Humanoid robot waist locking method, device, equipment and readable storage medium

Abstract

The application discloses a humanoid robot waist locking method and device, electronic equipment and a readable storage medium, and belongs to the technical field of robot motion control. The method comprises the following steps: acquiring multiple to-be-detected data of a humanoid robot, detecting whether each to-be-detected data satisfies a corresponding waist lifting locking condition, and if at least one of the to-be-detected data satisfies the corresponding waist lifting locking condition, lifting locking is performed on the waist of the humanoid robot. In this way, a set of mutual exclusion logic based on the three-party state of "chassis-double arm-waist" is established, and the mutual exclusion logic is used to determine whether the waist needs to be lifted and locked. When the waist needs to be lifted and locked, a soft and hard dual-track redundant interlocking design is adopted. Even if the upper computer software crashes, the underlying hardware logic can still ensure that the interlocking is effective, completely eliminates the risk of center of gravity instability and falling caused by lifting during movement or lifting during operation, and guarantees the absolute safety of commercial scenarios.

Description

Technical Field

[0001] This application belongs to the field of robot motion control technology, specifically relating to a method for locking the waist of a humanoid robot, a device for locking the waist of a humanoid robot, an electronic device, and a readable storage medium. Background Technology

[0002] In the field of commercial service robots, robots are typically equipped with waist-lifting mechanisms to adapt to operating tables of different heights (such as coffee machine countertops and food service counters). However, while these lifting mechanisms change the robot's overall center of gravity, they also bring serious safety hazards.

[0003] Most existing robots with lifting mechanisms use simple open-loop control. If the waist lifting mechanism is accidentally triggered when the chassis moves at high speed or the arms swing under load, it can easily cause the robot to lose its center of gravity and tip over. Conversely, if the chassis suddenly starts during the waist lifting process, it can also cause a safety accident. Summary of the Invention

[0004] To solve the above-mentioned technical problems, this application is implemented as follows: In a first aspect, embodiments of this application provide a method for locking the waist of a humanoid robot, the method comprising: Acquire multiple test data points for the humanoid robot; Check whether each data point to be tested meets the corresponding waist lifting and locking conditions; If at least one of the data to be tested satisfies the corresponding waist lifting and locking condition, then the waist of the humanoid robot is lifted and locked.

[0005] In one or more embodiments, the data to be detected includes the chassis speed of the humanoid robot; detecting whether each piece of data to be detected satisfies the corresponding waist lifting and locking condition includes: Detect whether the chassis speed exceeds the chassis speed threshold; If so, then the lumbar lift locking condition is met.

[0006] In one or more embodiments, the data to be detected further includes the torque of the humanoid robot's dual arm joints; detecting whether each piece of data to be detected satisfies the corresponding waist lifting and locking condition includes: Detect whether the torque of the biarm joints exceeds the biarm joint torque threshold; If so, then the lumbar lift locking condition is met.

[0007] In one or more embodiments, the data to be detected further includes the movement speed of the humanoid robot's two arms; detecting whether each piece of data to be detected satisfies the corresponding waist lifting and locking condition includes: Detect whether the movement speed of the two arms exceeds the movement speed threshold; If so, then the lumbar lift locking condition is met.

[0008] In one or more embodiments, the data to be detected further includes the arm movement posture of the humanoid robot; detecting whether each piece of data to be detected satisfies the corresponding waist lifting and locking condition includes: The system detects whether the arm movement posture exceeds the movement posture range and whether the chassis speed is 0. If the arm movement posture does not exceed the movement posture range and the chassis speed is 0, then the waist lifting and locking condition is not met.

[0009] In one or more embodiments, the lifting and locking of the humanoid robot's waist includes: State arbitration is performed using the finite state machine of the ROS control node; Set the chassis motor brake signal to invalid, and set the double arm stationary flag to low.

[0010] In one or more embodiments, it further includes: Detect whether at least one of the following conditions is triggered: emergency stop switch activation and system power failure; If so, then apply a brake to the waist area.

