper mechanism. Furthermore, the actual clamping force collected by the slave drive mechanism 32 can be transmitted to the master feedback mechanism 22. The master drive 221 causes the two finger rings 211 to gradually move away from each other according to the feedback force, so that the two finger rings 211 press against the two operating fingers of the operator respectively, so that the operator can intuitively and accurately perceive the actual clamping state between the gripper mechanism 31 and the target object.

[0041] In some examples, the gripping mechanism 21 may include a main guide rail 212, which may be mounted on the housing of the gripping bracket 10 or the main drive member 221. Two finger rings 211 may be slidably mounted on the main guide rail 212, moving closer or further apart along the extension direction of the main guide rail 212.

[0042] The type of the master drive unit 221 can be determined according to actual needs, and this application embodiment does not limit it. For example, the master drive unit 221 can be a master motor, which can be a servo motor, and servo motors have the advantage of high control precision. When the master drive unit 221 is a servo motor, the master feedback mechanism 22 can also include a master servo driver. The gripping action / grip control intention formed by the operator operating the ring is transmitted from the ring to the master transmission component connected to the ring, and then to the master servo motor connected to the master transmission component. Force and position changes are applied to the master servo motor, causing the output torque of the master servo motor to change. The master servo driver can collect the gripping action / grip control intention based on the output torque.

[0043] The main end transmission assembly 222 can adopt a conventional mechanism for converting rotary motion into linear motion, such as a crank-connecting rod mechanism, a gear and rack mechanism, or a ball screw mechanism. This application provides a preferred main end transmission assembly, which is a gear and rack mechanism, specifically including: The system comprises a main end gear 2221 and two main end racks 2222 meshing with it. The main end gear 2221 is located at the output end of the main end motor. The two main end racks 2222 are spaced apart on the main end gear. Each main end rack 2222 corresponds to one of the two finger rings 211, and the corresponding racks 2222 and finger rings 211 are rigidly connected. When the actual clamping force needs to be fed back to the operator, the main end motor drives the main end gear 2221 to rotate. The main end gear 2221 then synchronously drives the two main end racks 2222 to move, further causing the two main end racks 2222 to drive the two finger rings 211 to slide on the main end guide rail 212. This allows the two finger rings 211 to press against the operator's fingers, thus achieving force feedback. For example, the connection end of the main rack 2222 and the ring 211 can be provided with a position sensor to detect the distance change between the two rings 211, and then calculate the gripping speed of the two rings 211 based on the distance change.

[0044] Compared to crank-connecting rod mechanisms, rack and pinion mechanisms increase the transparency of the operating forces.

[0045] The structure of the gripper mechanism 31 can be determined according to actual needs, and this application embodiment does not limit it. In some embodiments, the gripper mechanism 31 may include two gripping jaws, and the gripping / release of the target object is achieved by the mutual approach / distance between the two gripping jaws. The slave-end drive mechanism 32 may include a slave-end drive member and a slave-end transmission assembly 322, and the slave-end drive member drives the two gripping jaws to slide closer or further apart through the slave-end transmission assembly 322.

[0046] In some examples, the gripper mechanism 31 may include a slave-end guide rail 313 disposed on the gripping bracket 10, and the slave-end guide rail 313 may be disposed on the housing of the slave-end drive member. Two gripping jaws are slidably disposed on the slave-end guide rail 313 to slide closer or further apart along the extending direction of the slave-end guide rail 313, thereby achieving the gripping or release of the target object. Exemplarily, the actuating end 30 may include a support frame 36 disposed on the housing of the slave-end drive member, and the slave-end guide rail 313 disposed on the support frame 36.

[0047] The type of slave-end drive can be determined according to actual needs, and this application embodiment does not limit this. The slave-end drive can be a slave motor, which can be a servo motor, and servo motors have the advantage of high control precision. When the slave-end drive is a servo motor, the slave-end drive mechanism 32 may also include a servo driver to achieve precise control of the servo motor. The force and displacement generated when the gripper mechanism 31 clamps are transmitted to the slave motor through the slave transmission component 322 and captured by the slave motor.

[0048] The multi-dimensional force sensor 33 can be clamped between the slave motor and the gripping bracket 10 to measure the interaction force when the actuator 30 interacts with the external environment entity. The slave motor isolates the multi-dimensional force sensor 33 and the gripper mechanism 31 to prevent the gripper mechanism 31 from interfering with the signal of the multi-dimensional force sensor 33 when it opens and closes.

