Humanoid robot motion debugging protection device

Abstract

The utility model discloses a humanoid robot motion debugging protection device, and relates to the technical field of robots. A first guide rail pulley controller is connected with a first end of a first supporting top beam and a first end of a movable supporting cross beam; the second guide rail pulley controller is connected with the second end of the second supporting top beam and the second end of the movable supporting cross beam. And the third guide rail pulley controller is respectively connected with the movable support cross beam and the safety traction rope restraint device. The first guide rail pulley controller and the second guide rail pulley controller control the safe traction rope to move in the direction of the first supporting top beam, and the third guide rail pulley controller control the safe traction rope to move in the direction of the movable supporting cross beam. Therefore, the safe traction rope can automatically track the movement of the humanoid robot in the debugging process of the humanoid robot. Manual participation is not needed, and the labor cost is reduced. And moreover, the damage probability of the humanoid robot is reduced, the debugging efficiency of the humanoid robot is improved, and the personnel safety is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a motion debugging protection device for a humanoid robot. Background Art

[0002] Currently, there are two main methods for debugging humanoid robots' walking, running and other movement abilities. The first is to use a movable bracket and a traction rope to lift the humanoid robot. When the humanoid robot is running, one or two people are required to move the bracket and control the traction rope in real time to prevent the humanoid robot from falling and being damaged. The second method is to install a cubic scaffolding on the site. The humanoid robot is hung above the scaffolding with a traction rope. The debugging personnel move the traction device above the scaffolding in real time and control the movement and tightening of the traction device to protect the humanoid robot.

[0003] The two current debugging methods have the following issues: When debugging a humanoid robot, to prevent the traction safety rope from exerting excessive upward force on the robot, which could cause deviations in the mechanical algorithm, the actual debugging process often uses a looser traction safety rope to minimize its impact on the robot's debugging process. If the humanoid robot falls or a system failure occurs, the debugger fails to tighten the traction safety rope in time, causing the robot to fall unexpectedly, posing a safety hazard to both the robot and the debugger. The humanoid debugging process requires the manpower of one or two additional people to move the scaffolding in real time and observe the robot's posture to control the traction safety rope. If the debugger or other personnel appear in the robot's forward direction and the humanoid robot fails to recognize their presence, they may be stepped on, posing a safety hazard to the debugger. Utility Model Content

[0004] The embodiment of the utility model provides a humanoid robot motion debugging protection device to solve the problems in the prior art of high labor costs for humanoid robot motion debugging and potential safety hazards for the humanoid robot and on-site personnel.

[0005] The utility model provides a humanoid robot motion debugging protection device, the device comprising:

[0006] A protective support frame, a safety traction rope restraint, a first guide rail pulley controller, a second guide rail pulley controller, and a third guide rail pulley controller; the protective support frame includes a support column, a support top beam, and a movable support beam; the support top beam includes a first support top beam and a second support top beam arranged in parallel;

[0007] The first guide rail pulley controller is respectively connected to the first end of the first support top beam and the movable support beam; the second guide rail pulley controller is respectively connected to the second end of the second support top beam and the movable support beam; the third guide rail pulley controller is respectively connected to the movable support beam and the safety traction rope restraint; the safety traction rope restraint is connected to the humanoid robot through a safety traction rope.

[0008] Furthermore, the device further includes: a depth camera; the depth camera is connected to the support column.

[0009] Furthermore, the protective support frame includes a first supporting column and a second supporting column arranged diagonally;

[0010] The number of the depth cameras is at least two; wherein the first support column and the second support column are each connected to at least one depth camera.

[0011] Furthermore, the device further comprises: a protection controller;

[0012] The protection controller is used to control the first guide rail pulley controller, the second guide rail pulley controller, the third guide rail pulley controller and the safety traction rope restraint.

[0013] Furthermore, the device further comprises: a support column base;

[0014] One end of the support column is connected to the support top beam, and the other end is connected to the support column base.

[0015] Furthermore, the device further includes: a depth camera fixing module, and the depth camera is connected to the supporting column through the depth camera fixing module.

[0016] Furthermore, the depth camera fixing module includes: support column fixing screws, support column fixing parts, horizontal bearings, vertical bearings, connecting parts, and camera fixing parts;

[0017] The support column fixing screw fixes the support column fixing piece to the support column; the support column fixing piece is connected to the first end of the connecting piece through the horizontal bearing; the second end of the connecting piece is connected to the camera fixing piece through the vertical bearing; the camera fixing piece is connected to the depth camera.

[0018] Furthermore, the safety traction rope restraint device comprises: a first drive motor and a safety traction rope winding module;

[0019] The first drive motor is connected to the rotating shaft of the safety traction rope winding module; the safety traction rope is wound around the periphery of the safety traction rope winding module; and the safety traction rope is connected to the humanoid robot through a traction hook.

[0020] Furthermore, the first guide rail pulley controller and the second guide rail pulley controller respectively include: a second drive motor, a transmission shaft, a gear and a gear track;

[0021] The second drive motor is connected to the transmission shaft; the transmission shaft is also connected to the gear; the gear is also connected to the gear track; and the gear track is also connected to the movable support beam.

[0022] Furthermore, the third guide rail pulley controller includes: a third drive motor, a first rolling bearing and a transverse moving member; the transverse moving member includes a screw hole, a sleeve hole and a safety traction rope restraint connector; the inner wall of the sleeve hole is provided with a second rolling bearing;

[0023] The third drive motor is connected to the first rolling bearing; the first rolling bearing is also connected to the screw hole; the second rolling bearing is connected to the movable support beam; the safety traction rope restraint connector is connected to the safety traction rope restraint.

