Training data acquisition system

Abstract

Embodiments of the present disclosure provide a training data acquisition system, which comprises a portable component adapted to be carried by an acquisition person; a pair of operation claws adapted to be worn by the acquisition person; an acquisition assembly comprising at least a pair of first image acquisition devices, each of which is arranged on a corresponding operation claw in the pair of operation claws and is adapted to acquire first data comprising an action posture of the corresponding operation claw; and a master control assembly arranged in the portable component, which is electrically connected to the pair of operation claws and the pair of first image acquisition devices and is adapted to receive and process the first data.

Description

Technical Field

[0001] The embodiments of this disclosure generally relate to the field of robotic equipment technology, and more specifically, to a training data acquisition system. Background Technology

[0002] As the application fields of robots continue to expand, the requirements for environmental perception and task execution accuracy are becoming increasingly stringent. However, during robot training, acquiring motion data in real-world environments often presents challenges, such as the lack of portability, low data transmission rates, and incomplete data acquisition of conventional data acquisition equipment. Furthermore, conventional data acquisition equipment requires additional power, making it inconvenient to carry and unable to meet the needs of flexible movement. Summary of the Invention

[0003] The purpose of this disclosure is to provide a training data acquisition system that at least partially solves the above-mentioned problems.

[0004] Embodiments of this disclosure provide a training data acquisition system, comprising: a portable component suitable for carrying by a person being collected data; a pair of manipulators suitable for being worn by the person being collected data; an acquisition component including at least a pair of first image acquisition devices, each of the pair of first image acquisition devices being disposed on a corresponding manipulator in the pair of manipulators and adapted to acquire first data including the motion posture of the corresponding manipulator; and a main control component disposed within the portable component, the main control component being electrically connected to the pair of manipulators and the pair of first image acquisition devices, and adapted to receive and process the first data.

[0005] The training data acquisition system according to embodiments of this disclosure meets the requirements for portability, allowing personnel to flexibly carry the system for training data acquisition. Furthermore, the first image acquisition device can capture detailed hand movements in real time, significantly improving the quality of the acquired training data.

[0006] In some embodiments, the training data acquisition system further includes a power supply component disposed within the portable component and electrically connected to the main control component.

[0007] In some embodiments, the power supply component includes a power supply and a power board electrically connected to the power supply, and the power board is electrically connected to the main control component.

[0008] In some embodiments, the power board is provided with a charging chip, and the charging chip is compatible with multiple charging protocols.

[0009] In some embodiments, the power board is further provided with a discharge chip, and the discharge chip is adapted to manage the power supply to external devices.

[0010] In some embodiments, the acquisition component further includes a second image acquisition device disposed on the head of the acquisition personnel and adapted to acquire second data including the operating environment and global motion posture, and the main control component is electrically connected to the second image acquisition device and adapted to receive and process the second data.

[0011] In some embodiments, the training data acquisition system further includes a storage component disposed within the portable component and electrically connected to the main control component to write data processed by the main control component.

[0012] In some embodiments, the main control component includes a control chip electrically connected to the pair of first image acquisition devices and second image acquisition devices to receive and process the first data and the second data.

[0013] In some embodiments, the main control component further includes an output interface electrically connected to the control chip and electrically connected to the storage component to transmit the data processed by the control chip to the storage component.

[0014] In some embodiments, the main control component further includes a network communication module electrically connected to the control chip, and the network communication module is adapted to communicate with cloud devices.

[0015] It should be understood that the description in this section is not intended to limit the key or essential features of the embodiments of this disclosure, nor is it intended to restrict the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0016] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. In the drawings, the same or similar reference numerals denote the same or similar elements, wherein:

[0017] Figure 1 A schematic diagram of the structure of a training data acquisition system according to some embodiments of the present disclosure is shown.

[0018] Explanation of reference numerals in the attached figures:

[0019] 100 is the training data acquisition system;

[0020] 1 is a portable component; 2 is an operating gripper;

[0021] 3 is the acquisition component, 31 is the first image acquisition device, and 32 is the second image acquisition device;

[0022] 4 is the main control component, 41 is the control chip, 42 is the output interface, and 43 is the network communication module;

[0023] 5 is the power supply component, 51 is the power supply, 52 is the power board, 521 is the charging chip, and 522 is the discharging chip;

[0024] 6 represents the storage component. Detailed Implementation

[0025] Preferred embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While preferred embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure will be thorough and complete, and will fully convey the scope of the present disclosure to those skilled in the art.

[0026] The term "comprising" and its variations as used herein signify open inclusion, i.e., "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "at least partially based on". The terms "one example embodiment" and "one embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first", "second", etc., may refer to different or the same objects.

[0027] As described above, acquiring motion data in real-world environments during robot training is often challenging, due to issues such as insufficient portability, low data transmission rates, and incomplete data acquisition by conventional data acquisition devices. Furthermore, conventional data acquisition devices require additional power supplies, making them inconvenient to carry and unable to meet the demands of flexible mobility. Embodiments of this disclosure provide a training data acquisition system to at least partially address the aforementioned problems. In the following sections, [further details will be provided]. Figure 1 The principles of this disclosure are described.