[0049] The driven-end transmission assembly 322 can employ the same transmission mechanism as the master-end transmission assembly, or it can employ a different transmission mechanism. This application provides a preferred driven-end transmission assembly 322, which is also a gear and rack mechanism, specifically comprising: A slave gear 3221 and two slave racks 3222 meshing with it are located at the output end of the slave motor. The two slave racks 3222 are spaced apart on the slave gear. The two slave racks 3222 and two gripping claws are arranged in a one-to-one correspondence, and the corresponding slave racks 3222 and gripping claws are rigidly connected. When the gripping mechanism 31 is controlled according to the gripping action / gripping control intention, the slave motor can drive the slave gear 3221 to rotate, which in turn drives the two slave racks 3222 to move synchronously. In turn, the two slave racks 3222 drive the two gripping claws to slide on the slave guide rail 313, thereby enabling the two gripping claws to grip or release the target object. For example, a position sensor may be provided at the connection end of the end rack 3222 and the gripper to detect the distance change between the two grippers, and then the gripping speed of the two grippers can be calculated based on the distance change.

[0050] For example, each gripper includes a fingertip mechanism 311, a finger pad mechanism, and a finger root mechanism 312 connected in sequence. The fingertip mechanism 311, the finger pad mechanism, and the finger root mechanism 312 are used to grip target objects of different sizes and / or different materials. Specifically, the fingertip mechanism 311 is used to grip smaller and more delicate objects, the finger root mechanism 312 is used to grip larger and heavier objects, and the finger pad mechanism is used to grip objects of ordinary size and different materials.

[0051] Furthermore, a tactile sensor 35 is provided on the gripping surface of the fingertip mechanism to collect contact information between the gripper and the object being gripped. Since the fingertip mechanism is located between the fingertip mechanism 311 and the finger root mechanism 312, placing the tactile sensor at the fingertip mechanism allows for the simultaneous collection of contact information between the fingertip mechanism, the fingertip mechanism, the finger root mechanism, and the object being gripped. Of course, if necessary, tactile sensors can also be placed at the fingertip mechanism and the finger root mechanism.

[0052] The type of tactile sensor 35 can be determined according to actual needs and may include at least one of tactile sensor, force-torque sensor, pressure sensor and slip sensor.

[0053] For example, the actuator 30 may include a connecting flange 34. The connecting flange 34 is clamped between the slave motor and the multi-dimensional force sensor 33 for rigidly connecting the slave motor and the multi-dimensional force sensor 33. The slave gear 3221 is located on the side of the slave motor away from the multi-dimensional force sensor 33; furthermore, two slave racks 3222 may be located on the side of the slave gear 3221 away from the slave motor. By providing the connecting flange 34, the mechanical interference between the slave transmission mechanism and the gripper mechanism 31 during movement can be further isolated by the connecting flange 34, ensuring the measurement accuracy and force feedback accuracy of the multi-dimensional force sensor 33.

[0054] In some embodiments, the grip support 10 may be provided with a grip handle 11, which is adapted to be gripped by an operator.

[0055] In some embodiments, the interactive information acquisition device 1 may include a data acquisition module 40, which includes at least one of a depth camera 41, a fisheye camera 42, and a self-localization tracking module 43. The depth camera 41, fisheye camera 42, and self-localization tracking module 43 are respectively used to acquire RGB-D information of the environment in front of the interactive information acquisition device, ultra-wide-angle RGB information, and the position and attitude information of the information acquisition device. The self-localization tracking module may be replaced by a sensor with similar functionality, such as an optical / electromagnetic tracking system.

[0056] An extension portion 12 extending along a first direction is provided on the gripping bracket 10 or at the end of the actuator. The gripping bracket 10, the multi-dimensional force sensor 33, the slave-end drive mechanism 32, and the gripper mechanism 31 are stacked sequentially along a second direction. The first and second directions are perpendicular or at an angle. The extension portion 12 and the multi-dimensional force sensor 33 are misaligned. The depth camera 41 and the fisheye camera 42 of the data acquisition module 40 are disposed on the extension portion 12. By disposing the depth camera 41 and the fisheye camera 42 of the data acquisition module 40 on the extension portion 12 and misaligning the extension portion 12 and the multi-dimensional force sensor 33, contact between the extension portion 12 and the multi-dimensional force sensor 33 can be avoided. This mechanically isolates the depth camera 41 and the fisheye camera 42 of the data acquisition module 40 from the multi-dimensional force sensor 33, preventing interference from the depth camera 41 and the fisheye camera 42 to the signal of the multi-dimensional force sensor 33 and ensuring the measurement accuracy of the multi-dimensional force sensor 33. In some examples, the first direction can be upward, with the extension 12 extending upward so that the depth camera 41 can be positioned in the top region of the interactive information acquisition device 1, allowing the depth camera 41 to acquire depth information from the operating end 20 and / or the execution end 30. The fisheye camera 42 can be positioned near the depth camera 41 to acquire ultra-wide-angle image information, capturing image information outside the field of view of the depth camera 41, effectively supplementing and expanding the field of view of the depth camera 41. The self-positioning tracking module 43 can be positioned in the upper region of the interactive information acquisition device 1, located to one side of the depth camera 41, preferably on the grip bracket 10, for acquiring the motion trajectory of the operating end 20 and / or the execution end 30.

