Humanoid robot data acquisition system

Abstract

The embodiment of the application provides a humanoid robot data acquisition system, and relates to the technical field of humanoid robots, and comprises a wearable processing device, an acquisition control component and at least one handheld acquisition gripper; the acquisition control component is used for triggering a data acquisition start instruction; the wearable processing device comprises a power supply and a data processing device, the power supply is used for supplying power to the acquisition control component, the handheld acquisition gripper and the data processing device; the handheld acquisition gripper comprises an image acquisition device, a positioning device, a gripper and a handheld handle, and the image acquisition device, the gripper and the positioning device are detachably installed on the handheld handle; the data processing device is used for receiving and saving data collected by the image acquisition device, the positioning device and the gripper. The embodiment of the application can complete data acquisition of a humanoid robot without relying on the body of the humanoid robot, and the collected data can be applied to humanoid robots of other configurations, and the generalization is higher.

Description

Technical Field

[0001] This application relates to the field of humanoid robot technology, and more particularly to a humanoid robot data acquisition system. Background Technology

[0002] A humanoid robot is a robot that imitates the appearance and behavior of humans. It usually has human-like mechanical arms, lower limbs, etc., and can perform various human-like actions.

[0003] Data acquisition is the core driving force for the practical application of humanoid robots and embodied intelligence. Related technologies primarily utilize a data acquisition system consisting of two isomorphic robotic arms to simultaneously collect teaching data and motion data.

[0004] However, the above data collection methods rely on the humanoid robot itself, and the collected data cannot be directly applied to other types of humanoid robots, resulting in poor generalization. Utility Model Content

[0005] This application provides a humanoid robot data acquisition system, which can solve the technical problem in related technologies that the data acquisition method must rely on the humanoid robot body and the acquired data cannot be applied to humanoid robots of other configurations.

[0006] In some embodiments, the humanoid robot data acquisition system includes a wearable processing device, an acquisition control component, and at least one handheld acquisition gripper, wherein the acquisition control component and the handheld acquisition gripper are respectively connected to the wearable processing device.

[0007] The aforementioned acquisition control component is used to trigger the data acquisition start command;

[0008] The wearable processing device includes a power supply and a data processing device. The power supply is used to power the acquisition control component, the handheld acquisition gripper, and the data processing device.

[0009] The aforementioned handheld acquisition gripper includes an image acquisition device, a positioning device, a gripper, and a handheld handle. The image acquisition device, gripper, and positioning device are detachably mounted on the handheld handle.

[0010] The aforementioned data processing device is used to receive and store the data acquired by the image acquisition device, the positioning device, and the gripper.

[0011] In some embodiments, the hand grip is also provided with a gripper control assembly, a gripper motor, and multiple interfaces;

[0012] The aforementioned gripper control assembly is used to drive the gripper motor to control the opening and closing of the gripper; the gripper is equipped with a detection device for detecting the opening and closing size of the gripper.

[0013] Multiple interfaces are used to connect grippers, image acquisition devices, positioning devices, power supplies, and data processing devices.

[0014] In some embodiments, the at least one handheld acquisition gripper includes a first handheld acquisition gripper and a second handheld acquisition gripper; the first handheld acquisition gripper is held by the user's left hand, and the second handheld acquisition gripper is held by the user's right hand.

[0015] In some implementations, the acquisition and control components described above include a control pedal.

[0016] In some embodiments, the positioning device includes a first infrared laser base station, a second infrared laser base station, and a tracker; the first infrared laser base station and the second infrared laser base station are used to emit infrared beams; the tracker is used to receive the infrared beams emitted by the first infrared laser base station and the second infrared laser base station.

[0017] In some embodiments, the system further includes a signal indicator connected to the data processing device; the signal indicator is used to display a variety of different colors.

[0018] In some embodiments, the system further includes a speaker connected to a data processing device; the speaker is used to output various voice signals, including a preparation status prompt tone, a data acquisition start prompt tone, and a data acquisition end prompt tone.

[0019] In some embodiments, the wearable processing device includes a backpack-style data collection device, with the power supply and data processing unit located inside the backpack.

[0020] In some embodiments, the side of the backpack closest to the user's back is made of heat-insulating material; and / or, the backpack is provided with a heat dissipation device.

[0021] In some embodiments, the backpack is provided with multiple first interfaces on its exterior and at least one second interface inside the backpack; the acquisition control component, handheld acquisition gripper, signal indicator and speaker are connected to the backpack via the multiple first interfaces; the power supply and data processing device are connected to the backpack via the at least one second interface.

[0022] In some implementations, the connection cable between the aforementioned acquisition control component, handheld acquisition gripper, signal indicator light, speaker, and backpack acquisition backpack is a retractable connection cable.

