Data acquisition equipment

Abstract

The utility model discloses a data acquisition device which comprises a mechanical arm, a head and neck assembly and a wearing assembly, the head and neck assembly is fixedly connected with the wearing assembly, and the mechanical arm is installed on the head and neck assembly. The mechanical arm comprises a plurality of joint structures which are sequentially connected, the first joint structure, the second joint structure and the third joint structure are continuously connected, and the axis of the first joint structure, the axis of the second joint structure and the axis of the third joint structure intersect at one point. Therefore, the mechanical arm of the data acquisition equipment has both the positive analytic solution and the negative analytic solution, and when a robot isomorphic with the data acquisition equipment is designed, the acquired data can be directly applied to training of control strategies of the robot, so that the application scene of the data acquired by the data acquisition equipment is greatly expanded, and the training efficiency of the robot is improved. And the generalization ability of the data application is improved.

Description

Technical Field

[0001] This specification relates to the field of robotics, and in particular to a data acquisition device. Background Art

[0002] Robotic automation has broad application value across multiple fields, not only improving production efficiency but also replacing human operators in dangerous and complex environments, ensuring human safety. Currently, because robotic operation primarily relies on hand movements, research in robotic control technology primarily focuses on the actuators mounted at the end of the robot's arm. During this process, the robot's arm must carry the end effector to the designated location in order to support the end effector in completing its task. Therefore, the robot's arm also performs a crucial function.

[0003] To achieve precise automated control of the robot's arm, the user can wear a data acquisition device, which can include a robotic arm that fits snugly within the user's arm. When the user's arm moves, the data acquisition device's robotic arm also moves. Joint data from each joint of the robotic arm is collected, and a control strategy for the robotic arm is designed based on this data. Applying this control strategy to a robotic arm that is isomorphic to the data acquisition device's arm enables precise control of the robotic arm.

[0004] Because the joint structure of the human arm is extremely complex, in order to simulate the movement of the human arm as closely as possible, current data acquisition devices typically use robotic arms that do not meet the Pieper criterion. That is, the robotic arms in current data acquisition devices do not contain any joints whose axes intersect at a point or are parallel to each other. The fact that the robotic arm does not meet the Pieper criterion means that only a forward analytical solution (calculating the end-arm pose based on the joint angles) can be obtained for the robotic arm, but no inverse analytical solution (calculating the joint angles based on the end-arm pose) can be obtained. In practical applications, the control objective is often to achieve a desired position for the actuator carried by the end-arm. In other words, a control strategy is required to calculate the angles of each joint of the robotic arm based on the desired end-arm pose, and thereby control the movement of each joint of the robotic arm. However, it is clear that control strategies designed based on the joint data acquired by the above-mentioned data acquisition devices are difficult to directly solve for the joint angles of each joint of the robotic arm using the desired end-arm pose. Therefore, they can only be applied to robotic arms of robots that are isomorphic to the data acquisition device and do not meet the Pieper criterion. However, the application scenarios of this type of robotic arm that does not meet the Pieper criterion are limited, which greatly reduces the generalization ability of the joint data obtained by the data acquisition equipment in various application scenarios. Utility Model Content

[0005] This specification provides a data acquisition device to partially solve the above-mentioned problems existing in the prior art.

[0006] This manual adopts the following technical solutions:

[0007] This specification provides a data acquisition device, which includes a robotic arm 1, a head and neck assembly 2, and a wearable assembly 3; the head and neck assembly 2 is fixedly connected to the wearable assembly 3, and the robotic arm 1 is mounted on the head and neck assembly 2;

[0008] The robotic arm 1 includes multiple joint structures connected in sequence, wherein the first joint structure 11, the second joint structure 12 and the third joint structure 13 among the multiple joint structures are three continuous joint structures, and the axis of the first joint structure 11, the axis of the second joint structure 12 and the axis of the third joint structure 13 intersect at one point.

[0009] Optionally, each joint structure of the plurality of joint structures includes an encoder component 101 and an auxiliary structure 102;

[0010] For each joint structure, the encoder assembly 101 of the joint structure includes a first bearing 1011, a second bearing 1012, an output shaft 1013, a connecting structure 1014, and an angle encoder 1015; wherein the output shaft 1013 is coaxially connected to the angle encoder 1015, the first bearing 1011 and the second bearing 1012 are respectively used to fix the output shaft 1013 to the connecting structure 1014, and the connecting structure 1014 is fixedly connected to the auxiliary structure 102;

[0011] For each joint structure in turn, the output shaft 1013 in the encoder assembly 101 of the joint structure is connected to the auxiliary structure 102 of the next joint structure of the joint structure.

[0012] Optionally, the robotic arm 1 further includes a gripping device 18, which includes a gripping claw assembly 181, a trigger 182, a handheld module 183, and an electric control module 184; the trigger 182 deploys a trigger angle sensor 1821, and the electric control module 184 includes a gripping claw control unit 1841, a driving circuit 1842, and a gripping claw motor 1843;

[0013] When the user wears the data acquisition device and pulls the trigger 182, the trigger angle sensor 1821 obtains the pulling angle of the trigger 182 and sends the pulling angle to the clamping jaw control unit 1841. The clamping jaw control unit 1841 determines the driving signal according to the pulling angle and sends the driving signal to the driving circuit 1842. The driving circuit 1842 drives the clamping jaw motor 1843 in response to the driving signal to drive the clamping jaw assembly 181 to move and control the clamping jaw assembly 181 to clamp or release the target object.

[0014] Optionally, a terminal image acquisition device 185 is deployed on the clamping device 18;

[0015] When the user wears the data acquisition device to control the gripper assembly 181 to operate the target object, the end image acquisition device 185 acquires environmental image data containing the target object.

[0016] Optionally, a clamping jaw pressure sensor 1811 is deployed on the clamping jaw assembly 181;

[0017] When the user pulls the trigger 182 to control the clamping jaw assembly 181 to clamp the target object, the clamping force of the clamping jaw assembly 181 to clamp the target object is determined by the pressure value between the clamping jaw assembly 181 and the target object obtained by the clamping jaw pressure sensor 1811.