[0057] In some examples, the data collected by the data acquisition module 40, the multi-dimensional force sensor 33, and the tactile sensor 35 can be uniformly connected to the ROS (Robot Operating System) node, and time synchronization can be performed through Chrony or a dedicated timestamp synchronization module, so that all data collected by different acquisition modules / sensors are aligned according to timestamps, ensuring accurate data fusion.

[0058] In some embodiments, the slave-end drive mechanism 32 may have a motion information acquisition structure. This structure is used to acquire the gripping speed and gripping position of the gripper mechanism 31. The master-end feedback mechanism 22 is also configured to drive the gripping operation mechanism 21 to move according to the gripping speed and gripping position, so as to provide feedback to the operator on the actual gripping posture of the gripper mechanism 31, further improving the accuracy of force feedback to the operator. The master-end feedback mechanism may also include a motion information acquisition structure for acquiring the speed and position of the ring.

[0059] In some embodiments, the gripping bracket 10 is provided with a quick-release mechanism, allowing the actuator to be quickly installed and removed. After removal, the actuator detaches from the gripping bracket and the operating end, and can be installed in other controllable robotic arms or robots as an active operating device for control and use, ensuring data and device consistency during data acquisition and active control. The quick-release mechanism can be a conventional mechanism capable of quick-release, such as a slot type, magnetic type, or knob type. For example, a slot 13 can be provided on the gripping bracket, and a connector 14 can be provided at the end of the actuator. By connecting or separating the connector 14 from the slot 13, the actuator can be quickly installed and removed.

[0060] In some embodiments, the interactive information acquisition device further includes a drive control module 45, which is used to provide stable power supply, data transmission, and control for the relevant electronic components of the interactive information acquisition device. For example, the drive control module 45 is located on the extension portion 12, specifically behind the camera. The drive control module 45 includes a power supply regulator PCB, a motor drive PCB, and a USB / RS485 multi-channel expansion PCB. The power supply regulator PCB is configured to provide a stable, low-ripple voltage supply to the interactive acquisition device. The motor drive PCB is configured to transmit and receive control signals for the master feedback mechanism and the slave drive mechanism. The USB / RS485 multi-channel expansion PCB is configured to receive and transmit multiple sensor and motor signals via a single cable.

[0061] In some embodiments, the extension portion 12 is located at the end of the actuator 30, so that the extension portion 12, the depth camera 41, the fisheye camera 42 and the drive control module 45 located on the extension portion 12 can be quickly detached from the gripping bracket together with the actuator and installed into other controllable robotic arms or robots as active operating devices for control and use.

[0062] like Figure 5 As shown, on the other hand, this application provides a control method for an interactive information acquisition device 1, used to control the interactive information acquisition device 1 provided in any of the above embodiments. The control method includes steps S10 to S30: S10: Obtain the operator's gripping action / grip control intention through the main feedback mechanism 22.

[0063] S20: According to the gripping action / gripping control intention, control the slave drive mechanism 32 to drive the gripper mechanism 31 to perform a gripping action on the target object, and control the slave drive mechanism 32 to capture the actual clamping force of the gripper mechanism 31.

[0064] S30: Based on the actual clamping force of the gripper mechanism 31, control the main end feedback mechanism 22 to drive the gripping operation mechanism 21 to move, so as to apply a clamping feedback force to the operator.

[0065] The multi-dimensional force sensor 33 acquires the interaction force between the actuator 30 and the external environment entity. This interaction force can be transmitted in real time to terminals such as computers and displays for operators to view.