[0024] The above technical solution has the following advantages or beneficial effects:

[0025] This application provides a humanoid robot motion debugging protection device. The protection support frame within the device forms a motion debugging area for the humanoid robot. A first guide pulley controller is connected to the first end of the first support top beam and the first end of the movable support crossbeam, respectively; a second guide pulley controller is connected to the second end of the second support top beam and the second end of the movable support crossbeam, respectively; and a third guide pulley controller is connected to the movable support crossbeam and the safety traction rope restraint, respectively. The first and second guide pulley controllers control the movement of the safety traction rope along the first support top beam, while the third guide pulley controller controls the movement of the safety traction rope along the movable support crossbeam. This ensures that the safety traction rope automatically tracks the movement of the humanoid robot during debugging. This application eliminates manual intervention, reducing labor costs. Furthermore, the safety traction rope restraint adjusts its length. This allows the safety traction rope restraint to tighten when a safety risk arises. This eliminates safety hazards for the humanoid robot and on-site personnel. This reduces the probability of damage to the humanoid robot, improves debugging efficiency, and enhances personnel safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0027] Figure 1 A schematic diagram of a humanoid robot motion debugging device in the prior art;

[0028] Figure 2 A schematic diagram of the structure of the first humanoid robot motion debugging protection device provided in this application;

[0029] Figure 3 Schematic diagram of the humanoid robot motion debugging protection device scenario provided in this application;

[0030] Figure 4 The second humanoid robot motion debugging protection device provided in this application;

[0031] Figure 5 The third humanoid robot motion debugging protection device provided in this application;

[0032] Figure 6 A top view of two depth cameras installed diagonally for this application;

[0033] Figure 7 Schematic diagram of key points for identifying humanoid robots provided by this application;

[0034] Figure 8 Schematic diagram of the first security debugging process provided for this application;

[0035] Figure 9 A schematic diagram of the key points of the target object in the motion debugging scene provided by this application;

[0036] Figure 10 Schematic diagram of the second security debugging process provided for this application;

[0037] Figure 11 This is the main view of the humanoid robot motion debugging protection device provided in this application;

[0038] Figure 12 A top view of the humanoid robot motion debugging protection device provided in this application;

[0039] Figure 13 This is a left view of the humanoid robot motion debugging protection device provided in this application;

[0040] Figure 14 Schematic diagram of the depth camera fixed module structure provided by this application;

[0041] Figure 15 Schematic diagram of the safety traction rope restraint structure provided for this application;

[0042] Figure 16 A schematic structural diagram of the first guide rail pulley controller and the second guide rail pulley controller provided in this application;

[0043] Figure 17 A schematic diagram of the structure of the third guide rail pulley controller provided in this application;

[0044] Figure 18 Schematic diagram of the humanoid robot motion debugging and protection process provided in this application. DETAILED DESCRIPTION

[0045] In order to make the purpose and implementation of the present invention clearer, the exemplary implementation of the present invention will be clearly and completely described below in conjunction with the drawings in the exemplary implementation of the present invention. Obviously, the described exemplary implementation is only a part of the implementation of the present invention, not all of the implementations.

[0046] It should be noted that the brief descriptions of terms in this utility model are only for the purpose of facilitating the understanding of the embodiments described below, and are not intended to limit the embodiments of this utility model. Unless otherwise specified, these terms should be understood according to their ordinary and usual meanings.

[0047] In the specification and claims of this utility model and the accompanying drawings, the terms "first," "second," "third," etc. are used to distinguish similar or similar objects or entities and are not necessarily intended to limit a particular order or sequence, unless otherwise noted. It should be understood that the terms used in this manner are interchangeable under appropriate circumstances.

[0048] The terms "comprise," "include," and "have," and any variations thereof, are intended to cover but not exclude inclusion; for example, a product or device comprising a list of components is not necessarily limited to all the components expressly listed but may include other components not expressly listed or inherent to such product or device.

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

[0050] For ease of explanation, the above description has been made with reference to specific embodiments. However, the above exemplary discussion is not intended to be exhaustive or to limit the embodiments to the specific forms disclosed above. Based on the above teachings, various modifications and variations are possible. The above embodiments are selected and described to better explain the principles and practical applications, so that those skilled in the art can better utilize the embodiments and various different variations of the embodiments suitable for specific use considerations.

[0051] The present invention will be further described in detail below with reference to the accompanying drawings. It is apparent that the embodiments described are only a portion of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are intended to fall within the scope of protection of the present invention.

[0052] Figure 1 Schematic diagram of a humanoid robot motion debugging device in the prior art, such as Figure 1 As shown, a movable bracket is used to lift the humanoid robot using a traction rope. When the humanoid robot is in operation, one or two people are required to move the bracket and control the traction rope in real time to prevent the humanoid robot from falling and being damaged. This makes the humanoid robot motion debugging process consume a lot of manpower costs. In the actual debugging process, the traction safety rope is often used with a relatively loose length to reduce the impact on the robot debugging process. If the humanoid robot falls or the system fails at this time, the debugging personnel will not react in time to tighten the traction safety rope, causing the robot to fall abnormally, posing a safety hazard to the robot itself and the debugging personnel. If the debugging personnel or other personnel appear in the direction of the robot's movement, the humanoid robot may not recognize the presence of the person and may cause the debugging personnel to be trampled, posing a safety hazard to the debugging personnel.

[0053] In order to solve the above problems, the present application provides a humanoid robot motion debugging protection device with low labor cost and high safety.

[0054] Figure 2 This is a schematic structural diagram of the first humanoid robot motion debugging protection device provided in this application, comprising: a protection support frame 11, a safety traction rope restraint 12, a first guide rail pulley controller 13, a second guide rail pulley controller 14, and a third guide rail pulley controller 15; the protection support frame 11 includes a support column 111, a support top beam 112, and a movable support beam 113; the support top beam 112 includes a first support top beam 112a and a second support top beam 112b arranged in parallel;

[0055] The first guide rail pulley controller 13 is respectively connected to the first support top beam 112a and the first end of the movable support beam 113; the second guide rail pulley controller 14 is respectively connected to the second support top beam 112b and the second end of the movable support beam 113; the third guide rail pulley controller 15 is respectively connected to the movable support beam 113 and the safety traction rope restraint 12; the safety traction rope restraint 12 is connected to the humanoid robot through a safety traction rope.