[0011] Secondly, embodiments of this application provide a waist locking device for a humanoid robot, the device comprising: The acquisition module is used to acquire multiple data points to be detected from the humanoid robot. The detection module is used to detect whether each piece of data to be detected meets the corresponding waist lifting and locking conditions. The locking module is used to lock the waist of the humanoid robot if at least one of the data to be detected meets the corresponding waist lifting and locking condition.

[0012] In one or more embodiments, the data to be detected includes the chassis speed of the humanoid robot; the detection module is specifically used for: Detect whether the chassis speed exceeds the chassis speed threshold; If so, then the lumbar lift locking condition is met.

[0013] In one or more embodiments, the data to be detected further includes the torque of the joints of the humanoid robot's two arms; the detection module is further configured to: Detect whether the torque of the biarm joints exceeds the biarm joint torque threshold; If so, then the lumbar lift locking condition is met.

[0014] In one or more embodiments, the data to be detected further includes the movement speed of the humanoid robot's two arms; the detection module is specifically further used for: Detect whether the movement speed of the two arms exceeds the movement speed threshold; If so, then the lumbar lift locking condition is met.

[0015] In one or more embodiments, the data to be detected further includes the arm movement posture of the humanoid robot; the detection module is further configured to: The system detects whether the arm movement posture exceeds the movement posture range and whether the chassis speed is 0. If the arm movement posture does not exceed the movement posture range and the chassis speed is 0, then the waist lifting and locking condition is not met.

[0016] In one or more embodiments, the locking module is specifically used for: State arbitration is performed using the finite state machine of the ROS control node; Set the chassis motor brake signal to invalid, and set the double arm stationary flag to low.

[0017] In one or more embodiments, it further includes: The detection module is also used to detect whether there is at least one of the following situations: triggering the emergency stop switch and system power failure; The brake module is used to apply a brake to the waist if the condition is met.

[0018] Thirdly, embodiments of this application provide an electronic device including a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the method described in the first aspect.

[0019] Fourthly, embodiments of this application provide a readable storage medium on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method described in the first aspect.

[0020] In this embodiment, multiple test data points of the humanoid robot are acquired, and it is detected whether each test data point satisfies the corresponding waist lifting and locking condition. If at least one of the test data points satisfies the corresponding waist lifting and locking condition, the waist of the humanoid robot is lifted and locked. In this way, a set of mutually exclusive logic based on the three-way state of "chassis-arms-waist" is established. The mutually exclusive logic is used to determine whether the waist needs to be lifted and locked. When lifting and locking is required, a software and hardware dual-track redundant interlock design is adopted. Even if the host computer software crashes, the underlying hardware logic can still ensure that the interlock is effective, completely eliminating the risk of instability and tipping caused by lifting and lowering during movement or operation, and ensuring absolute safety in commercial scenarios. Attached Figure Description

[0021] Figure 1 This is a flowchart illustrating the steps of a method for locking the waist of a humanoid robot according to an embodiment of this application; Figure 2 This is a flowchart illustrating the steps of a second embodiment of a humanoid robot waist locking method according to this application; Figure 3 This is a structural block diagram of an embodiment of a humanoid robot waist locking device according to this application. Detailed Implementation

[0022] 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, 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.

[0023] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0024] The waist locking mechanism for the humanoid robot provided in this application will be described in detail below with reference to the accompanying drawings, through specific embodiments and application scenarios.

[0025] Reference Figure 1 The diagram illustrates a flowchart of a first embodiment of a waist-locking method for a humanoid robot according to this application, which specifically includes the following steps: Step 101: Obtain multiple test data of the humanoid robot.

[0026] Specifically, after the humanoid robot is activated, multiple data points (referred to as "data to be detected") can be collected in real time for testing purposes. These data points may include the robot's chassis speed, arm joint torque, arm movement speed, and arm movement posture. Of course, the data to be detected may include other data besides the aforementioned. In practical applications, the specific data to be detected can be set according to actual needs, and this embodiment does not impose any limitations on this.

[0027] Step 102: Check whether each piece of data to be tested meets the corresponding waist lifting and locking conditions.

[0028] Specifically, after obtaining the various data to be tested, it is possible to check whether each data meets its corresponding waist lifting and locking conditions.