[0023] The humanoid robot data acquisition system provided in this application embodiment allows the acquisition personnel to complete the corresponding data acquisition tasks by holding the aforementioned handheld acquisition gripper during the data acquisition process, without relying on the humanoid robot body. Furthermore, the acquired data can be applied to humanoid robots of other configurations, demonstrating high generalization ability. Attached Figure Description

[0024] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0025] Figure 1 This is a schematic diagram of the structure of a humanoid robot provided in the embodiments of this application;

[0026] Figure 2 This is a schematic diagram of the architecture of a humanoid robot data acquisition system provided in the embodiments of this application;

[0027] Figure 3 This is a schematic diagram of the structure of a handheld data collection gripper provided in an embodiment of this application;

[0028] Figure 4 This is a schematic diagram of the architecture of another humanoid robot data acquisition system provided in the embodiments of this application;

[0029] Figure 5 This is a schematic diagram of the architecture of another humanoid robot data acquisition system provided in the embodiments of this application;

[0030] Figure 6 This is a schematic diagram of a data acquisition process provided in an embodiment of this application.

[0031] Figure label:

[0032] 101: Head system;

[0033] 102: Pleural system;

[0034] 103: Robotic arm system;

[0035] 104: Dexterous Hand System;

[0036] 105: Thigh;

[0037] 106: Calf;

[0038] 107: Feet;

[0039] 210: Wearable processing devices;

[0040] 220: Acquisition and control component;

[0041] 230: Handheld collection gripper;

[0042] 231: First-hand hand-held collection gripper;

[0043] 232: Second hand gripper for collecting samples;

[0044] 2301: Image acquisition device;

[0045] 2302: Positioning device;

[0046] 2303: Gripper;

[0047] 2304: Hand grip;

[0048] 2305: Gripper control assembly;

[0049] 2306: Gripper motor;

[0050] 410: Signal indicator light;

[0051] 510: Speaker. Detailed Implementation

[0052] Exemplary embodiments of this application will be described in detail below. When the following description relates to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application.

[0053] To facilitate a clear description of the technical solutions in the embodiments of this application, terms such as "exemplary" and "for example" are used to indicate that they are examples, illustrations, or descriptions. Any embodiment or design scheme described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0054] In this application embodiment, "at least one" refers to one or more, and "more than one" refers to two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0055] It should be noted that the humanoid robot data acquisition system provided in this application embodiment can be used in the field of humanoid robots, or in other robot fields other than humanoid robots, and this application does not limit it.

[0056] A humanoid robot is a robot that mimics the appearance and behavior of a human. It typically possesses human-like robotic arms and lower limbs, enabling it to perform various human-like movements. Key components of a humanoid robot include:

[0057] Dual robotic arms: The dual robotic arms of a humanoid robot are its important manipulation tools. These robotic arms typically have multiple degrees of freedom, capable of mimicking various movements of the human arm, such as rotation, bending, and extension. This enables the robot to perform delicate manipulation tasks, such as grasping objects and manipulating tools.

[0058] Lower limbs: The lower limbs of humanoid robots also have multiple degrees of freedom, enabling them to simulate human walking, running, jumping, and other movements. These lower limb structures typically employ advanced drive systems and sensor technologies to ensure the robot's stability and flexibility during movement.

[0059] Head and Perception System: While humanoid robots' heads don't always have to mimic the structure of a human head, they are typically equipped with sensors such as cameras and microphones to acquire environmental information. Furthermore, some humanoid robots may also be equipped with artificial intelligence technologies such as facial recognition and voice recognition to enhance their interactivity and intelligence.

[0060] For example, refer to Figure 1 , Figure 1 This is a structural schematic diagram of a humanoid robot provided in an embodiment of this application.

[0061] In some embodiments, the humanoid robot includes:

[0062] Head System 101: Includes the head structure of the humanoid robot, which can integrate sensors, cameras, microphones, etc., for environmental perception and interaction.

[0063] Thoracic system 102: Includes the humanoid robot's internal electronic equipment and power source, such as motor controllers, power distribution units, etc.

[0064] Robotic arm system 103: Includes two robotic arms of a humanoid robot, used to perform various operational tasks, such as grasping and carrying.

[0065] Dexterous Hand System 104: Installed at the end of a robotic arm, it has multiple degrees of freedom and is capable of performing delicate operational tasks.

[0066] Thigh 105: The part connecting the hip and knee joints, is the main load-bearing structure of the humanoid robot's leg.

[0067] Lower leg 106: The part connecting the knee and ankle joints, is an important component of leg movement.

[0068] Foot 107: The walking and standing components of humanoid robots, which are usually designed with anti-slip and shock absorption functions.

[0069] Those skilled in the art will understand that Figure 1 The humanoid robot structure shown does not constitute a limitation on humanoid robots. The humanoid robot in this application may include, but is not limited to, humanoid robots. Figure 1 This may indicate more or fewer components, or combinations of certain components, or different component arrangements.