[0056] This application provides a humanoid robot motion debugging protection device. The protection support frame within the device forms a motion debugging area for the humanoid robot. A first guide pulley controller is connected to the first end of the first support top beam and the first end of the movable support crossbeam, respectively; a second guide pulley controller is connected to the second end of the second support top beam and the second end of the movable support crossbeam, respectively; and a third guide pulley controller is connected to the movable support crossbeam and the safety traction rope restraint, respectively. The first and second guide pulley controllers control the movement of the safety traction rope along the first support top beam, while the third guide pulley controller controls the movement of the safety traction rope along the movable support crossbeam. This ensures that the safety traction rope automatically tracks the movement of the humanoid robot during debugging. This application eliminates manual intervention, reducing labor costs. Furthermore, the safety traction rope restraint adjusts its length. This allows the safety traction rope restraint to tighten when a safety risk arises. This eliminates safety hazards for the humanoid robot and on-site personnel. This reduces the probability of damage to the humanoid robot, improves debugging efficiency, and enhances personnel safety.

[0057] like Figure 2 As shown, the device further includes: a protection controller 16;

[0058] The protection controller 16 is used to control the first guide rail pulley controller 13 , the second guide rail pulley controller 14 , the third guide rail pulley controller 15 and the safety traction rope restraint 12 .

[0059] Optionally, the protection controller 16 is used to control the movement of the first guide rail pulley controller 13, the second guide rail pulley controller 14 and the third guide rail pulley controller 15; and control the safety traction rope restraint 12 to adjust the length of the safety traction rope.

[0060] Figure 3 Schematic diagram of the humanoid robot motion debugging protection device provided in this application. Figure 3The humanoid robot motion debugging protection device provided in this application includes a protection support frame, which includes four support columns, four support top beams, and a movable support crossbeam. The four support top beams include two sets of parallel support top beams. In this application, any one set of parallel support top beams is used as the first support top beam and the second support top beam. The movable support crossbeam is perpendicular to the first support top beam and the second support top beam, and is located between the first support top beam and the second support top beam.

[0061] In this application, a first guide rail pulley controller is connected to the first end of the first support top beam and the first end of the movable support crossbeam, respectively; a second guide rail pulley controller is connected to the second end of the second support top beam and the second end of the movable support crossbeam, respectively. The first and second guide rail pulley controllers can control the movable support crossbeam to move along the top surface of the protective support frame and perpendicular to the movable support crossbeam, thereby driving the safety traction rope restraint to move in a direction perpendicular to the movable support crossbeam.

[0062] The third guide rail pulley controller is connected with the movable support crossbeam and the safety traction rope restraint device respectively. The third guide rail pulley controller can move along the movable support crossbeam, thereby driving the safety traction rope restraint device to move along the movable support crossbeam.

[0063] The safety traction rope restraint is connected to the humanoid robot through the safety traction rope. During the motion debugging of the humanoid robot, the humanoid robot moves according to a pre-configured motion trajectory. The internal area of the protection support frame in the present application constitutes the motion debugging area of the humanoid robot. During the motion of the humanoid robot, the protection controller controls the first guide rail pulley controller, the second guide rail pulley controller and the third guide rail pulley controller to move, thereby achieving that the safety traction rope and the humanoid robot are in the same vertical plane. And the protection controller controls the safety traction rope restraint to adjust the length of the safety traction rope. Thereby, when a safety hazard occurs during the motion debugging of the humanoid robot, the robot can be tightened to avoid the occurrence of dangerous events. Among them, the protection controller can be a smart terminal device such as a mobile phone or a computer.

[0064] This application provides a humanoid robot motion debugging protection device. The protection support frame within the device forms the humanoid robot's motion debugging area. A first guide pulley controller is connected to the first end of the first support top beam and the first end of the movable support crossbeam, respectively; a second guide pulley controller is connected to the second end of the second support top beam and the second end of the movable support crossbeam, respectively; and a third guide pulley controller is connected to the movable support crossbeam and the safety traction rope restraint, respectively. The first and second guide pulley controllers control the movement of the safety traction rope along the first support top beam, while the third guide pulley controller controls the movement of the safety traction rope along the movable support crossbeam. This ensures that the safety traction rope automatically tracks the movement of the humanoid robot during debugging. This application eliminates manual intervention, reducing labor costs. Furthermore, the protection controller controls the safety traction rope restraint to adjust the length of the safety traction rope. This allows the safety traction rope restraint to tighten when a safety risk arises. This eliminates safety hazards for the humanoid robot and on-site personnel. This reduces the probability of damage to the humanoid robot, improves debugging efficiency, and enhances personnel safety.

[0065] Figure 4 The second humanoid robot motion debugging protection device provided by the present application further includes: a depth camera 21; the depth camera 21 is connected to the support column 111;

[0066] The depth camera 21 is used to collect the first posture information of the humanoid robot during the motion debugging process of the humanoid robot, and send the first posture information to the protection controller 16.

[0067] The protection controller 16 is specifically used to control the movement of the first guide rail pulley controller 13, the second guide rail pulley controller 14 and the third guide rail pulley controller 15 according to the first posture information, so that the safety traction rope and the humanoid robot are in the same vertical plane; and when it is determined according to the first posture information that there is a safety risk in the motion debugging, the safety traction rope restraint 12 is controlled to adjust the safety traction rope to shorten to a preset length.

[0068] In the present application, the depth camera installed in the humanoid robot motion debugging protection device is connected to the support column of the protection support frame, and the monitoring field angle of the depth camera includes the humanoid robot motion debugging area inside the protection support frame, ensuring that the depth camera can monitor the motion state of the humanoid robot during the humanoid robot motion debugging process. During the humanoid robot motion debugging process, the depth camera collects the motion state of the humanoid robot and determines the first position information of the humanoid robot. The first position information includes the position information of each key point of the humanoid robot. The depth camera sends the collected first position information of the humanoid robot to the protection controller. Optionally, the depth camera and the protection controller can establish a wireless connection through Bluetooth, wireless WIFI, etc., or can be connected by wired means.