[0018] Optionally, the head and neck assembly 2 includes a head and neck base structure 21 and a helmet 22, a head image acquisition device 221 is installed on the helmet 22, at least one robotic arm mounting assembly 211 is deployed on the head and neck base structure 21, and the robotic arm 1 is mounted on the head and neck assembly 2 through the robotic arm mounting assembly 211;

[0019] The wearable component 3 includes a shoulder strap 31, a back panel 32, and a central processing unit 33. The shoulder strap 31 is connected to the back panel 32, and the central processing unit 33 is installed on the back panel 32. The head and neck basic structure 21 of the head and neck component 2 is fixedly connected to the wearable component 3 through the back panel 32.

[0020] Optionally, a head pitch angle encoder 212, a gear ring 213 and a gear 214 meshing with the gear ring 213 are deployed on the head and neck infrastructure 21, and a head rotation angle encoder 215 is installed on the gear 214;

[0021] When the user wears the data acquisition device and performs pitching motion, the head pitch angle is obtained by the head pitch angle encoder 212;

[0022] When the user wears the data acquisition device and performs rotational movement, the head rotation angle is acquired by the head rotation angle encoder 215 .

[0023] Optionally, the head image acquisition device 221 installed on the helmet 22 includes a first camera and a second camera, and the helmet 22 is also installed with an inertial measurement unit;

[0024] When the user wears the data acquisition device and exercises, first image data is acquired by the first camera, second image data is acquired by the second camera, and angular velocity data and linear acceleration data of the user's head are acquired by the inertial measurement unit;

[0025] The first image data, the angular velocity data and the linear acceleration data are used to determine the posture of the user's head, and the second image data is used to provide visual information of the environment where the data acquisition device is located.

[0026] Optionally, an inertial measurement unit is also installed on the helmet 22;

[0027] When the user wears the data acquisition device and exercises, image data is acquired by the head image acquisition device 221, and angular velocity data and linear acceleration data of the user's head are acquired by the inertial measurement unit;

[0028] The image data collected by the head image acquisition device 221 is used to provide visual information of the environment where the data acquisition device is located, and is used to determine the posture of the user's head together with the angular velocity data and linear acceleration data collected by the inertial measurement unit.

[0029] Optionally, the wearable component 3 further includes a storage device 34; the storage device 34 is mounted on the backboard 32;

[0030] When the central processor 33 of the wearable component 3 receives the data to be recorded, it sends the data to be recorded to the storage device 34 so that the storage device 34 stores the data to be recorded;

[0031] The data to be recorded include the joint angle data of the joint structure collected by the angle encoder in the joint structure, the environmental image data containing the target object collected by the end image acquisition device 185 of the clamping device 18 in the robotic arm 1, the image data collected by the head image acquisition device 221 installed on the helmet 22 in the head and neck component 2, the trigger angle of the trigger 182 collected by the trigger angle sensor 1821 in the trigger 182 included in the clamping device 18, the pressure data of the clamping component collected by the clamping pressure sensor 1811 in the clamping component 181 included in the clamping device 18, and the image data of the clamping component collected by the end image acquisition device 185 of the clamping device 18 in the robotic arm 1. 181 and the target object, the head pitch angle acquired by the head pitch angle encoder 212 deployed on the head and neck base structure 21 included in the head and neck component 2, the head rotation angle acquired by the head rotation angle encoder 215 deployed on the head and neck base structure 21, the first image data acquired by the first camera included in the head image acquisition device 221 installed on the helmet 22, the second image data acquired by the second camera included in the head image acquisition device 221, and at least one of the angular velocity data and linear acceleration acquired by the inertial measurement unit installed on the helmet 22.

[0032] At least one of the above technical solutions adopted in this specification can achieve the following beneficial effects:

[0033] In the data acquisition device provided in this specification, the data acquisition device includes a robotic arm, a head and neck assembly and a wearable assembly, the head and neck assembly is fixedly connected to the wearable assembly, and the robotic arm is installed on the head and neck assembly. The robotic arm includes a plurality of joint structures connected in sequence, wherein the first joint structure, the second joint structure and the third joint structure are continuously connected, and the axis of the first joint structure, the axis of the second joint structure and the axis of the third joint structure intersect at one point. In this way, the robotic arm of the data acquisition device has both an analytical forward solution and an analytical inverse solution. When designing a robot isomorphic to the data acquisition device, the collected data can be directly applied to the training of the control strategy of such a robot, which greatly expands the application scenarios of the data collected by the data acquisition device and improves the generalization ability of data application. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings described herein are used to provide a further understanding of this specification and constitute a part of this specification. The exemplary embodiments and descriptions of this specification are used to explain this specification and do not constitute an improper limitation of this specification.

[0035] In the picture:

[0036] Figure 1 This is a schematic diagram of a data acquisition device in this manual;

[0037] Figure 2is a schematic diagram of a robotic arm and a gripping device in this specification;

[0038] Figure 3 is a schematic diagram of an encoder assembly in this specification;

[0039] Figure 4 is a schematic diagram of a head and neck assembly in this specification;

[0040] Figure 5 This is a schematic diagram of a wearable component in this manual. DETAILED DESCRIPTION

[0041] To make the objectives, technical solutions, and advantages of this specification more clear, the following will clearly and completely describe the technical solutions of this specification in conjunction with the specific embodiments of this specification and the corresponding drawings. Obviously, the embodiments described are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this specification.

[0042] In addition, it should be noted that all actions of acquiring signals, information or data in this manual are performed in compliance with the relevant local data protection laws and policies and with the authorization given by the owner of the corresponding device.

[0043] It should be noted that, unless there is any conflict, the features in the following embodiments and implementations may be combined with each other.

[0044] like Figure 1 As shown, the data acquisition device includes a robotic arm 1, a head and neck assembly 2, and a wearable assembly 3. The head and neck assembly 2 is fixedly connected to the wearable assembly 3, and the robotic arm 1 is mounted on the head and neck assembly 2. The following, combined with the accompanying drawings, details the structure and function of each component of the data acquisition device.