[0029] For the chassis speed of the humanoid robot, it can be detected whether the chassis speed exceeds a preset chassis speed threshold. If the chassis speed exceeds the threshold, the waist lifting and locking condition is met. For example, when the chassis speed is >0.05m / s, it can be determined that the waist lifting and locking condition is met.

[0030] When determining the chassis speed, it can be determined by real-time high-frequency (100Hz) acquisition of the chassis wheel speed gauge, or it can be determined by other methods. In practical applications, the specific method for determining the chassis speed can be set according to actual needs, and this application embodiment does not limit it.

[0031] Regarding the torque of the two arm joints of the aforementioned humanoid robot, it is possible to detect whether the torque of the two arm joints exceeds the torque threshold of the two arm joints. If the torque of the two arm joints exceeds the torque threshold of the two arm joints, then the waist lifting and locking conditions are met.

[0032] When determining the torque of the two arm joints, it can be determined by the end load of the two arms (e.g., end load > 1 kg) or by other methods. In practical applications, the specific method for determining the torque of the two arm joints can be set according to actual needs, and this application embodiment does not limit it.

[0033] For the movement speed of the humanoid robot's arms, it is possible to detect whether the movement speed of the arms exceeds the movement speed threshold. If the movement speed of the arms exceeds the movement speed threshold, the waist lifting and locking conditions are met.

[0034] When determining the speed of the two arms, it can be determined by the state of the movement trajectory of the two arms (such as a high dynamic trajectory) or by other methods. In practical applications, the specific method for determining the speed of the two arms can be set according to actual needs, and this application embodiment does not limit it.

[0035] For the arm movements of a humanoid robot, the system can detect whether the arm movements exceed the preset range and whether the chassis speed is 0. If the arm movements do not exceed the preset range and the chassis speed is 0, the waist lifting lock condition is not met. In other words, waist lifting is allowed when the arm movements are within the preset range and the chassis speed is 0.

[0036] Step 103: If at least one of the data to be detected satisfies the corresponding waist lifting and locking condition, then the waist of the humanoid robot is lifted and locked.

[0037] Specifically, when at least one condition for waist lifting and locking is met, the waist of the humanoid robot can be lifted and locked, thereby preventing waist lifting and lowering.

[0038] Furthermore, when lifting and locking the waist of the humanoid robot, a soft and hard dual-track interlocking mechanism can be used.

[0039] At the software level, state arbitration can be performed using the finite state machine (FSM) of the ROS control node to reject illegal commands, cut off the enable signal of the lifting motor at the hardware level, and forcibly prohibit lifting, thereby locking the waist.

[0040] At the hardware level, the chassis motor brake signal can be set to invalid, and the double arm stationary flag can be set to low. This hardware-level cutoff of the lifting motor enable signal forces lifting and locking of the waist.

[0041] In this embodiment, multiple test data points of the humanoid robot are acquired, and it is detected whether each test data point satisfies the corresponding waist lifting and locking condition. If at least one of the test data points satisfies the corresponding waist lifting and locking condition, the waist of the humanoid robot is lifted and locked. In this way, a set of mutually exclusive logic based on the three-way state of "chassis-arms-waist" is established. The mutually exclusive logic is used to determine whether the waist needs to be lifted and locked. When lifting and locking is required, a software and hardware dual-track redundant interlock design is adopted. Even if the host computer software crashes, the underlying hardware logic can still ensure that the interlock is effective, completely eliminating the risk of instability and tipping caused by lifting and lowering during movement or operation, and ensuring absolute safety in commercial scenarios.

[0042] Reference Figure 2The diagram illustrates a flowchart of a second embodiment of a waist-locking method for a humanoid robot according to this application, which specifically includes the following steps: Step 201: Obtain multiple test data of the humanoid robot.

[0043] Specifically, after the humanoid robot is activated, multiple detection data points can be collected in real time. These detection data may include the robot's chassis speed, arm joint torque, arm movement speed, and arm movement posture. Of course, in addition to the above data, other data may also be included. In practical applications, the specific data to be detected can be set according to actual needs, and this embodiment does not impose any limitations on this.