[0069] After the protection controller receives the first position information of the humanoid robot, it controls the first guide pulley controller, the second guide pulley controller, and the third guide pulley controller to move according to the first position information. The protection controller can determine the spatial position information of the humanoid robot based on the first position information of the humanoid robot, and then control the first guide pulley controller and the second guide pulley controller to move along the plane formed by the supporting top beam, perpendicular to the direction of the movable supporting crossbeam, and control the third guide pulley controller to move along the direction of the movable supporting crossbeam, thereby ensuring that the position of the safety traction rope corresponds to that of the humanoid robot. The position correspondence between the safety traction rope and the humanoid robot means that the safety traction rope and the humanoid robot are in the same vertical plane, thereby realizing that the safety traction rope moves with the humanoid robot, saving labor costs.

[0070] It should be noted that the protection controller can determine the spatial position information of the humanoid robot based on the first position information of the humanoid robot. Then, based on the spatial position information of the humanoid robot, it can determine the respective position information of the first guide pulley controller, the second guide pulley controller, and the third guide pulley controller when the safety traction rope and the humanoid robot are in the same vertical plane. By controlling the first guide pulley controller, the second guide pulley controller, and the third guide pulley controller to move to the aforementioned respective position information, the safety traction rope and the humanoid robot can be in the same vertical plane after the first guide pulley controller, the second guide pulley controller, and the third guide pulley controller are moved, thereby achieving the movement of the safety traction rope with the humanoid robot.

[0071] In addition, the protection controller can determine whether there is a safety risk in motion debugging based on the first pose information of the humanoid robot. Optionally, the protection controller can pre-save reference pose information when there is no safety risk for the humanoid robot, and then calculate the similarity between the first pose information and the reference pose information. If the similarity is greater than a preset similarity threshold, it is determined that there is no safety risk in motion debugging, otherwise it is determined that there is a safety risk in motion debugging. Optionally again, the protection controller can pre-save the reference relative position relationship between the various key points of the humanoid robot when there is no safety risk, and then calculate the relative position relationship between the various key points of the humanoid robot based on the first pose information, and compare the relative position relationship with the reference relative position relationship. If the relative position deviation is less than a preset threshold, it is determined that there is no safety risk in motion debugging, otherwise it is determined that there is a safety risk in motion debugging. The relative position relationship is, for example, the relative distance between the key points, or the angle between the vectors formed by any two key points.

[0072] When the protection controller determines, based on the first posture information, that there is a safety risk in the motion debugging, it controls the safety traction rope restraint to shorten the safety traction rope to a preset length. The preset length can be a length that ensures that the humanoid robot does not fall to the ground. Preferably, the preset length can be a length that ensures that the humanoid robot is suspended in a floating state by the safety traction rope. This ensures the safety of the humanoid robot and prevents the safety robot from colliding with other objects in the motion debugging area.

[0073] Considering the field of view limitation of the depth camera, in order to ensure that there is no blind spot in monitoring, Figure 5 The third humanoid robot motion debugging protection device provided in this application, wherein the protection support frame includes a first support column 111a and a second support column 111b arranged diagonally;

[0074] The number of the depth cameras 21 is at least two; wherein the first support column and the second support column are each connected to at least one depth camera.

[0075] Figure 5 Taking the number of depth cameras as two for illustration, in actual applications, the humanoid robot motion debugging and protection device may include more depth cameras, for example, the humanoid robot motion debugging and protection device includes four depth cameras, with one depth camera connected to each support column. Taking the device cost into consideration, the present application may set up two depth cameras, one on the first support column and one on the second support column, respectively. This balances the device cost while ensuring that at least one depth camera can monitor the motion state of the humanoid robot.

[0076] In the present application, the depth camera is specifically used to collect position information of a first key point where the humanoid robot is connected to the safety traction rope during the motion debugging process of the humanoid robot; wherein the first key point is the center point where the two mechanical arms of the humanoid robot are connected to the torso;

[0077] The protection controller is specifically used to control the movement of the first guide rail pulley controller, the second guide rail pulley controller and the third guide rail pulley controller according to the position information of the first key point, so that the safety traction rope and the humanoid robot are in the same vertical plane.

[0078] During the humanoid robot's motion debugging, the depth camera captures the humanoid robot's first position information. Optionally, the depth camera captures the connection points between the robot's two mechanical arms and the robot's torso. The center point of the line connecting the two connection points is then used as the first key point, and the safety traction rope is connected to the first key point of the humanoid robot. The depth camera captures the position information of the humanoid robot's first key point and transmits this position information to the protection controller.

[0079] The protection controller controls the first guide rail pulley controller, the second guide rail pulley controller and the third guide rail pulley controller to move according to the position information of the first key point, so that the safety traction rope and the humanoid robot are in the same vertical plane.

[0080] Based on the position information of the first key point of the humanoid robot, the protection controller can determine the respective positions of the first, second, and third guide rail pulley controllers when the safety traction rope and the humanoid robot are in the same vertical plane. By controlling the first, second, and third guide rail pulley controllers to move to the aforementioned respective positions, the safety traction rope and the humanoid robot can be in the same vertical plane after the first, second, and third guide rail pulley controllers have been moved.

[0081] In the present application, the depth camera is specifically used to collect position information of a second key point of the humanoid robot during the motion debugging process of the humanoid robot; wherein the second key point is the center point of the connection point between the two mechanical legs and the torso of the humanoid robot; based on the position information of the first key point and the position information of the second key point, the tilt angle of the humanoid robot is determined;

[0082] The protection controller is specifically used to determine that there is a safety risk in motion debugging if the tilt angle is greater than a preset angle threshold, or the height of the first key point is less than a preset height threshold.