[0045] The robotic arm 1 includes a plurality of sequentially connected joint structures, wherein a first joint structure 11, a second joint structure 12, and a third joint structure 13 form three consecutive joint structures, and the axes of the first joint structure 11, the second joint structure 12, and the third joint structure 13 intersect at a point. Clearly, the connection between the first joint structure 11, the second joint structure 12, and the third joint structure 13 satisfies the condition that the axes of three consecutive adjacent joint structures intersect at a point. That is, the robotic arm 1 included in the data acquisition device provided in this specification satisfies the Pieper criterion.

[0046] In practical applications, the Pieper criterion provides a method for determining whether a robotic arm structure has an analytical inverse solution. Analytical inverse solution refers to directly calculating the joint angles of each joint structure required to reach the desired posture of the end effector through mathematical formulas. Compared with numerical methods that obtain joint angles through iterative calculations, the analytical inverse solution has a faster calculation speed and is suitable for real-time control and high-speed motion application scenarios. Therefore, a robotic arm with an analytical inverse solution that meets the Pieper criterion usually has a wider range of application scenarios, high reliability, and is easy to design and debug. It can be seen that it is very necessary to design and train an automatic control strategy for a robotic arm that meets the Pieper criterion. Based on this, this specification adopts a data acquisition device including a robotic arm 1 that meets the Pieper criterion to collect data during the movement of the robotic arm 1, especially changes in joint angles. The control strategy designed based on the data collected by the data acquisition device can be applied to the automated control of other robots that are isomorphic to the data acquisition device, thereby expanding the application scenarios of the data and improving the generalization ability of the data.

[0047] Since the robot arm 1 satisfies the Pieper criterion, it is sufficient for the axes corresponding to a set of three continuous joint structures to intersect at one point. Therefore, this specification does not make any specific restrictions on the positions of the three joint structures that meet the Pieper criterion in the robot arm 1. Figure 1 and Figure 2 As shown, it is located at the shoulder joint position of the robotic arm 1, that is, the first joint structure 11 is the joint structure that is first in the order from shoulder to wrist among the multiple joint structures contained in the robotic arm 1; it can also be located at other positions, such as at the wrist joint position of the robotic arm 1, that is, the third joint structure 13 is the joint structure that is last in the order from shoulder to wrist among the multiple joint structures contained in the robotic arm 1.

[0048] exist Figure 1 The data acquisition device shown includes a robotic arm 1, a head and neck assembly 2, and a wearable assembly 3. The head and neck assembly 2 is fixedly connected to the wearable assembly 3, and the robotic arm 1 is mounted on the head and neck assembly 2. The robotic arm 1 includes multiple joint structures connected in sequence, wherein a first joint structure 11, a second joint structure 12, and a third joint structure 13 are continuously connected, and the axes of the first joint structure 11, the second joint structure 12, and the third joint structure 13 intersect at a point.

[0049] In this way, the robotic arm 1 of the data acquisition device satisfies the Pieper criterion, that is, in this specification, the robotic arm 1 of the data acquisition device has both an analytical forward solution and an analytical inverse solution. Therefore, the control strategy obtained by training based on the image data collected by the data acquisition device provided in this specification and the joint angle data of the robotic arm 1 is suitable for controlling a robot that is isomorphic to the data acquisition device and satisfies the Pieper criterion. The control strategy can be based on the desired posture of the robot's end effector, and can quickly calculate the joint angles of each joint structure in the robot's robotic arm through an analytical method, and thereby control the movement of each joint structure, thereby driving the end effector to reach the desired posture and perform corresponding actions to complete its task. Since robots that meet the Pieper criterion can be applied to a wider range of actual industrial scenarios, the data collected by the data acquisition device provided in this specification can be applied to a wider range of application scenarios, thereby improving the application generalization ability of the collected data.

[0050] It should be noted that, as mentioned above, in order to simulate the movement of a human arm as much as possible, the current data acquisition device is designed to have the robotic arm in the data acquisition device fit the human arm as closely as possible and meet the wearing comfort of the data acquisition device as a wearable device, and uses a robotic arm that does not meet the Pieper criterion. However, this results in the data collected by the current data acquisition device being able to only be used for the automatic control of the robotic arm that does not meet the Pieper criterion, or on the robotic arm that meets the Pieper criterion, only numerical methods can be used to control the position and posture of the end effector. Therefore, in this specification, in order to overcome the problem of weak generalization ability of the data obtained by the data acquisition device mentioned above in various application scenarios, a robotic arm 1 that meets the Pieper criterion is used in the data acquisition device. Although this reduces the fit between the robotic arm 1 and the human arm and may cause a decrease in the comfort of the user wearing the data acquisition device during the data acquisition process, the data collected by the data acquisition device provided by this specification can be used in a wider range of application scenarios, can solve the problem of low generalization ability of the collected data, and essentially overcome the shortcomings of the data collected by the existing data acquisition device.

[0051] Reference Figure 2As shown, in this specification, each robotic arm 1 of the data acquisition device has seven joint structures, and each robotic arm 1 has 7 degrees of freedom. Among them, the first joint structure 11, the second joint structure 12 and the third joint structure 13 are used to simulate the shoulder joint of the human arm, the fourth joint structure 14 is used to simulate the elbow joint of the human arm, and the fifth joint structure 15, the sixth joint structure 16 and the seventh joint structure 17 are used to simulate the wrist joint of the human arm. Therefore, when the user wears the data acquisition device to drive the robotic arm 1 to move, the 7-degree-of-freedom robotic arm 1 can fit the human arm as closely as possible and simulate most of the movements of the human arm. It has high flexibility and can perform fine operations in complex environments. Compared with a 6-degree-of-freedom robotic arm, the 7-degree-of-freedom robotic arm 1 contains additional redundant degrees of freedom. In specific scenarios, it can better control the posture of the end effector by adjusting different joint positions to ensure its precise alignment at the desired position.