[0066] In some embodiments, the master-end feedback mechanism includes a master-end drive member for driving the gripper mechanism to move, and the slave-end drive mechanism includes a slave-end drive member for driving the gripper mechanism to move; the control method further includes: The master-end drive and slave-end drive are subjected to bidirectional synchronous control. Further, in some embodiments, the master-end drive 221 is the master motor, and the slave-end drive is the slave motor. Here, the control method may include S40: S40: Perform bidirectional synchronous control of the angle, angular velocity, and output torque of the master motor and the slave motor. In this way, the master motor and the slave motor can be synchronously controlled based on their operating parameters, allowing the operator to intuitively apply clamping force and synchronize it to the end of the gripper mechanism 31. The contact force of the gripper mechanism 31 after clamping the target object can also be synchronously transmitted to the operator's fingers in the reverse direction.

[0067] like Figure 6 As shown, in some examples, S40 may include S41~S42: S41: Obtain the angle and angular velocity of the master motor and the angle and angular velocity of the slave motor.

[0068] S42: Determine the output torque of the master motor and the output torque of the slave motor based on the angle and angular velocity of the master motor and the angle and angular velocity of the slave motor.

[0069] For example, the output torque of the master motor can be calculated and determined based on the gain values ​​after applying proportional gain to the angle difference between the slave motor and the master motor, differential gain to the angular velocity difference between the slave motor and the master motor, and differential gain to the angular velocity of the master motor.

[0070] For example, the output torque of the slave motor can be calculated and determined based on the gain values ​​after applying proportional gain to the angle difference between the master motor and the slave motor, differential gain to the angular velocity difference between the master motor and the slave motor, and differential gain to the angular velocity of the slave motor.

[0071] The torque control laws for the master motor and the slave motor are shown in the following formula: .

[0072] in, The output torque of the main motor, The angle of the main motor, The angular velocity of the main motor, It is proportional gain. It is the differential gain. It is gain; The output torque of the slave motor, From the perspective of the end motor, ω is the angular velocity of the slave motor.

[0073] Through this closed interactive loop, the operator can directly feel the start of contact, the resistance of the object, and the transition of grasping on the main hand side, rather than just inferring from visual cues.

[0074] Although the master and slave motors can synchronize gripping position, speed, and force through algorithms, various factors can lead to imperfect synchronization in actual use. By having the slave motor collect the actual gripping force between the gripper mechanism and the object being gripped, and then having the master motor feed back the actual gripping force to the finger ring (i.e., the operator), the operator can perceive this force in real time and adjust the gripping action accordingly. Simultaneously, the operator can also view the interaction forces between the actuator and the external environment, collected by multi-dimensional force sensors, and further adjust the gripping action accordingly.

[0075] The interactive information acquisition device and control method provided in the embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. An interactive information acquisition device, characterized in that, include: Hold the support; The operating end, set on the gripping bracket, includes a gripping operating mechanism and a main end feedback mechanism. The gripping operating mechanism is configured for the operator to perform gripping, and the main end feedback mechanism is configured to capture the gripping action input by the operator through the gripping operating mechanism. The execution end includes a gripper mechanism, a slave-end drive mechanism, and a multi-dimensional force sensor. The slave-end drive mechanism is configured to drive the gripper mechanism to perform the gripping action on the target object and to capture the actual gripping force of the gripper mechanism. The multi-dimensional force sensor is configured to collect the interaction force when the execution end interacts with the external environment entity. The gripping bracket, the multi-dimensional force sensor, the slave-end drive mechanism, and the gripper mechanism are stacked sequentially. The master-end feedback mechanism is also configured to drive the gripping operation mechanism to move according to the actual gripping force, so as to apply a gripping feedback force to the operator.

2. The interactive information acquisition device according to claim 1, characterized in that, The multidimensional force sensor is a six-dimensional force sensor.

3. The interactive information acquisition device according to claim 1 or 2, characterized in that, The gripping mechanism includes two finger rings, and the main end feedback mechanism includes a main end drive and a main end transmission assembly. The main end drive drives the two finger rings to slide closer to each other or further away from each other through the main end transmission assembly.

4. The interactive information acquisition device according to claim 3, characterized in that, The gripping mechanism includes a main end guide rail, which is mounted on the housing of the gripping bracket or the main end drive component, and the two finger rings are slidably mounted on the main end guide rail. The main end drive component is a main end motor, and the main end transmission assembly includes a main end gear and two main end racks meshing with the main end gear. The main end gear is located at the output end of the main end motor, and the two main end racks and the two finger rings are arranged in a one-to-one correspondence. The main end motor is used to drive the main end gear to rotate, thereby causing the two main end racks to move horizontally, and further causing the two rings to slide along the main end guide rail to approach or move away from each other.

