Handheld data acquisition unit, data acquisition device and mechanical arm system

Abstract

The utility model mainly relates to a handheld data collector, a data collection device and a mechanical arm system.The handheld data collector comprises a support, a handle, at least two clamping jaws, a first camera and at least three light reflecting balls, the handle, the clamping jaws, the first camera and the light reflecting balls are installed on the support, and the handle is configured to allow a user to hold the handheld data collector; the at least two clamping jaws are arranged to be closed or opened under the action of external force, each clamping jaw is provided with a tracking identifier, the first camera is arranged to collect image information including the tracking identifiers in a working state, and any three of all the reflective balls are arranged to be non-coplanar.

Description

Technical Field

[0001] This application relates to the technical field of robotic arms, specifically to handheld data acquisition devices, data acquisition equipment, and robotic arm systems. Background Technology

[0002] With the continuous development of robotic arms and AI technology, users can not only teach robotic arms but also train or remotely control them. Accordingly, robotic arm systems need to collect relevant data, such as motion data and execution data. Clearly, the reliability and efficiency of data acquisition are crucial. Utility Model Content

[0003] This application provides a handheld data acquisition device, which includes a bracket, a handle mounted on the bracket, at least two grippers, a first camera, and at least three reflective balls. The handle is configured for a user to hold the handheld data acquisition device. The at least two grippers are configured to close or open under external force, and each gripper is provided with a tracking mark. The first camera is configured to acquire image information including the tracking mark in the working state. Any three of the reflective balls are configured to be non-coplanar.

[0004] This application provides a data acquisition device, which includes a second camera and the handheld data acquisition device described in the above embodiment. The second camera is configured to emit a first light beam in the working state and acquire a second light beam after the first light beam is reflected by a reflective sphere.

[0005] This application provides a robotic arm system, which includes a robotic arm and the data acquisition device described in the above embodiments.

[0006] The beneficial effects of this application are as follows: Compared to acquiring image information including tracking markers through a camera independent of the handheld data acquisition device, this application acquires image information including tracking markers through a first camera on the handheld data acquisition device. Since the first camera is closer to the tracking markers and related objects, the acquisition of image information is more reliable and efficient. Compared to acquiring motion data of the handheld data acquisition device through the IMU sensor built into the camera, this application acquires motion data of the handheld data acquisition device through a reflective ball on the handheld data acquisition device in conjunction with another camera independent of the handheld data acquisition device. Since the motion capture device has higher sensitivity and accuracy, the acquisition of motion data is more reliable and efficient. Attached Figure Description

[0007] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0008] Figure 1 This is a schematic diagram of the front view structure of an embodiment of the handheld data acquisition device provided in this application;

[0009] Figure 2 yes Figure 1 A top-down view of the handheld data acquisition device. Detailed Implementation

[0010] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be noted that the following embodiments are for illustrative purposes only and do not limit the scope of the application. Similarly, the following embodiments are only some, not all, embodiments of the present application, and all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of the present application.

[0011] The reference to "embodiment" in this application means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0012] This application provides a robotic arm system, which may include a robotic arm and a data acquisition device. The data acquisition device can collect relevant data when the user teaches or trains the robotic arm. This data may be motion data guided by the user to move the robotic arm, or execution data of the user guiding the robotic arm to grasp an object. Furthermore, after this data is input into a deep learning model, it can output corresponding control data. Under the control of this control data, the robotic arm can autonomously or semi-autonomously perform corresponding tasks.

[0013] Furthermore, the data acquisition device may include a handheld data acquisition unit and a second camera. The handheld data acquisition unit is configured for a user to hold in order to guide the corresponding robotic arm; the second camera works in conjunction with the handheld data acquisition unit, for example, the two together constitute a motion capture device to acquire relevant data.

[0014] As an example, combined Figure 1 and Figure 2The handheld data acquisition device 10 may include a support 11, a handle 12 mounted on the support 11, at least two grippers 131, a first camera 14, and at least three reflectors 15. The handle 12 is configured for a user to hold the handheld data acquisition device 10; the at least two grippers 131 are configured to close or open under external force, for example... Figure 2 As indicated by arrow B. Furthermore, each gripper 131 is provided with a tracking identifier 132, such as a QR code. The first camera 14 is configured to acquire image information including the tracking identifier 132 in the working state. The first camera 14 can take photos and record videos. The image information can be used not only to determine the opening degree (e.g., closed or open) of at least two grippers 131 based on the relative position (e.g., spacing) of the tracking identifiers 132, but also to identify the type of object being gripped or to be gripped by at least two grippers 131. Furthermore, any three of the reflective spheres 15 are configured to be non-coplanar, allowing the reflective spheres 15 to cooperate with the second camera to acquire motion data of the handheld data acquisition device 10, such as a motion capture device. The second camera is configured to emit a first light beam in the working state and acquire a second light beam reflected by the reflective spheres 15 to achieve motion capture.

[0015] In the above manner, compared to acquiring image information including the tracking marker 132 through a camera (e.g., a second camera) independent of the handheld data acquisition device 10, this application acquires image information including the tracking marker 132 through the first camera 14 on the handheld data acquisition device 10. Since the first camera 14 is closer to the tracking marker 132 and related objects, the acquisition of image information is more reliable and efficient. Compared to acquiring motion data of the handheld data acquisition device 10 through the IMU sensor built into the camera (e.g., the first camera), this application acquires motion data of the handheld data acquisition device 10 through the reflective ball 15 on the handheld data acquisition device 10 in conjunction with the second camera independent of the handheld data acquisition device 10. Since the motion capture device has higher sensitivity and accuracy, the acquisition of motion data is more reliable and efficient.