[0052] Each joint structure of the plurality of joint structures in the robot arm 1 includes an encoder component 101 and an auxiliary structure 102. The encoder components 101 included in each joint structure are generally similar in structure, such as Figure 3 As shown in the figure on the right, since the data acquisition device needs to be worn by the user and, under the control of the user, completes specific actions and tasks in a specific working environment and workspace, the robotic arm 1 needs to have a certain length. Therefore, the various joint mechanisms including the auxiliary structures 102 can be the same or different, and this specification does not limit this.

[0053] The encoder assembly 101 includes a first bearing 1011, a second bearing 1012, an output shaft 1013, a connecting structure 1014 and an angle encoder 1015. Figure 3 As shown in the left figure, the first bearing 1011 and the second bearing 1012 are respectively arranged on either side of the output shaft 1013 to fix the output shaft 1013 to the connecting structure 1014, and the connecting structure 1014 is fixed to the auxiliary structure 102. Therefore, in the same joint structure, there will be no relative displacement between the output shaft 1013 and the auxiliary structure 102 in the encoder assembly 101, ensuring the stability of the movement and rotation of each joint structure during the movement of the robot arm 1. The output shaft 1013 is coaxially connected to the angle encoder 1015. In this way, the rotation angle of the output shaft 1013 can be directly obtained by the angle encoder 1015. Therefore, when the joint structure moves, the angle encoder 1015 can obtain the joint angle of the joint structure through the rotation angle of the output shaft 1013.

[0054] In one or more embodiments of the present specification, among the seven joint structures included in the robotic arm 1, the first joint structure 11 is the first joint structure, followed in sequence by the second joint structure 12, the third joint structure 13, the fourth joint structure 14, the fifth joint structure 15, the sixth joint structure 16 and the seventh joint structure 17, and the seventh joint structure 17 is the last joint structure. For each joint structure in turn, the output shaft 1013 in the encoder assembly 101 of the joint structure is connected to the auxiliary structure 102 of the next joint mechanism of the joint structure. Since the robotic arm 1 is actually installed on the head and neck assembly 2 of the data acquisition device, for the first joint structure 11 located in the first position, its auxiliary structure 102 is actually connected to the head and neck assembly 2, and specifically can be connected to the head and neck base structure 21 of the head and neck assembly 2 (refer to Figure 4 As shown). For the seventh joint structure 17 located at the end, its auxiliary structure 102 is connected to the output shaft 1013 of the sixth joint structure 16, and the output shaft 1013 of the seventh joint structure 17 is connected to the end effector installed at the end of the robot arm 1, referring to Figure 2 As shown, the end effector installed at the end of the robot arm 1 is a gripping device 18. Therefore, Figure 2 The output shaft 1013 of the seventh joint structure 17 is connected to the clamping device 18 .

[0055] The data acquisition equipment provided in this specification can be equipped with various types of end-effectors at the end of the robotic arm 1 to perform specific tasks in various scenarios, thereby collecting data in various scenarios in order to design and train robot automatic control strategies that are suitable for automatically performing tasks in various scenarios. For example, a gripping device 18 is installed at the end of the robotic arm 1. By controlling the gripping device 18 installed at the end of the robotic arm 1 to grip or release objects, basic operations such as sorting and transporting can be completed. In the medical field, the gripping device 18 is controlled to grip test tubes and reagents to complete the task of adding reagents. In the manufacturing field, the gripping device 18 is controlled to grab grinding tools to perform grinding and polishing procedures on metal parts or products. Alternatively, a spraying tool is installed at the end of the robotic arm 1 to spray the car body in automobile manufacturing, or for paint spraying or other surface treatment in furniture manufacturing, etc.

[0056] In an optional embodiment of this specification, a gripping device 18 may be installed at the end of the robot arm 1, referring to Figure 2 As shown, the gripping device 18 includes a gripper assembly 181, a trigger 182, a handheld module 183 and an electric control module 184 (not shown in the figure). A trigger angle sensor 1821 (not shown in the figure) is disposed on the trigger 182. The electric control module 184 includes a gripper control unit 1841, a drive circuit 1842 and a gripper motor 1843. The gripper assembly 181 is an actuator for actually gripping or releasing the target object, and can be a two-finger gripper structure (such as Figure 2 As shown), it can also be any existing type of clamping structure for clamping a target object to perform a specific task, such as a multi-finger clamping structure, and this specification does not limit this.

[0057] In the data acquisition device provided in this specification, the gripping device 18 installed at the end of the robot arm 1 is as follows Figure 2 The two-finger clamp structure shown, that is, the clamp assembly 181 may include two clamping fingers. When clamping the target object, the overall size of this clamping device 18 is not constrained by other components (such as linear guides). Compared with the currently used clamping device based on linear guides, the clamping device 18 used in this specification occupies a smaller working space, which is more conducive to the clamping device 18 performing tasks in a work scenario with a smaller operating space.

[0058] The trigger 182 and the handheld module 183 in the clamping device 18 can be installed on the base of the clamping device 18, wherein the installation position of the trigger 182 is close to the installation position of the clamping jaw assembly 181, and the installation position of the handheld module 183 is away from the installation position of the clamping jaw assembly 181 and close to the output shaft 1013 of the seventh joint. Figure 2 The handheld module 183 is a handheld component that the user controls the movement of the robotic arm 1 and controls the gripping device 18. The trigger 182 is used to control the opening and closing of the clamping component 181 in response to the user's operation, so as to control the clamping component 181 to clamp or release the target object. Specifically, when collecting data, the user can wear the data collection device through the head and neck component 2 and the wearable component 3. Figure 1 The schematic diagram of the data acquisition device shown shows that the robotic arm 1, mounted on the head and neck assembly 2, is positioned near the user's arms on either side of the torso. The user can grasp the handheld module 183 to make the robotic arm 1 fit the user's arms more closely. The user can control the robotic arm 1 to approach the target object based on its position and posture. Then, based on the size of the target object, the user can operate the trigger 182 with their finger to move the trigger 182, generating a pull angle for the trigger 182. This pull angle is inversely proportional to the distance between the two gripping fingers of the gripper assembly 181. That is, the gripper assembly 181 can be controlled to open or close based on the pull angle of the trigger 182. The larger the pull angle, the smaller the distance between the two gripping fingers of the gripper assembly 181. Conversely, the smaller the pull angle, the larger the distance between the two gripping fingers of the gripper assembly 181. A trigger angle sensor 1821 (not shown) is mounted on the trigger 182 to monitor the pull angle of the trigger 182 in real time.