[0044] Step 202: Check whether each piece of data to be tested meets the corresponding waist lifting and locking conditions.

[0045] Specifically, after obtaining the various data to be tested, it is possible to check whether each data meets its corresponding waist lifting and locking conditions.

[0046] For the chassis speed of the humanoid robot, it can be detected whether the chassis speed exceeds a preset chassis speed threshold. If the chassis speed exceeds the threshold, the waist lifting and locking condition is met. For example, when the chassis speed is >0.05m / s, it can be determined that the waist lifting and locking condition is met.

[0047] When determining the chassis speed, it can be determined by real-time high-frequency (100Hz) acquisition of the chassis wheel speed gauge, or it can be determined by other methods. In practical applications, the specific method for determining the chassis speed can be set according to actual needs, and this application embodiment does not limit it.

[0048] Regarding the torque of the two arm joints of the aforementioned humanoid robot, it is possible to detect whether the torque of the two arm joints exceeds the torque threshold of the two arm joints. If the torque of the two arm joints exceeds the torque threshold of the two arm joints, then the waist lifting and locking conditions are met.

[0049] When determining the torque of the two arm joints, it can be determined by the end load of the two arms (e.g., end load > 1 kg) or by other methods. In practical applications, the specific method for determining the torque of the two arm joints can be set according to actual needs, and this application embodiment does not limit it.

[0050] For the movement speed of the humanoid robot's arms, it is possible to detect whether the movement speed of the arms exceeds the movement speed threshold. If the movement speed of the arms exceeds the movement speed threshold, the waist lifting and locking conditions are met.

[0051] When determining the speed of the two arms, it can be determined by the state of the movement trajectory of the two arms (such as a high dynamic trajectory) or by other methods. In practical applications, the specific method for determining the speed of the two arms can be set according to actual needs, and this application embodiment does not limit it.

[0052] For the arm movements of a humanoid robot, the system can detect whether the arm movements exceed the preset range and whether the chassis speed is 0. If the arm movements do not exceed the preset range and the chassis speed is 0, the waist lifting lock condition is not met. In other words, waist lifting is allowed when the arm movements are within the preset range and the chassis speed is 0.

[0053] Step 203: If at least one of the data to be detected satisfies the corresponding waist lifting and locking condition, then the waist of the humanoid robot is lifted and locked.

[0054] Specifically, when at least one condition for waist lifting and locking is met, the waist of the humanoid robot can be lifted and locked, thereby preventing waist lifting and lowering.

[0055] Furthermore, when lifting and locking the waist of the humanoid robot, a soft and hard dual-track interlocking mechanism can be used.

[0056] At the software level, state arbitration can be performed through the finite state machine (FSM) of the ROS control node to reject illegal commands, or the hardware level can be used to cut off the lifting motor enable signal to forcibly prohibit lifting, thereby locking the waist.

[0057] At the hardware level, the chassis motor brake signal can be set to invalid, and the double arm stationary flag can be set to low, or the lifting motor enable signal can be cut off at the hardware level to forcibly prohibit lifting, thereby locking the waist lifting mechanism.

[0058] Step 204: Detect whether there is at least one of the following situations: triggering the emergency stop switch and system power failure; Step 205: If yes, then apply a brake to the waist area.

[0059] Specifically, the humanoid robot can employ a normally closed electromagnetic brake structure. Therefore, during the operation of the humanoid robot, it is possible to detect in real time whether at least one of the following situations is triggered: emergency stop switch activation or system power failure. If at least one of these situations occurs, the waist can be braked (the brake immediately de-energizes and locks the lead screw), ensuring that the upper body remains at the current height and preventing a fall due to gravity.

[0060] Furthermore, the embodiments of this application have been practically verified on a humanoid robot.

[0061] Verification method: Force a lifting command when the chassis moves at 1.2m / s; send a lifting command when the double arms are swinging with a load of 2kg; suddenly cut off the power supply of the whole machine during the lifting process.