5. The interactive information acquisition device according to claim 1 or 2, characterized in that, The gripper mechanism includes two gripping jaws, and the slave-end drive mechanism includes a slave-end drive member and a slave-end transmission assembly. The slave-end drive member drives the two gripping jaws to slide closer to each other or further away from each other through the slave-end transmission assembly.

6. The interactive information acquisition device according to claim 5, characterized in that, Each of the gripping claws includes a fingertip mechanism, a finger pad mechanism, and a finger root mechanism connected in sequence; the fingertip mechanism, the finger pad mechanism, and the finger root mechanism are respectively used to grip target objects of different sizes and / or different materials.

7. The interactive information acquisition device according to claim 6, characterized in that, The gripping surface of the fingertip mechanism is equipped with a tactile sensor for collecting contact information between the gripping claw and the object being gripped.

8. The interactive information acquisition device according to claim 5, characterized in that, The gripper mechanism includes a slave-end guide rail, which is disposed on the housing of the slave-end drive member, and the two gripping jaws are slidably disposed on the slave-end guide rail. The slave-end drive is a slave-end motor, and the multi-dimensional force sensor is sandwiched between the slave-end motor and the grip bracket; The slave-end transmission assembly includes a slave-end gear and two slave-end racks that mesh with the slave-end gear. The slave-end gear is located at the output end of the slave-end motor, and the two slave-end racks and the two clamping claws are arranged in a one-to-one correspondence.

9. The interactive information acquisition device according to claim 8, characterized in that, The actuator includes a connecting flange, which is sandwiched between the slave motor and the multi-dimensional force sensor for rigidly connecting the slave motor and the multi-dimensional force sensor. The slave gear is located on the side of the slave motor away from the multi-dimensional force sensor.

10. The interactive information acquisition device according to claim 1 or 2, characterized in that, The grip support is provided with a grip handle, which is suitable for operation by an operator.

11. The interactive information acquisition device according to claim 1 or 2, characterized in that, The interactive information acquisition device includes a data acquisition module, which includes at least one of a depth camera, a fisheye camera, and a self-positioning and tracking module. The depth camera, the fisheye camera, and the self-positioning and tracking module are respectively used to acquire RGB-D information of the environment in front of the interactive information acquisition device, ultra-wide-angle RGB information, and the position and attitude information of the information acquisition device. The gripping bracket or the end of the actuator is provided with an extension portion extending along a first direction, and the depth camera and the fisheye camera of the data acquisition module are disposed on the extension portion; the gripping bracket, the multi-dimensional force sensor, the slave-end drive mechanism and the gripper mechanism are stacked sequentially along a second direction, and the first direction and the second direction are perpendicular or inclined at an angle; the extension portion and the multi-dimensional force sensor are misaligned.

12. The interactive information acquisition device according to claim 1 or 2, characterized in that, The slave-end drive mechanism has a motion information acquisition structure, which is used to acquire the clamping speed and clamping position of the gripper mechanism. The master-end feedback mechanism is also configured to drive the gripping operation mechanism to move according to the clamping speed and the clamping position, so as to provide feedback to the operator on the actual clamping posture of the gripper mechanism.

13. The interactive information acquisition device according to claim 1 or 2, characterized in that, The actuator can be quickly and detachably mounted on the grip bracket.

14. The interactive information acquisition device according to claim 1 or 2, characterized in that, The interactive information acquisition device also includes a drive control module, which is used to provide stable power supply, data transmission and control for the relevant electronic components of the interactive information acquisition device.

15. A control method for an interactive information acquisition device, characterized in that, The control method for controlling the interactive information acquisition device according to any one of claims 1-14 includes: The operator's gripping action is obtained through the main feedback mechanism; The slave-end drive mechanism is controlled to drive the gripper mechanism to perform the gripping action on the target object and to capture the actual gripping force of the gripper mechanism. The main end feedback mechanism is controlled to drive the gripping operation mechanism to move according to the actual clamping force, so as to apply a clamping feedback force to the operator; The multidimensional force sensor acquires the interaction force between the actuator and the external environment entity.

16. The interactive information acquisition device control method as described in claim 15, characterized in that, The master-end feedback mechanism includes a master-end drive member for driving the gripper operation mechanism to move; the slave-end drive mechanism includes a slave-end drive member for driving the gripper mechanism to move. The control method further includes: The master-end driver and the slave-end driver are subjected to bidirectional synchronous control.

17. The interactive information acquisition device control method as described in claim 16, characterized in that, The master-end drive component is the master-end motor; the slave-end drive component is the slave-end motor. The control method further includes: The angle, angular velocity, and output torque of the master motor and the slave motor are controlled synchronously in both directions.

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