[0059] The electric control module 184 in the gripping device 18 is used to generate a drive signal for the jaw assembly 181 to open or close based on the trigger angle of the trigger 182 obtained by the trigger angle sensor 1821. The jaw control unit 1841 is used to generate a drive signal according to the trigger angle, and the drive circuit 1842 is used to drive the jaw motor 1843 to operate according to the drive signal, and the jaw motor 1843 is used to drive the jaw assembly 181 to move. The jaw control unit 1841 can be a microcontroller unit (MCU), a single-chip microcomputer, a single-chip microcomputer, etc. The jaw motor 1843 can be any existing type of motor such as an AC motor, a DC motor, a stepper motor, etc., and this specification does not limit this.

[0060] The process of a user wearing a data acquisition device controlling the gripping device 18 can be as follows: First, when the user wears the data acquisition device, holds the handheld module 183, and pulls the trigger 182 with a finger, the trigger angle sensor 1821 obtains the pull angle of the trigger 182 in response to the movement of the trigger 182, and sends the obtained pull angle to the gripper control unit 1841 in the electric control module 184. The gripper control unit 1841 can determine a drive signal based on the pull angle and send the drive signal to the drive circuit 1842. The drive circuit 1842 responds to the drive signal and drives the gripper motor 1843 to drive the gripper assembly 181 to move, thereby controlling the gripper assembly 181 to clamp or release the target object. The pull angle is inversely proportional to the distance between the two gripping fingers of the gripper assembly 181.

[0061] based on Figure 2 The clamping device 18 shown, and the above-mentioned electric control method of controlling the movement of the clamping jaw assembly 181 in an electric form by operating the trigger 182 by the user, reduce the problem of hand fatigue caused by long-term data collection by the user performing data collection, resulting in a decrease in the control accuracy of the manually controlled clamping device 18, avoid the clamping device 18 from falling off during the data collection process, and improve the data collection efficiency.

[0062] In addition, the gripping device 18 is also equipped with an end image acquisition device 185, which can collect environmental image data of the gripping device 18 when performing a task from the perspective of the gripping device 18 (especially the gripping claw assembly 181). The environmental image data may at least contain the target object. Compared with the data acquisition device that only sets a camera on the top of the head to collect environmental images, the data acquisition device provided in this specification is supplemented with an image acquisition device on the gripping device 18, thereby avoiding the situation in which the gripping device 18 or the robotic arm 1 and other components in the environmental image collected by the camera set on the top of the head obstruct the target object during the data acquisition process. The initial state of the target object, the process of the target object being gripped, moved and released by the gripping device 18, and the final state of the target object are completely and clearly restored during the data acquisition process, thereby improving the integrity of data acquisition and providing a complete data foundation for designing and training high-performance robot automatic control strategies.

[0063] In an optional embodiment of the present specification, a jaw pressure sensor 1811 is provided on the jaw assembly 181, specifically on the surface of the two clamping fingers of the jaw assembly 181 that are used to contact the target object. The jaw pressure sensor 1811 can be any existing type of pressure sensor for real-time monitoring of pressure values, such as a resistance strain gauge type, a piezoresistive type, a capacitive type, a piezoelectric type, etc., and this specification does not limit this. The jaw pressure sensor 1811 is used to monitor the pressure value between the jaw assembly 181 and the target object in real time to determine the clamping force of the jaw assembly 181 in clamping the target object, to avoid the target object slipping due to insufficient clamping force. At the same time, the clamping force of the clamping jaw assembly 181 to clamp the target object is obtained in real time through the clamping jaw pressure sensor 1811, and the clamping force is also introduced into the training and optimization of the robot's automatic control strategy, so that the trained control strategy has the ability to clamp objects with appropriate clamping force. Therefore, when the clamping device carried by the robot is controlled to clamp and release objects based on the control strategy, it will not cause damage to the object due to excessive clamping, and will also avoid the problem of the object slipping due to insufficient clamping force, thereby improving the safety and accuracy of the control strategy in automatically controlling the robot to perform tasks.

[0064] Specifically, when the user wears the data acquisition device, holds the handheld module 183 and pulls the trigger 182 to control the jaw assembly 181 to clamp the target object, the pressure value between the jaw assembly 181 and the target object is obtained by the jaw pressure sensor 1811 to determine the clamping force of the jaw assembly 181 to clamp the target object.

[0065] In this specification, the head and neck assembly 2 includes a head and neck base structure 21 and a helmet 22, wherein the helmet 22 may be mounted with a head image acquisition device 221, which is used to acquire environmental image data from the perspective of the user wearing the data acquisition device. At least one robotic arm mounting assembly 211 is deployed on the head and neck base structure 21, Figure 1 As shown, the data acquisition device includes two robotic arms 1, and two robotic arm mounting components 211 can be deployed on the head and neck base structure 21, so that the two robotic arms 1 are respectively installed on the head and neck base structure 21 of the head and neck component 2 through the two robotic arm mounting components 211 to realize the connection between the robotic arms 1 and the head and neck component 2.

[0066] In the data acquisition device provided in this specification, the wearable component 3 includes a strap 31, a back plate 32, a central processing unit 33 and a power supply. The back plate 32 is connected to the strap 31, and the central processing unit 33 is installed on the back plate 32. Figure 5 The fixed connection between the head and neck assembly 2 and the wearable assembly 3 is achieved by the fixed connection between the head and neck basic structure 21 and the back plate 32 (refer to Figure 1 As shown). The back strap 31 is used to provide a wearing function. Since the back plate 32 is connected to the back strap 31 and the head and neck basic structure 21 is fixedly connected to the back plate 32, the user can wear the head and neck assembly 2 by wearing the back strap 31, thereby realizing the wearing of the head and neck assembly 2 and the helmet 22. The back plate 32 can be equipped with a power supply 35 and a central processing unit 33. The power supply 35 can be the central processing unit 33, the head image acquisition device 221 configured on the head and neck assembly 2, and the optional head pitch angle encoder 212 (refer to Figure 4 ), optional head rotation angle encoder 215 (refer to Figure 4 ), an optional inertial measurement unit (not shown), a gripping device 18 (see Figure 1 ) and other components that require power.