[0083] During the humanoid robot's motion debugging, the depth camera collects the humanoid robot's first pose information. Optionally, the depth camera collects the connection points of each of the humanoid robot's two mechanical legs with the robot's torso, and then uses the center point of the line connecting the two connection points as the second key point. The humanoid robot's tilt angle is determined based on the position information of the first key point and the position information of the second key point. Optionally, based on the position information of the first key point and the second key point, a vector pointing from the first key point to the second key point, or a vector pointing from the second key point to the first key point, is determined. The angle between the vector and the Z-axis is then determined as the humanoid robot's tilt angle. The Z-axis is a coordinate axis perpendicular to the ground. The depth camera transmits the determined tilt angle to the protection controller. Alternatively, the depth camera transmits the determined position information of the first and second key points to the protection controller, which, based on the position information of the first and second key points, determines a vector pointing from the first key point to the second key point, or a vector pointing from the second key point to the first key point. The angle between the vector and the Z-axis is then determined as the humanoid robot's tilt angle.

[0084] When a humanoid robot is in a safety risk, that is, the humanoid robot is in a tilted state, the torso of the humanoid robot will tilt, and the height of the key points of the humanoid robot from the ground will decrease. Based on the above considerations, the protection controller stores a preset angle threshold. If the tilt angle is greater than the preset angle threshold, it is determined that there is a safety risk in the motion debugging. At this time, the safety traction rope restraint is controlled to adjust the length of the safety traction rope. In addition, the protection controller stores a preset height threshold. If the height of the first key point is less than the preset height threshold, it is determined that there is a safety risk in the motion debugging. At this time, the safety traction rope restraint is controlled to adjust the length of the safety traction rope. The height of the first key point refers to the height of the first key point from the ground.

[0085] The depth camera 21 is further used to collect second posture information of the target object in the motion debugging scene during the motion debugging process of the humanoid robot, and send the second posture information to the protection controller 16.

[0086] The protection controller 16 is used to control the first guide rail pulley controller 13, the second guide rail pulley controller 14, the third guide rail pulley controller 15 and the safety traction rope restraint 12 according to the first posture information; or to control the first guide rail pulley controller 13, the second guide rail pulley controller 14, the third guide rail pulley controller 15 and the safety traction rope restraint 12 according to the first posture information and the second posture information.

[0087] In the present application, in order to ensure the safety of the target object in the motion debugging scene, the depth camera is further used to collect the second posture information of the target object in the motion debugging scene during the motion debugging process of the humanoid robot, and send the second posture information to the protection controller;

[0088] The protection controller is also used to determine that there is a safety risk in motion debugging if it is determined based on the first posture information and the second posture information that the distance between the humanoid robot and the target object is less than a preset distance threshold, and control the safety traction rope restraint to adjust the safety traction rope to shorten to a preset length.

[0089] The depth camera can detect whether there is a target object in the humanoid robot motion debugging scene through the target detection algorithm. The target object can be a staff member or other objects appearing in the motion debugging scene.

[0090] If the depth camera detects a target object in the humanoid robot's motion debugging scene, it collects the target object's second pose information. If the target object is a human worker, the second pose information can be collected using the same method used to collect the humanoid robot's first pose information. If the target object is another object in the motion debugging scene, the spatial outline of the target object can be detected as the second pose information. The depth camera transmits the target object's second pose information to the protection controller.

[0091] The protection controller determines the humanoid robot's three-dimensional spatial position based on the humanoid robot's first pose information and the target object's three-dimensional spatial position based on its second pose information. The protection controller then determines the distance between the humanoid robot and the target object based on the three-dimensional spatial positions of the humanoid robot and the target object. This distance represents the spatial distance between the humanoid robot and the target object. The protection controller stores a preset distance threshold. When the distance between the humanoid robot and the target object falls below the preset distance threshold, the controller deems that there is a risk of the humanoid robot colliding with the target object. Therefore, the motion debugging process is determined to present a safety risk and the safety traction rope restraint is controlled to shorten the safety traction rope to a preset length.

[0092] Figure 6 This is a top view of the two depth cameras provided in this application installed diagonally. This application monitors the motion status of a humanoid robot based on two depth cameras.

[0093] Figure 7 Schematic diagram of key points for identifying humanoid robots provided in this application, Figure 7Point A is the first key point, and point B is the second key point. Point A is located at the center point where the left and right arms of the humanoid robot connect to the torso, and is the connection point for the humanoid robot's safety traction rope. The current position of the humanoid robot in the top-down perspective is determined based on the XY value of point A in the coordinate system. The XY axis position of the humanoid robot is input into the protection controller, which drives the first guide pulley controller, the second guide pulley controller, and the third guide pulley controller at the top of the humanoid robot's motion debugging protection device, so that the top of the humanoid robot's safety traction rope is in the same vertical plane as the humanoid robot body. This method eliminates the need for manual adjustment of the humanoid robot debugging scaffolding. The safety traction rope can be moved with the humanoid robot through real-time recognition of the humanoid robot's position, saving labor costs.

[0094] like Figure 7 As shown, point A is located at the center point of the connection between the left arm, the right arm and the torso of the humanoid robot; point B is the center point of the connection between the left leg, the right leg and the torso of the humanoid robot.

[0095] Obtain the XYZ values of point A in the world coordinate system; obtain the XYZ values of point B in the world coordinate system; obtain the vector from point B to point A (or vice versa) based on points A and B; and obtain the angle of the calculated vector angle relative to the Z axis. Given an angle threshold E, which indicates an impending fall, if the angle of the vector angle relative to the Z axis is greater than angle E, the robot is considered to be on the verge of a fall. Tighten the safety traction rope to a pre-set safe length to prevent the robot from falling.

[0096] Get the Z-axis coordinate of point A. Given a safe height F (i.e., the Z-axis coordinate) of point A, if the height of point A is less than the safe height F, the robot is considered to be about to lose balance and fall. The safety rope is tightened to a pre-set safe length to prevent the robot from falling.