[0016] In some embodiments, the handle 12 may include a fixed member 121, a movable member 122, and an elastic member (not shown in the figure). The fixed member 121 is fixedly connected to the bracket 11, the movable member 122 is movably connected to the bracket 11 and is kinetically connected to at least two grippers 131, and the elastic member is disposed between the movable member 122 and the fixed member 121. When a user grips the handle 12, the movable member 122 can move relative to the fixed member 121 as the user grips the handle 12, thereby causing at least two grippers 131 to close. The elastic member can elastically recover as the user releases the handle 12, thereby causing at least two grippers 131 to open. See details. Figure 1 and Figure 2The middle arrows A and B are for the user to flexibly grip the relevant items.

[0017] In some other embodiments, the closing or opening of at least two grippers 131 can also be achieved by a motor drive, and the handle 12 is provided with a button to control the motor.

[0018] In some implementations, the first camera 14 may not have an IMU sensor, which helps to reduce the cost of the handheld data acquisition device 10.

[0019] In some other embodiments, the first camera 14 may have an IMU sensor to replace the motion capture device for collecting motion data from the handheld data acquisition unit 10 in other less demanding situations.

[0020] Furthermore, the handheld data acquisition device 10 may include an adapter 16 mounted on the bracket 11. The adapter 16 has multiple holes (not shown in the figure), and the reflective ball 15 is detachably connected to the adapter 16 at the holes via a support rod (not marked in the figure) to facilitate replacement or adjustment of the reflective ball 15. Of course, the reflective ball 15 can also be detachably connected directly to the bracket 11 via the support rod.

[0021] In some implementations, the hole can be a threaded hole, and the support rod can be threadedly connected to the threaded hole.

[0022] In some other embodiments, the hole can be a light hole, and the support rod can be interference-fitted or snap-fitted with the light hole.

[0023] In some embodiments, the adapter 16 may be constructed with a columnar portion and a spherical portion (neither labeled in the figure), the columnar portion abutting against the bracket 11. The columnar portion may have holes extending radially therefrom; or the spherical portion may have holes extending radially therefrom, so that any three of the reflective spheres 15 are not coplanar. Of course, the lengths of the support rods connecting the reflective spheres 15 and the bracket 11 may vary.

[0024] In some embodiments, the number of holes may be greater than the number of reflective balls 15, in order to facilitate adjustment of the position of the reflective balls 15.

[0025] In some embodiments, the support 11 may be constructed with a frame 111 and a tail fin 112. The handle 12, gripper 131 and first camera 14 are respectively mounted on the frame 111, and the adapter 16 is mounted on the tail fin 112. The handle 12 is located on one side of the frame 111, and the first camera 14 and the adapter 16 are located on the other side of the frame 112. The tail fin 112 is configured such that the adapter 16 is flush with the first camera 14 to avoid interference between the first camera 14 and the support rod.

[0026] The above description is only a part of the embodiments of this application and does not limit the scope of protection of this application. Any equivalent device or equivalent process transformation made based on the content of this application specification and drawings, or direct or indirect application in other related technical fields, are similarly included in the patent protection scope of this application.

Claims

1. A handheld data acquisition device, characterized in that, The handheld data collector includes a bracket, a handle mounted on the bracket, at least two grippers, a first camera, and at least three reflective balls. The handle is configured for a user to hold the handheld data collector. The at least two grippers are configured to close or open under external force, and each gripper is provided with a tracking mark. The first camera is configured to acquire image information including the tracking mark in the working state. Any three of the reflective balls are configured to be non-coplanar.

2. The handheld data acquisition device according to claim 1, characterized in that, The first camera does not have an IMU sensor.

3. The handheld data acquisition device according to claim 1, characterized in that, The handheld data collector includes an adapter mounted on the bracket. The adapter has multiple holes, and the reflective ball is detachably connected to the adapter at the holes via a support rod.

4. The handheld data acquisition device according to claim 3, characterized in that, The hole is a threaded hole.

5. The handheld data acquisition device according to claim 3, characterized in that, The adapter has a columnar portion and a spherical portion, the columnar portion abutting against the bracket; wherein... The columnar portion is provided with the hole, and the hole extends radially along the columnar portion; Alternatively, the spherical portion may have the hole, and the hole may extend radially along the spherical portion.

6. The handheld data acquisition device according to claim 3, characterized in that, The number of holes is greater than the number of reflective spheres.

7. The handheld data acquisition device according to claim 3, characterized in that, The support structure has a frame and a tail fin. The handle, the gripper and the first camera are respectively mounted on the frame. The adapter is mounted on the tail fin. The handle is located on one side of the frame, and the first camera and the adapter are located on the other side of the frame. The tail fin is configured such that the adapter is flush with the first camera.

8. The handheld data acquisition device according to claim 1, characterized in that, The handle includes a fixed component, a movable component, and an elastic component. The fixed component is fixedly connected to the bracket, the movable component is movably connected to the bracket and is drivenly connected to at least two of the grippers, and the elastic component is disposed between the movable component and the fixed component. When a user holds the handle, the movable component can move relative to the fixed component while the user grips the handle tightly, thereby causing at least two of the grippers to close. The elastic component can elastically recover while the user releases the handle, thereby causing at least two of the grippers to open.

9. A data acquisition device, characterized in that, The data acquisition device includes a second camera and a handheld data acquisition device as described in any one of claims 1-8. The second camera is configured to emit a first light ray in the working state and acquire a second light ray after the first light ray is reflected by the reflective ball.

10. A robotic arm system, characterized in that, The robotic arm system includes a robotic arm and a data acquisition device as described in any one of claims 1 to 9.

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