[0067] During the data acquisition process, the data acquisition device can not only obtain the joint angle of each joint structure through the angle encoder 1015 configured in each joint structure of the robot arm 1, obtain the environmental image data containing the target object through the end image acquisition device 185 configured on the clamping device 18, and obtain the environmental image data from the user's perspective through the head image acquisition device 221 configured on the helmet 22, but also further obtain other types of data, such as the pitch angle of the user's head in the vertical direction and the rotation angle in the horizontal direction. Based on this, as Figure 4As shown, a head pitch angle encoder 212 can be deployed on the head and neck base structure 21 of the head and neck assembly 2, and a ring gear 213 and a gear 214 meshing with the ring gear 213 can be deployed on the head and neck base structure 21, so that a head rotation angle encoder 215 can be installed on the gear 214. In this way, when the head of the user wearing the data acquisition device pitches in the vertical direction, the head pitch angle encoder 212 can obtain the pitch angle of the user's head. Similarly, when the user's head rotates in the horizontal direction, the ring gear 213 on the head and neck base structure 21 will rotate with the rotation of the user's head, thereby driving the gear 214 to rotate, so that the head rotation angle encoder 215 can obtain the rotation angle of the user's head.

[0068] Based on the head pitch angle and head rotation angle, the position of the user's head during the data acquisition process (such as the relative position of the user's head with respect to the user's shoulder, or the absolute position of the user's head) can be determined. The head pitch angle and head rotation angle obtained by the data acquisition device are introduced into the training and optimization of the robot control strategy. The optimized control strategy can adjust the posture of the head mechanism based on the task goal during the automatic control process, so as to simulate the user's actual target position and direction, indicate the location of the task target, or obtain image data related to the task target through the image acquisition device on the robot head, thereby assisting the robot's mechanical arm 1 to reach the location of the task target and complete the corresponding task.

[0069] In one or more embodiments of the present specification, the head image acquisition device 221 configured on the head and neck assembly 2 can not only be responsible for acquiring environmental image data, but also be responsible for acquiring user head posture data. In this way, the head pitch angle encoder 212 and the head rotation angle encoder 215 configured on the head and neck infrastructure 21 of the head and neck assembly 2 can be eliminated. Therefore, under the premise of eliminating the configuration of the head pitch angle encoder 212 and the head rotation angle encoder 215, an inertial measurement unit (not shown in the figure) can be installed on the head and neck assembly 2, so as to jointly locate the user's head posture in combination with the inertial measurement unit and the head image acquisition device 221. In one or more embodiments of the inertial measurement unit disclosed in this specification, the inertial measurement unit may be composed of an accelerometer and a gyroscope, wherein the accelerometer is used to detect the linear acceleration of the user's head, and the gyroscope is used to measure the angular velocity of the user's head around each coordinate axis. Thus, based on the linear acceleration and angular velocity obtained by the inertial measurement unit, the angular velocity data and linear acceleration data of the user's head can be obtained during the data acquisition process, and the posture of the user's head can be determined in combination with the image data obtained by the head image acquisition device deployed on the helmet.

[0070] Specifically, the tasks of acquiring environmental image data and user head posture data based on the inertial measurement unit and the head image acquisition device 221 can be divided into the following two situations:

[0071] In the first case, the head image acquisition device 221 installed on the helmet 22 includes a first camera and a second camera, and the helmet 22 is also installed with an inertial measurement unit.

[0072] When the user wears the data acquisition device and exercises, the first camera is used to acquire first image data, the second camera is used to acquire second image data, and the inertial measurement unit on the helmet 22 is used to obtain angular velocity data and linear acceleration data of the user's head. The first image data, angular velocity data, and linear acceleration data are used to determine the posture of the user's head, and the second image data is used to provide visual information of the environment in which the data acquisition device is located. That is, the head image acquisition device 221 configured on the data acquisition device is split into two cameras. The first camera is used to cooperate with the inertial measurement unit to determine the posture of the user's head, thereby replacing the functions of the head pitch angle encoder 212 and the head rotation angle encoder 215 configured on the head and neck assembly 2. The second camera is used to determine the visual information of the environment in which the data acquisition device is located, maintaining the data acquisition device's function of acquiring environmental data from the user's head perspective.

[0073] In the second case, the helmet 22 is equipped with a head image acquisition device 221 and an inertial measurement unit.

[0074] In this case, the image data acquired by the head image acquisition device 221 installed on the helmet 22 is used to determine the posture of the user's head in combination with the angular velocity data and linear acceleration data of the user's head acquired by the inertial measurement unit, and is also used to provide visual information of the environment where the data acquisition device is located.

[0075] In one or more embodiments of this specification, a data acquisition device can communicate with a storage device for storing collected data via a wired or wireless connection, thereby transmitting the collected data to the storage device for storage while the user is wearing the data acquisition device. This allows the storage device to have a larger storage capacity, making it suitable for long-term, multi-scenario, and high-resolution data acquisition.

[0076] However, considering the problem that when the data acquisition device and the storage device are connected via wired communication, the data acquisition scenarios are limited due to the distance limit between the data acquisition device and the storage device, or the problem that the data transmission link is unstable when the data acquisition device and the storage device are connected via wireless communication, a storage device can be configured on the data acquisition device. Although the storage capacity of the storage device may be reduced, the data is directly stored locally on the data acquisition device, which can reduce the delay caused by data transmission, as well as the errors and inconsistencies that may occur during the data transmission process, ensuring the consistency and integrity of the data. At the same time, since the storage device is configured on the data acquisition device, it is not limited by the length of the wired communication link between the acquisition device and the storage device. Data collection can be performed in any data collection scenario, such as outdoor, laboratory scenarios, etc., thereby enriching the data collection scenarios and improving the diversity and effectiveness of the collected data.