[0097] Figure 8 The first safety debugging process diagram provided for this application includes the following steps:

[0098] S101: Obtain a first key point A and a second key point B of the humanoid robot; determine the angle between the AB vector and the Z axis, and the height of point A;

[0099] S102: Determine whether the included angle is greater than a preset angle threshold, if yes, proceed to S103, if no, proceed to S104;

[0100] S103: Determining that there is a safety risk in the motion debugging; controlling the safety traction rope restraint to adjust the length of the safety traction rope;

[0101] S104: Determine whether the height is less than a preset height threshold, if yes, proceed to S103, if not, proceed to S105;

[0102] S104: Determine that there is no safety risk in motion debugging.

[0103] Figure 9 This is a schematic diagram of the key points of the target object in the motion debugging scene provided by this application. Figure 9 Take the target object as staff as an example. The key points of the target object include but are not limited to Figure 9 Points A, B, and C in the diagram.

[0104] Based on the maximum z-axis, maximum and minimum x-axis, and maximum and minimum y-axis values of the target object's key points, a cube is generated for the target object in the XYZ coordinate system. Based on the maximum z-axis, maximum and minimum x-axis, and maximum and minimum y-axis values of the humanoid robot's key points, a cube is generated for the humanoid robot in the XYZ coordinate system.

[0105] The distance between the target object and the humanoid robot's occupied cube is determined. If it is less than the safety threshold, the safety traction rope will be pulled to a pre-set safety length to protect the debugging personnel from being injured.

[0106] Figure 10 The second security debugging process diagram provided for this application includes the following steps:

[0107] S201: Capturing key points of a target object through a depth camera to generate a first occupying cube of the target object in an XYZ coordinate system; capturing key points of a humanoid robot through a depth camera to generate a second occupying cube of the humanoid robot in an XYZ coordinate system;

[0108] S202: Determine the distance between the first placeholder cube and the second placeholder cube;

[0109] S203: Determine whether the distance is less than a preset distance threshold, if yes, proceed to S204, if not, proceed to S205;

[0110] S204: Determine that there is a safety risk in the motion debugging; control the safety traction rope restraint to adjust the length of the safety traction rope;

[0111] S205: Determine that there is no safety risk in the motion debugging.

[0112] The device further includes: a support column base 110; one end of the support column is connected to the support top beam, and the other end is connected to the support column base.

[0113] Figure 11 The main view of the humanoid robot motion debugging protection device provided in this application; Figure 11As shown, the humanoid robot motion debugging protection device includes a protection support frame 11, a safety traction rope restraint 12, a first guide rail pulley controller 13, a second guide rail pulley controller 14, a third guide rail pulley controller 15, and a depth camera 21. The protection support frame 11 includes support columns 111 and a support top beam 112. To ensure the safety of the device, support columns 111 are connected to support column bases 110 below.

[0114] Figure 12 A top view of the humanoid robot motion debugging protection device provided in this application; Figure 12 As shown, the humanoid robot motion debugging protection device includes two depth cameras 21 set diagonally, a first guide rail pulley controller 13, a second guide rail pulley controller 14, a third guide rail pulley controller 15, a support top beam 112 and a movable support cross beam 113.

[0115] Figure 13 This is a left view of the humanoid robot motion debugging protection device provided in this application; Figure 13 As shown, the robot motion debugging protection device includes a protection support frame 11, a safety traction rope restraint 12, a third guide rail pulley controller 15, and a depth camera 21. The protection support frame 11 includes a support column 111 and a support top beam 112. To ensure the safety of the device, the support column 111 is connected to a support column base 110 below.

[0116] Support column base: used to support the support column to support the overall humanoid robot motion debugging protection device structure to ensure the stability and safety of the device.

[0117] Support column: supports the overall humanoid robot motion debugging protection device structure and can be installed with a depth camera.

[0118] Depth camera: used to collect color images and depth images of the humanoid robot and the target object, providing image data support for the recognition algorithm to determine the posture information.

[0119] The first guide rail pulley controller and the second guide rail pulley controller are used to drive the safety traction rope restraint to move in the direction perpendicular to the movable support beam.

[0120] The third guide rail pulley controller is used to drive the safety traction rope restraint to move along the movable support beam.

[0121] Safety traction rope restraint: When there is a safety risk, the safety traction rope can be tightened to prevent the humanoid robot from falling and protect the humanoid robot and the target object.

[0122] The overall structure of the device provided in the present application is a cuboid rectangular structure, and adopts a four-support column design. The interior of the rectangle formed by the support columns serves as a debugging area for the humanoid robot.

[0123] Figure 14 This is a schematic diagram of the depth camera fixing module structure provided in this application. The device further includes: a depth camera fixing module 31, through which the depth camera 21 is connected to the support column 111;

[0124] The depth camera fixing module 31 includes: a support column fixing screw 311, a support column fixing piece 312, a horizontal bearing 313, a vertical bearing 314, a connecting piece 315, and a camera fixing piece 316;

[0125] The support column fixing screw 311 fixes the support column fixing piece 312 to the support column 111; the support column fixing piece 312 is connected to the first end of the connecting piece 315 through the horizontal bearing 313; the second end of the connecting piece 315 is connected to the camera fixing piece 316 through the vertical bearing 314; the camera fixing piece 316 is used to connect to the depth camera 21.

[0126] Support column fixing screw: The support column fixing piece can be fixed to the support column by rotating it clockwise or counterclockwise. The support column fixing piece is adjustable in the vertical direction to achieve vertical height adjustment of the depth camera.

[0127] Horizontal bearing: The horizontal bearing allows the depth camera to move horizontally.

[0128] Connector: A rigid connector that connects the horizontal bearing and the vertical bearing.

[0129] Vertical bearing: The vertical bearing can be used to adjust the pitch angle of the depth camera.

[0130] Camera fixing part: It is a universal interface, including depth camera fixing screws, used to fix the depth camera.

[0131] The depth camera is secured to the support column by the depth camera mounting module. This module consists of support column mounting screws, support column mounting hardware, horizontal bearings, vertical bearings, connectors, and camera mounting hardware. The camera mounting hardware uses an industry-standard interface that supports installation of different depth camera models. The module is secured to the support column by the support column mounting screws. Loosening the screws allows for free vertical movement, while tightening the screws secures the module. The horizontal bearing allows for lateral movement of the depth camera, while the vertical bearing adjusts the depth camera's pitch. The depth camera mounting module allows for height and multi-angle adjustment of the depth camera.