[0062] Verification results: (1) Movement / Operation Anti-mistriggering: The host computer reports an error and intercepts it. The underlying hardware drive bridge is not connected, the lifting mechanism remains locked, and the humanoid robot runs smoothly. (2) Power failure self-locking: The electromagnetic brake responds within 20ms at the moment of power failure, the upper body falls less than 5mm, and no falling accident occurs.

[0063] In this embodiment, multiple test data points of the humanoid robot are acquired, and it is detected whether each test data point satisfies the corresponding waist lifting and locking condition. If at least one of the test data points satisfies the corresponding waist lifting and locking condition, the waist of the humanoid robot is lifted and locked. In this way, a set of mutually exclusive logic based on the three-way state of "chassis-arms-waist" is established. The mutually exclusive logic is used to determine whether the waist needs to be lifted and locked. When lifting and locking is required, a software and hardware dual-track redundant interlock design is adopted. Even if the host computer software crashes, the underlying hardware logic can still ensure that the interlock is effective, completely eliminating the risk of instability and tipping caused by lifting and lowering during movement or operation, and ensuring absolute safety in commercial scenarios.

[0064] Furthermore, a power-off self-locking mechanism is adopted to effectively prevent accidental power outages that could cause the upper body to fall freely, resulting in a crash or damage to the robot.

[0065] It should be noted that the humanoid robot waist locking method provided in this application embodiment can be executed by a virtual device, or a control module in the virtual device for executing the method of loading the humanoid robot waist locking. This application embodiment uses the execution of the method of loading the humanoid robot waist locking by a virtual device as an example to illustrate the humanoid robot waist locking method provided in this application embodiment.

[0066] Reference Figure 3 The diagram shows a structural block diagram of an embodiment of a humanoid robot waist locking device according to this application, which may specifically include the following modules: The acquisition module 301 is used to acquire multiple detection data of the humanoid robot; The detection module 302 is used to detect whether each piece of data to be detected meets the corresponding waist lifting and locking conditions. The locking module 303 is used to lock the waist of the humanoid robot if at least one of the data to be detected meets the corresponding waist lifting and locking condition.

[0067] In this embodiment of the application, the data to be detected includes the chassis speed of the humanoid robot; the detection module is specifically used for: Detect whether the chassis speed exceeds the chassis speed threshold; If so, then the lumbar lift locking condition is met.

[0068] In this embodiment of the application, the data to be detected further includes the torque of the joints of the humanoid robot's two arms; the detection module is further specifically used for: Detect whether the torque of the biarm joints exceeds the biarm joint torque threshold; If so, then the lumbar lift locking condition is met.

[0069] In this embodiment of the application, the data to be detected further includes the movement speed of the humanoid robot's two arms; the detection module is specifically further used for: Detect whether the movement speed of the two arms exceeds the movement speed threshold; If so, then the lumbar lift locking condition is met.

[0070] In this embodiment of the application, the data to be detected further includes the arm movement posture of the humanoid robot; the detection module is specifically further used for: The system detects whether the arm movement posture exceeds the movement posture range and whether the chassis speed is 0. If the arm movement posture does not exceed the movement posture range and the chassis speed is 0, then the waist lifting and locking condition is not met.

[0071] In this embodiment of the application, the locking module is specifically used for: State arbitration is performed using the finite state machine of the ROS control node; Set the chassis motor brake signal to invalid, and set the double arm stationary flag to low.

[0072] In this embodiment of the application, it also includes: The detection module is also used to detect whether there is at least one of the following situations: triggering the emergency stop switch and system power failure; The brake module is used to apply a brake to the waist if the condition is met.

[0073] In this embodiment, multiple test data points of the humanoid robot are acquired, and it is detected whether each test data point satisfies the corresponding waist lifting and locking condition. If at least one of the test data points satisfies the corresponding waist lifting and locking condition, the waist of the humanoid robot is lifted and locked. In this way, a set of mutually exclusive logic based on the three-way state of "chassis-arms-waist" is established. The mutually exclusive logic is used to determine whether the waist needs to be lifted and locked. When lifting and locking is required, a software and hardware dual-track redundant interlock design is adopted. Even if the host computer software crashes, the underlying hardware logic can still ensure that the interlock is effective, completely eliminating the risk of instability and tipping caused by lifting and lowering during movement or operation, and ensuring absolute safety in commercial scenarios.