[0028] Figure 1 A schematic diagram of the structure of a training data acquisition system 100 according to some embodiments of the present disclosure is shown. Figure 1 As shown, the training data acquisition system 100 includes a portable component 1 and a pair of manipulators 2. The portable component 1 is suitable for carrying by the person being collected data from. The pair of manipulators 2 is suitable for wearing by the person being collected data from, and the manipulators 2 are capable of simulating human hand operations such as grasping.

[0029] The portable component 1 according to embodiments of this disclosure can be of various types currently known or available in the future, and the embodiments of this disclosure are not limited thereto. For example, in some embodiments, the portable component 1 may include a backpack. The data collector can wear the backpack while walking and collecting training data.

[0030] refer to Figure 1 In some embodiments, the acquisition component 3 includes at least a pair of first image acquisition devices 31. Each pair of first image acquisition devices 31 is disposed on a corresponding manipulator 2 in the pair of manipulators 2 and is adapted to acquire first data including the motion posture of the corresponding manipulator 2. For example, the first image acquisition device 31 may include a high-precision camera. The first image acquisition device 31 is capable of capturing detailed hand movements in real time, thereby improving the accuracy and richness of the acquired data for better model training.

[0031] refer to Figure 1 In some embodiments, the main control component 4 is housed within the portable component 1, facilitating data acquisition by a personnel carrying the main control component 4. The main control component 4 is electrically connected to the paired manipulators 2, and can output control commands to the motors of the paired manipulators 2. The motor control circuits can also provide feedback to the main control component 4 with information such as current magnitude. Furthermore, the main control component 4 is electrically connected to the paired first image acquisition devices 31, thus enabling it to receive and process first data. It is understood that the processed first data can be used to train a model.

[0032] The training data acquisition system 100 according to embodiments of this disclosure meets the requirements for portability, allowing personnel to flexibly carry the system for collecting training data. Furthermore, the first image acquisition device 31 can capture detailed hand movements in real time, significantly improving the quality of the acquired training data.

[0033] It should be noted that, compared with conventional data acquisition systems, the training data acquisition system 100 according to the embodiments of this disclosure is smaller in size and weight, less likely to restrict the range of movement of the acquisition personnel, and can be used in complex or narrow environments.

[0034] refer to Figure 1 In some embodiments, the acquisition component 3 may further include a second image acquisition device 32. The second image acquisition device 32 may include a wide-angle camera. The second image acquisition device 32 may be positioned above the head of the acquisition personnel and is suitable for acquiring second data including the operating environment and the global motion posture of the acquisition personnel. The main control component 4 may be electrically connected to the second image acquisition device 32, thus enabling the main control component 4 to receive and process the second data. It is understood that the processed second data can be used to train a model.

[0035] The embodiments of this disclosure, by combining first data and second data, can obtain a complete operation process. Compared with conventional acquisition systems that can only acquire data from a single perspective or part of the action and cannot fully capture the detailed hand movements and overall operation posture of the acquisition personnel, the training data acquisition system 100 according to the embodiments of this disclosure can meet the needs of multi-view, multi-level, and multi-dimensional data during model training.

[0036] refer to Figure 1 In some embodiments, the training data acquisition system 100 may further include a storage component 6. The storage component 6 may be housed within the portable component 1 to meet the requirement of easy portability. The storage component 6 may be electrically connected to the main control component 4 to write data processed by the main control component 4, such as first data and second data. The storage component 6 may be designed with a large capacity and support high-speed data writing, thereby ensuring the continuity and reliability of long-term data acquisition. After storing the training data, the storage component 6 may be connected to a model for subsequent model training.

[0037] refer to Figure 1 In some embodiments, the main control component 4 may include a control chip 41 and an output interface 42. The control chip 41 may be electrically connected to a second image acquisition device 32 and a pair of first image acquisition devices 31 to receive and process first data and second data. Furthermore, the control chip 41 may be electrically connected to a pair of operating claws 2. The control chip 41 is capable of processing multiple data streams in real time. The output interface 42 may be electrically connected to the control chip 41 and also electrically connected to the storage component 6. In this way, data processed by the control chip 41 can be transmitted to the storage component 6 via the output interface 42.

[0038] The output interface 42 according to embodiments of this disclosure can be of various types known or available in the future, and embodiments of this disclosure do not limit this. For example, in some embodiments, the output interface 42 may include a Universal Serial Bus (USB) interface.

[0039] refer to Figure 1 In some embodiments, the main control component 4 may further include a network communication module 43, which may include at least one of a Wi-Fi module and a fourth-generation mobile communication technology (4G) module. The network communication module 43 may be electrically connected to the control chip 41 and is adapted to communicate with cloud devices to achieve data transmission and remote monitoring functions, thereby enhancing the flexibility and adaptability of the training data acquisition system 100.

[0040] In some embodiments, the cloud device may include a remote terminal device. In this way, data communication and command transmission between the remote terminal device and the main control component 4 can be supported, thereby realizing remote monitoring and control functions of the training data acquisition system 100 and enhancing the operability and maintainability of the training data acquisition system 100.