[0077] Specifically, the wearable component 3 of the data acquisition device also includes a storage device 34, referring to Figure 5 As shown, the storage device 34 is mounted on the back panel 32 of the wearable component 3, close to the central processor 33. The storage device 34 is used to store received data. In this specification, each sensor and device for collecting data will send the collected data to be recorded to the central processor 33. When the central processor 33 receives the data to be recorded, it can send the data to be recorded to the storage device 34 for storage. The data to be recorded includes at least one of the following types of collected data:

[0078] 1. Joint angle data of the joint structure collected by the angle encoder 1015. In this specification, the robotic arm 1 in the data collection device includes multiple joint structures, each of which includes an angle encoder 1015. Therefore, during the data collection process, the angle encoder 1015 included in each joint structure will respectively obtain the joint angle data of the corresponding joint structure and send it to the central processing unit 33 for storage in the storage device 34. In other words, the storage device 34 will store the joint angle data corresponding to each joint structure of the robotic arm 1 during the data collection process.

[0079] 2. Environmental image data containing the target object collected by the end image acquisition device 185. In the data acquisition device provided in this specification, the gripping device 18 installed at the end of the robotic arm 1 is also equipped with an end image acquisition device 185. This end image acquisition device 185 can fully record the state of the gripped target object at each stage during the data acquisition process from the perspective of the end of the robotic arm 1. When the camera installed on the head of the data acquisition device captures the environmental image, the environmental image data collected by the end image acquisition device 185 can supplement and restore the actual state of the target object when it is obscured by components such as the gripping device 18 or the robotic arm 1, thereby improving the completeness and consistency of the target object's state in the image data, and further improving the integrity of the collected data.

[0080] 3. Image data collected by the head image acquisition device 221. The head image acquisition device 221 is used to collect image data from the perspective of the user wearing the data acquisition device. This image data can provide visual information about the environment in which the data acquisition device is located. Incorporating this image data into the design and training of the control strategy can enable the control strategy to understand the surrounding environment based on the visual information of the operating environment, and complete tasks such as identifying target objects and determining the object's position.

[0081] 4. The pull angle of the trigger 182, as captured by the trigger angle sensor 1821. This pull angle is generated when the user pulls the trigger 182 based on the target object during the data collection process. The pull angle is used to determine the distance between the two fingers of the clamping jaw assembly 181, which in turn affects the gripping or release of the target object by the clamping device 18. Recording and saving the pull angle of the trigger 182, as captured by the trigger angle sensor 1821, and incorporating it into the training and design of the control strategy can enable the control strategy to determine the appropriate gripping strategy based on the target object, controlling the distance between the two fingers of the clamping jaw assembly 181 in the clamping device 18, so that it can grip the object with appropriate gripping force.

[0082] 5. The pressure value between the gripper assembly 181 and the object is collected by the gripper pressure sensor 1811. This pressure value can be used to determine the gripping force of the gripper assembly 181 when gripping the object. This gripping force is also incorporated into the training and optimization of the robot's automatic control strategy, ensuring that the trained control strategy is capable of gripping objects with appropriate gripping force.

[0083] 6. The head pitch angle collected by the head pitch angle encoder 212.

[0084] 7. The head rotation angle collected by the head rotation angle encoder 215.

[0085] The position of the user's head during the data acquisition process can be determined based on the head pitch angle and the head rotation angle. The head pitch angle and the head rotation angle obtained by the data acquisition device are introduced into the training and optimization of the robot control strategy. The optimized control strategy can adjust the posture of the head mechanism based on the task goal during the automatic control process, so as to simulate the user's actual target position and direction, indicate the location of the task target, or obtain image data related to the task target through the image acquisition device on the robot head, thereby assisting the robot's mechanical arm 1 to reach the location of the task target and complete the corresponding task.

[0086] 8. First image data captured by the first camera.

[0087] 9. Second image data captured by the second camera.

[0088] The first image data, angular velocity data and linear acceleration data are used to determine the posture of the user's head, and the second image data is used to provide visual information of the environment where the data acquisition device is located.

[0089] 10. Angular velocity data and linear acceleration collected by the inertial measurement unit.

[0090] As previously mentioned, there are two implementation methods for determining the user's head posture and obtaining environmental visual information on the head and neck assembly 2 of the data acquisition device: one is to determine the user's head posture based on the first image data acquired by the first camera and the angular velocity data and linear acceleration acquired by the inertial measurement unit, and to determine the visual information of the environment in which the data acquisition device is located based on the second image data acquired by the second camera; the other is to use the image data acquired by the head image acquisition device 221 to determine the user's head posture in combination with the angular velocity data and linear acceleration data of the user's head acquired by the inertial measurement unit, and to provide visual information of the environment in which the data acquisition device is located. In other words, an alternative to the head pitch angle encoder 212 and the head rotation angle encoder 215 configured on the head and neck assembly 2 is the first camera and the inertial measurement unit, or the head image acquisition device 221 and the inertial measurement unit.

[0091] The various embodiments in this specification are described in a progressive manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the system embodiments are generally similar to the method embodiments, so the description is relatively simple. For relevant parts, refer to the description of the method embodiments.

[0092] The foregoing is merely an example of the present invention and is not intended to limit the present invention. Various modifications and variations are possible within the scope of the present invention. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be included within the scope of the claims of the present invention.

Claims

1. A data acquisition device, characterized in that: The data acquisition device comprises a mechanical arm (1), a head and neck component (2), and a wearable component (3); the head and neck component (2) is fixedly connected to the wearable component (3), and the mechanical arm (1) is mounted on the head and neck component (2); The robotic arm (1) includes a plurality of joint structures connected in sequence, wherein a first joint structure (11), a second joint structure (12) and a third joint structure (13) among the plurality of joint structures are three continuous joint structures, and an axis of the first joint structure (11), an axis of the second joint structure (12) and an axis of the third joint structure (13) intersect at a point.