[0074] Furthermore, a power-off self-locking mechanism is adopted to effectively prevent accidental power outages that could cause the upper body to fall freely, resulting in a crash or damage to the robot.

[0075] The virtual device in this application embodiment can be a device, or a component, integrated circuit, or chip in a terminal. The device can be a mobile electronic device or a non-mobile electronic device. For example, a mobile electronic device can be a mobile phone, tablet computer, laptop computer, PDA, in-vehicle electronic device, wearable device, ultra-mobile personal computer (UMPC), netbook, or personal digital assistant (PDA), etc. A non-mobile electronic device can be a server, network attached storage (NAS), personal computer (PC), television (TV), ATM, or self-service machine, etc. This application embodiment does not impose specific limitations.

[0076] This application also provides an electronic device, including a processor, a memory, and a program or instructions stored in the memory and executable on the processor. When the program or instructions are executed by the processor, they implement the various processes of the above-described humanoid robot waist locking method embodiment and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0077] It should be noted that the electronic devices in the embodiments of this application include the mobile electronic devices and non-mobile electronic devices described above.

[0078] This application also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above-described humanoid robot waist locking method embodiment and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0079] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0080] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0081] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0082] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A method for locking the waist of a humanoid robot, characterized in that, include: Acquire multiple test data points for the humanoid robot; Check whether each data point to be tested meets the corresponding waist lifting and locking conditions; If at least one of the data to be tested satisfies the corresponding waist lifting and locking condition, then the waist of the humanoid robot is lifted and locked.

2. The method for locking the waist of a humanoid robot according to claim 1, characterized in that, The data to be tested includes the chassis speed of the humanoid robot; the detection of whether each piece of data to be tested satisfies the corresponding waist lifting and locking conditions includes: Detect whether the chassis speed exceeds the chassis speed threshold; If so, then the lumbar lift locking condition is met.

3. The method for locking the waist of a humanoid robot according to claim 1, characterized in that, The data to be tested also includes the torque of the humanoid robot's dual arm joints; the detection of whether each piece of data to be tested satisfies the corresponding waist lifting and locking conditions includes: Detect whether the torque of the biarm joints exceeds the biarm joint torque threshold; If so, then the lumbar lift locking condition is met.

4. The method for locking the waist of a humanoid robot according to claim 1, characterized in that, The data to be detected also includes the movement speed of the humanoid robot's two arms; the detection of whether each piece of data to be detected satisfies the corresponding waist lifting and locking conditions includes: Detect whether the movement speed of the two arms exceeds the movement speed threshold; If so, then the lumbar lift locking condition is met.

5. The method for locking the waist of a humanoid robot according to claim 1, characterized in that, The data to be detected also includes the arm movement posture of the humanoid robot; The detection process checks whether each piece of data to be detected meets the corresponding waist lifting and locking conditions, including: The system detects whether the arm movement posture exceeds the movement posture range and whether the chassis speed is 0. If the arm movement posture does not exceed the movement posture range and the chassis speed is 0, then the waist lifting and locking condition is not met.

6. The method for locking the waist of a humanoid robot according to claim 1, characterized in that, The lifting and locking of the humanoid robot's waist includes: State arbitration is performed using the finite state machine of the ROS control node; Set the chassis motor brake signal to invalid, and set the double arm stationary flag to low.

7. The method for locking the waist of a humanoid robot according to claim 1, characterized in that, Also includes: Detect whether at least one of the following conditions is triggered: emergency stop switch activation and system power failure; If so, then apply a brake to the waist area.

8. A waist locking device for a humanoid robot, characterized in that, include: The acquisition module is used to acquire multiple data points to be detected from the humanoid robot. The detection module is used to detect whether each piece of data to be detected meets the corresponding waist lifting and locking conditions. The locking module is used to lock the waist of the humanoid robot if at least one of the data to be detected meets the corresponding waist lifting and locking condition.

9. An electronic device, characterized in that, It includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the humanoid robot waist locking method as described in claims 1-7.

10. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the humanoid robot waist locking method as described in claims 1-7.

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