[0132] Figure 15 The schematic diagram of the safety traction rope restraint structure provided for this application is as follows: Figure 15As shown, the safety traction rope restraint device includes: a first drive motor 121 and a safety traction rope winding module 122;

[0133] The first driving motor 121 is connected to the rotating shaft of the safety traction rope winding module 122; the safety traction rope 123 is wound around the periphery of the safety traction rope winding module 122; and the safety traction rope 123 is connected to the humanoid robot through a traction hook 124.

[0134] The first drive motor drives the safety traction rope winding module to rotate forward or reverse to tighten or loosen the safety traction rope.

[0135] Safety traction rope winding module: When rotating in the forward direction, the safety traction rope is loosened to facilitate the debugging of the humanoid robot. When rotating in the reverse direction, the safety traction rope is wound and the traction hook is tightened to pull up the humanoid robot.

[0136] Safety traction rope: The end is connected to a traction hook and is used to tow the humanoid robot.

[0137] Towing hook: directly connected to the humanoid robot.

[0138] The safety traction rope restraint consists of a first drive motor 121, a safety traction rope winding module 122, a safety traction rope 123, and a traction hook 124. When the humanoid robot needs to be debugged, the first drive motor drives the safety traction rope winding module to loosen the safety traction rope to a preset length to facilitate the debugging of the humanoid robot. When an emergency occurs and the humanoid robot needs to be pulled up, the first drive motor drives the safety traction rope winding module to tighten the safety traction rope to a preset safety length to ensure that the humanoid robot has no risk of falling.

[0139] Figure 16 This is a schematic diagram of the structure of the first guide rail pulley controller and the second guide rail pulley controller provided in this application. The structures of the first guide rail pulley controller and the second guide rail pulley controller are the same. Figure 16 As shown, the first guide rail pulley controller and the second guide rail pulley controller respectively include: a second drive motor 131, a transmission shaft 132, a gear 133 and a gear track 134;

[0140] The second drive motor 131 is connected to the transmission shaft 132 ; the transmission shaft 132 is also connected to the gear 133 ; the gear 133 is also connected to the gear track 134 ; the gear track 134 is also connected to the movable support beam 113 .

[0141] The second drive motor is used to drive the transmission shaft to rotate forward and reverse, thereby driving the gears on the transmission shaft to move forward and backward on the gear tracks, thereby realizing the longitudinal movement of the movable support beam.

[0142] Movable support beam: used to support the horizontal and vertical movement of the safety traction rope restraint.

[0143] Drive shaft: connects the second drive motor and the gear to provide torque for the gear.

[0144] Gear: By rotating on the gear track, it drives the movable support beam to achieve longitudinal movement.

[0145] Gear track: used to drive the movable support beam to move when the gear rotates.

[0146] The safety traction rope restraint supports longitudinal movement. This function is composed of the second drive motor, transmission shaft, gear and gear track in the first guide rail pulley controller and the second guide rail pulley controller. The second drive motor drives the transmission shaft to rotate, and the transmission shaft drives the gear to rotate and move back and forth on the gear track.

[0147] Figure 17 The schematic diagram of the third guide rail pulley controller provided in this application is as follows: Figure 17 As shown, the third guide rail pulley controller includes: a third drive motor 151, a first rolling bearing 152 and a transverse moving member 153; the transverse moving member 153 includes a screw hole 153a, a sleeve hole 153b and a safety traction rope restraint connector 153c; the inner wall of the sleeve hole 153b is provided with a second rolling bearing 153d;

[0148] The third drive motor 151 is connected to the first rolling bearing 152; the first rolling bearing 152 is also connected to the screw hole 153a; the second rolling bearing 153d is connected to the movable support beam 113; the safety traction rope restraint connector 153c is used to connect to the safety traction rope restraint 12.

[0149] The first rolling bearing is provided with threads, and the third driving motor can drive the first rolling bearing to rotate forward or reverse.

[0150] The third driving motor drives the first rolling bearing to rotate in the forward or reverse direction, and is used to drive the lateral moving part to move lateraly.

[0151] Movable support beam: used to support the lateral and longitudinal movement of the safety traction rope restraint; as a load-bearing beam for the lateral moving part, it bears the downward gravity of the lateral moving part.

[0152] Second rolling bearing: connects the transverse moving member and the movable supporting beam, and reduces the friction between the transverse moving member and the movable supporting beam through the rolling structure.

[0153] Screw mouth: directly interacts with the first rolling bearing, and the first rolling bearing rotates forward or reverse through the screw mouth to move its lateral position.

[0154] The safety rope restraint supports lateral movement. This function is composed of a third drive motor in the third guide rail pulley controller, a first rolling bearing, and a lateral moving member. The lateral moving member includes a threaded opening, a sleeve hole, and a safety rope restraint connector. A second rolling bearing is positioned on the inner wall of the sleeve hole. The third drive motor drives the first rolling bearing to rotate clockwise or counterclockwise. The first rolling bearing, through its threads, drives the lateral moving member to translate left and right. The lateral moving member is suspended from a movable support beam and connected to the movable support beam via a second rolling bearing. The rolling structure reduces friction between the lateral moving member and the movable support beam.

[0155] Figure 18 The schematic diagram of the humanoid robot motion debugging and protection process provided in this application includes the following steps:

[0156] S301: The protection controller obtains the first position information of the humanoid robot collected by the depth camera during the motion debugging process of the humanoid robot;

[0157] S302: Control the first guide rail pulley controller, the second guide rail pulley controller and the third guide rail pulley controller in the humanoid robot motion debugging protection device to move according to the first posture information, so that the safety traction rope and the humanoid robot are in the same vertical plane; and when it is determined according to the first posture information that there is a safety risk in the motion debugging, control the safety traction rope restraint to adjust the safety traction rope to shorten to a preset length; wherein, the humanoid robot motion debugging protection device includes a protection support frame, and the safety traction rope restraint, the first guide rail pulley controller, the second guide rail pulley controller, the third guide rail pulley controller and the depth camera arranged on the protection support frame; the safety traction rope restraint is connected to the humanoid robot through the safety traction rope.