[0041] refer to Figure 1 Specifically, the training data acquisition system 100 may further include a power supply component 5. The power supply component 5 can be housed within the portable component 1, eliminating the need for an external power source to meet portability requirements. The power supply component 5 can be electrically connected to the main control component 4 to supply power to the main control component 4. In some embodiments, the power supply component 5 can be electrically connected to the paired manipulators 2 and the acquisition component 3 to supply power to the paired manipulators 2 and the acquisition component 3. In other embodiments, the main control component 4 can supply power to the paired manipulators 2 and the acquisition component 3.

[0042] Continue to refer to Figure 1 Furthermore, the power supply component 5 may include a power supply 51 and a power board 52 electrically connected to the power supply 51. The power board 52 may be electrically connected to the main control component 4. The power supply 51 may include a high-capacity battery. The power board 52 may be electrically connected to the paired operating claws 2 and the acquisition component 3 to supply power to the paired operating claws 2 and the acquisition component 3.

[0043] refer to Figure 1 In some embodiments, a charging chip 521 may be provided on the power board 52, and the charging chip 521 may be compatible with multiple charging protocols. For example, the charging chip 521 may support 67W fast charging to quickly replenish power in different situations.

[0044] It should be noted that the figures, values, and numbers mentioned above, as well as elsewhere in this disclosure, are exemplary and are not intended to limit the scope of this disclosure in any way. Any other suitable figures, values, and numbers are possible. For example, depending on the specific application scenario and requirements, the charging chip 521 can also support 50W fast charging.

[0045] refer to Figure 1 In some embodiments, a discharge chip 522 may also be provided on the power board 52. The discharge chip 522 is adapted to manage the power supply to external devices. For example, the discharge chip 522 can provide emergency power support for external devices such as virtual reality (VR) headsets and laptops, thereby improving the usability and emergency response capability of the training data acquisition system 100.

[0046] In some embodiments, the training data acquisition system 100 may further include a human-machine interface (HMI), which may be mounted on the portable component 1. The HMI may be electrically connected to the main control component 4, so that the acquisition personnel can monitor the status of the training data acquisition system 100 in real time, view the data acquisition progress, and set parameters and adjust functions of the training data acquisition system 100 through the HMI, thereby improving the intuitiveness and convenience of operation.

[0047] In summary, the training data acquisition system 100 according to the embodiments of this disclosure is highly portable and flexible, and its data acquisition is comprehensive and efficient. Furthermore, it significantly improves the efficiency and reliability of data storage, as well as the versatility of power management.

[0048] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, and are not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A training data acquisition system (100), comprising: Portable component (1), suitable for the person being collected to carry; A pair of manipulators (2), suitable for being worn by the personnel collecting the samples; The acquisition component (3) includes at least a pair of first image acquisition devices (31), each of the pair of first image acquisition devices (31) being disposed on a corresponding operating claw (2) in the pair of operating claws (2), and being adapted to acquire first data including the action posture of the corresponding operating claw (2); as well as A main control component (4) is disposed within the portable component (1), the main control component (4) being electrically connected to the pair of operating claws (2) and the pair of first image acquisition devices (31), and being adapted to receive and process the first data.

2. The training data acquisition system (100) according to claim 1, wherein the training data acquisition system (100) further includes a power supply component (5), the power supply component (5) being disposed within the portable component (1) and electrically connected to the main control component (4).

3. The training data acquisition system (100) according to claim 2, wherein the power supply component (5) includes a power supply (51) and a power board (52) electrically connected to the power supply (51), and the power board (52) is electrically connected to the main control component (4).

4. The training data acquisition system (100) according to claim 3, wherein a charging chip (521) is provided on the power board (52), and the charging chip (521) is compatible with multiple charging protocols.

5. The training data acquisition system (100) according to claim 3, wherein the power board (52) is further provided with a discharge chip (522), and the discharge chip (522) is adapted to control the power supply to external devices.

6. The training data acquisition system (100) according to claim 1, wherein the acquisition component (3) further includes a second image acquisition device (32), the second image acquisition device (32) is disposed on the head of the acquisition personnel and is adapted to acquire second data including the operating environment and global action posture, and the main control component (4) is electrically connected to the second image acquisition device (32) and is adapted to receive and process the second data.

7. The training data acquisition system (100) according to claim 6, wherein the training data acquisition system (100) further includes a storage component (6), the storage component (6) being disposed within the portable component (1) and electrically connected to the main control component (4) for writing data processed by the main control component (4).

8. The training data acquisition system (100) according to claim 7, wherein the main control component (4) includes a control chip (41) electrically connected to the pair of first image acquisition devices (31) and second image acquisition devices (32) to receive and process the first data and the second data.

9. The training data acquisition system (100) according to claim 8, wherein the main control component (4) further includes an output interface (42), the output interface (42) being electrically connected to the control chip (41), and the output interface (42) being electrically connected to the storage component (6) to transmit the data processed by the control chip (41) to the storage component (6).

10. The training data acquisition system (100) according to claim 8, wherein the main control component (4) further includes a network communication module (43), the network communication module (43) being electrically connected to the control chip (41), and the network communication module (43) being adapted to communicate with cloud devices.

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