2. The data acquisition device according to claim 1, wherein: Each of the plurality of joint structures includes an encoder assembly (101) and an auxiliary structure (102); For each joint structure, the encoder assembly (101) of the joint structure includes a first bearing (1011), a second bearing (1012), an output shaft (1013), a connecting structure (1014), and an angle encoder (1015); wherein the output shaft (1013) is coaxially connected to the angle encoder (1015); the first bearing (1011) and the second bearing (1012) are respectively used to fix the output shaft (1013) on the connecting structure (1014); and the connecting structure (1014) is fixedly connected to the auxiliary structure (102); For each joint structure in turn, the output shaft (1013) in the encoder assembly (101) of the joint structure is connected to the auxiliary structure (102) of the next joint structure of the joint structure.

3. The data acquisition device according to claim 1, wherein: The robotic arm (1) further comprises a gripping device (18), the gripping device (18) comprising a gripping claw assembly (181), a trigger (182), a handheld module (183) and an electric control module (184); the trigger (182) is provided with a trigger angle sensor (1821), and the electric control module (184) comprises a gripping claw control unit (1841), a driving circuit (1842) and a gripping claw motor (1843); When a user wears the data acquisition device and pulls the trigger (182), the trigger angle sensor (1821) obtains the pulling angle of the trigger (182) and sends the pulling angle to the clamping jaw control unit (1841). The clamping jaw control unit (1841) determines a driving signal according to the pulling angle and sends the driving signal to the driving circuit (1842). The driving circuit (1842) drives the clamping jaw motor (1843) in response to the driving signal to drive the clamping jaw assembly (181) to move and control the clamping jaw assembly (181) to clamp or release the target object.

4. The data acquisition device according to claim 3, wherein: A terminal image acquisition device (185) is disposed on the clamping device (18); When the user wears the data acquisition device to control the gripper assembly (181) to operate the target object, the end image acquisition device (185) acquires environmental image data containing the target object.

5. The data acquisition device according to claim 3, wherein: A clamping jaw pressure sensor (1811) is disposed on the clamping jaw assembly (181); When the user pulls the trigger (182) to control the clamping jaw assembly (181) to clamp the target object, the clamping force of the clamping jaw assembly (181) to clamp the target object is determined by the pressure value between the clamping jaw assembly (181) and the target object obtained by the clamping jaw pressure sensor (1811).

6. The data acquisition device according to claim 1, wherein: The head and neck assembly (2) comprises a head and neck basic structure (21) and a helmet (22); a head image acquisition device (221) is mounted on the helmet (22); at least one mechanical arm mounting assembly (211) is deployed on the head and neck basic structure (21); and the mechanical arm (1) is mounted on the head and neck assembly (2) via the mechanical arm mounting assembly (211); The wearable component (3) comprises a shoulder strap (31), a back plate (32), and a central processing unit (33); the shoulder strap (31) is connected to the back plate (32), and the central processing unit (33) is mounted on the back plate (32); the head and neck basic structure (21) of the head and neck component (2) is fixedly connected to the wearable component (3) via the back plate (32).

7. The data acquisition device according to claim 6, wherein: A head pitch angle encoder (212), a gear ring (213), and a gear (214) meshing with the gear ring (213) are deployed on the head and neck basic structure (21), and a head rotation angle encoder (215) is installed on the gear (214); When a user wears the data acquisition device and performs pitching motion, the head pitch angle is acquired through the head pitch angle encoder (212); When the user wears the data acquisition device and performs rotational movement, the head rotation angle is acquired through the head rotation angle encoder (215).

8. The data acquisition device according to claim 6, wherein: The head image acquisition device (221) installed on the helmet (22) includes a first camera and a second camera, and the helmet (22) is also installed with an inertial measurement unit; When the user wears the data acquisition device and exercises, the first camera acquires first image data, the second camera acquires second image data, and the inertial measurement unit acquires angular velocity data and linear acceleration data of the user's head; The first image data, the angular velocity data and the linear acceleration data are used to determine the posture of the user's head, and the second image data is used to provide visual information of the environment where the data acquisition device is located.

9. The data acquisition device according to claim 6, wherein: An inertial measurement unit is also installed on the helmet (22); When a user wears the data acquisition device and exercises, image data is acquired through the head image acquisition device (221), and angular velocity data and linear acceleration data of the user's head are acquired through the inertial measurement unit; The image data collected by the head image acquisition device (221) is used to provide visual information of the environment in which the data acquisition device is located, and is used to determine the posture of the user's head together with the angular velocity data and linear acceleration data collected by the inertial measurement unit.

10. The data acquisition device according to claim 1, wherein: The wearable component (3) further includes a storage device (34); the storage device (34) is mounted on the back panel (32) of the wearable component (3); When the central processor (33) of the wearable component (3) receives the data to be recorded, the central processor (33) sends the data to be recorded to the storage device (34) so ​​that the storage device (34) stores the data to be recorded; The data to be recorded include the joint angle data of the joint structure collected by the angle encoder in the joint structure, the environment image data containing the target object collected by the end image collection device (185) of the clamping device (18) in the mechanical arm (1), the image data collected by the head image collection device (221) installed on the helmet (22) in the head and neck component (2), the trigger angle of the trigger (182) collected by the trigger angle sensor (1821) in the trigger (182) included in the clamping device (18), the gripping angle of the gripping claw collected by the gripping claw pressure sensor (1811) in the gripping claw component (181) included in the clamping device (18), and the gripping claw pressure sensor (1811) in the gripping claw component (181) included in the clamping device (18). The invention relates to a method for manufacturing a head-neck component (181) and a target object, comprising: a pressure value between the component (181) and the target object; a head pitch angle acquired by a head pitch angle encoder (212) deployed on a head-neck base structure (21) included in the head-neck component (2); a head rotation angle acquired by a head rotation angle encoder (215) deployed on the head-neck base structure (21); first image data acquired by a first camera included in a head image acquisition device (221) installed on the helmet (22); second image data acquired by a second camera included in the head image acquisition device (221); and at least one of angular velocity data and linear acceleration acquired by an inertial measurement unit installed on the helmet (22).

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