[0158] : The method comprises:

[0159] Obtaining position information of a first key point of the humanoid robot connected to the safety traction rope, collected by a depth camera during the motion debugging of the humanoid robot; wherein the first key point is the center point of the connection points between the two mechanical arms of the humanoid robot and the torso;

[0160] According to the position information of the first key point, the first guide rail pulley controller, the second guide rail pulley controller and the third guide rail pulley controller are controlled to move so that the safety traction rope and the humanoid robot are in the same vertical plane.

[0161] The method comprises:

[0162] Acquire position information of a second key point of the humanoid robot collected by a depth camera during the motion debugging of the humanoid robot; wherein the second key point is the center point of the connection point between the two mechanical legs and the torso of the humanoid robot;

[0163] Based on the position information of the first key point and the position information of the second key point, the inclination angle of the humanoid robot is determined; if the inclination angle is greater than a preset angle threshold, or the height of the first key point is less than a preset height threshold, it is determined that there is a safety risk in motion debugging.

[0164] The method comprises:

[0165] Obtaining the second pose information of the target object in the motion debugging scene collected by the depth camera during the motion debugging process of the humanoid robot;

[0166] If it is determined based on the first posture information and the second posture information that the distance between the humanoid robot and the target object is less than a preset distance threshold, it is determined that there is a safety risk in the motion debugging, and the safety traction rope restraint is controlled to adjust the safety traction rope to be shortened to a preset length.

[0167] Through the humanoid robot motion debugging protection device and the humanoid robot posture recognition algorithm provided by this application, the position of the humanoid robot in the debugging area is identified, and the safety traction rope restraint is moved in real time directly above the humanoid robot; by identifying the posture of the humanoid robot, it is determined that when the humanoid robot is about to fall, the safety traction rope is tightened; the distance between the target object (debugging personnel) and the humanoid robot is identified, and based on the distance, it is determined whether the debugging personnel may be injured by the collision with the humanoid robot. If so, the safety traction rope is tightened.

[0168] The humanoid robot motion debugging protection device and humanoid robot posture recognition algorithm provided in this application only require one person for debugging, reducing the number of debugging personnel and lowering labor costs. By using an external depth camera to recognize the humanoid robot's posture, the risk of damage to the humanoid robot due to its inability to detect whether it has fallen due to its own faults is reduced. The depth camera increases the recognition of the target object during the debugging process, solving the problem of potential damage to the target object during the debugging process and improving the safety of the debugging personnel.

[0169] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0170] Obviously, those skilled in the art may make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if such modifications and variations fall within the scope of the claims of the present invention and their equivalents, the present invention is intended to include such modifications and variations.

Claims

1. A humanoid robot motion debugging protection device, characterized in that: The device comprises: A protective support frame, a safety traction rope restraint, a first guide rail pulley controller, a second guide rail pulley controller, and a third guide rail pulley controller; the protective support frame includes a support column, a support top beam, and a movable support beam; the support top beam includes a first support top beam and a second support top beam arranged in parallel; The first guide rail pulley controller is respectively connected to the first end of the first support top beam and the movable support beam; the second guide rail pulley controller is respectively connected to the second end of the second support top beam and the movable support beam; the third guide rail pulley controller is respectively connected to the movable support beam and the safety traction rope restraint; the safety traction rope restraint is connected to the humanoid robot through a safety traction rope.

2. The device according to claim 1, wherein The device further comprises: a depth camera; the depth camera is connected to the support column.

3. The device according to claim 2, wherein The protective support frame includes a first supporting column and a second supporting column arranged diagonally; The number of the depth cameras is at least two; wherein the first support column and the second support column are each connected to at least one depth camera.

4. The device according to claim 1, wherein The device further comprises: a protection controller; The protection controller is used to control the first guide rail pulley controller, the second guide rail pulley controller, the third guide rail pulley controller and the safety traction rope restraint.

5. The device according to claim 1, wherein The device also includes: a support column base; One end of the support column is connected to the support top beam, and the other end is connected to the support column base.

6. The device according to claim 2 or 3, characterized in that The device further comprises: a depth camera fixing module, and the depth camera is connected to the supporting column via the depth camera fixing module.

7. The device according to claim 6, characterized in that The depth camera fixing module includes: support column fixing screws, support column fixing parts, horizontal bearings, vertical bearings, connecting parts, and camera fixing parts; The support column fixing screw fixes the support column fixing piece to the support column; the support column fixing piece is connected to the first end of the connecting piece through the horizontal bearing; the second end of the connecting piece is connected to the camera fixing piece through the vertical bearing; the camera fixing piece is connected to the depth camera.

8. The device according to claim 1, wherein The safety traction rope restraint device includes: a first drive motor and a safety traction rope winding module; The first drive motor is connected to the rotating shaft of the safety traction rope winding module; the safety traction rope is wound around the periphery of the safety traction rope winding module; and the safety traction rope is connected to the humanoid robot through a traction hook.

9. The device according to claim 1, wherein The first guide rail pulley controller and the second guide rail pulley controller respectively include: a second drive motor, a transmission shaft, a gear and a gear track; The second drive motor is connected to the transmission shaft; the transmission shaft is also connected to the gear; the gear is also connected to the gear track; and the gear track is also connected to the movable support beam.

10. The device according to claim 1, wherein The third guide rail pulley controller includes: a third drive motor, a first rolling bearing and a transverse moving member; the transverse moving member includes a screw hole, a sleeve hole and a safety traction rope restraint connector; the inner wall of the sleeve hole is provided with a second rolling bearing; The third drive motor is connected to the first rolling bearing; the first rolling bearing is also connected to the screw hole; the second rolling bearing is connected to the movable support beam; the safety traction rope restraint connector is connected to the safety traction rope restraint.

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