[0070] The application scenarios for the aforementioned humanoid robots may include, but are not limited to, the following:

[0071] Industrial manufacturing: On automated production lines, humanoid robots can replace humans in performing some heavy, dangerous, or repetitive tasks, such as moving heavy objects and assembling parts.

[0072] Service industry: In service establishments such as restaurants and hotels, humanoid robots can serve as waiters or receptionists, providing customers with services such as taking orders, delivering food, and guiding them.

[0073] Medical Rehabilitation: In the medical field, humanoid robots can serve as assistive devices to help patients with rehabilitation training or provide daily care.

[0074] Rescue and Exploration: In disaster sites such as earthquakes and fires, humanoid robots can replace humans to enter dangerous areas for search and rescue or exploration.

[0075] Entertainment and Education: In entertainment venues and educational institutions, humanoid robots can serve as performers or teaching assistants, providing audiences and students with fun and interactive experiences.

[0076] Data collection is the core driving force for the practical application of humanoid robots and embodied intelligence. Its importance lies in providing high-quality and diverse real-world interaction data for model training, supporting the generalization of humanoid robots from single tasks to complex scenarios.

[0077] In related technologies, a data acquisition system typically consists of two isomorphic robotic arms to synchronously acquire teaching data and motion data. The acquired data can be stored in an HDF5 (Hierarchical Data Format Version 5) hierarchical storage format and further used for online inference via a network.

[0078] However, the aforementioned data acquisition methods rely on the humanoid robot itself, and the acquired data cannot be applied to other humanoid robot configurations, exhibiting poor generalization capabilities. For example, if the joint configurations and kinematic models of the main arm and slave arm are inconsistent, the acquired data cannot be directly transferred to other robot configurations. Furthermore, these data acquisition methods are typically designed for specific end effectors (such as grippers or welding torches), and changing the end effector requires recalibrating the data mapping relationship, thereby increasing acquisition costs.

[0079] In addition, the above data collection method requires the data collector to directly control the mechanical arm joints of the humanoid robot body, which makes it difficult to operate multi-degree-of-freedom cooperative motion (such as dual-arm cooperation) and the continuity of the trajectory is easily affected.

[0080] To address the aforementioned technical issues, this application provides a humanoid robot data acquisition system. The system includes a wearable processing device, an acquisition control component, and at least one handheld acquisition gripper. During the data acquisition process, the acquisition personnel can use the handheld acquisition gripper to complete the corresponding data acquisition tasks without relying on the humanoid robot itself. Furthermore, the acquired data can be applied to humanoid robots of other configurations, demonstrating high generalization ability.

[0081] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will be described below with reference to the accompanying drawings.

[0082] Reference Figure 2 , Figure 2 This is a schematic diagram of the architecture of a humanoid robot data acquisition system provided in the embodiments of this application.

[0083] In some embodiments, the humanoid robot data acquisition system includes a wearable processing device 210, an acquisition control component 220, and at least one handheld acquisition gripper, such as a first handheld acquisition gripper 231 and a second handheld acquisition gripper 232. The acquisition control component 220, the first handheld acquisition gripper 231, and the second handheld acquisition gripper 232 can be connected to the wearable processing device 210, respectively.

[0084] Optionally, the acquisition control component 220, the first handheld acquisition gripper 231, and the second handheld acquisition gripper 232 can be connected to the wearable processing device 210 via wired connection; or they can be connected to the wearable processing device 210 via wireless connection. No limitation is made in this embodiment.

[0085] Optionally, the first hand-held acquisition gripper 231 can be held by the user (also known as the acquisition personnel) with their left hand, and the second hand-held acquisition gripper 232 can be held by the user with their right hand, thereby simulating the collaborative operation of a humanoid robot's two arms and improving the realism of data acquisition.

[0086] In some implementations, the acquisition control component 220 is used to trigger a data acquisition start command.

[0087] Optionally, the data acquisition control component 220 can be a foot-operated control component equipped with a pressure sensor. The data acquisition operator can trigger the data acquisition start command by stepping on the foot-operated control component.

[0088] In some embodiments, the wearable processing device 210 includes a power supply and a data processing device, wherein the power supply supplies power to the acquisition control component 220, the handheld acquisition gripper, and the aforementioned data processing device.

[0089] Optionally, the wearable processing device 210 may be a backpack-style data collection device, which may contain a power supply and data processing equipment.

[0090] Optionally, the aforementioned backpack for data collection can be arranged in a layered layout, with the data processing device placed on the upper layer and the power supply placed on the lower layer.

[0091] Optionally, the power supply can be a high-energy-density lithium polymer battery pack that supports hot-swappable replacement, thereby ensuring continuous operation capability.

[0092] Optionally, the power supply may include a wireless charging module that supports wireless charging.

[0093] Optionally, the data processing device described above may be a computer, which includes a processor, a memory, and a communication interface.

[0094] In some embodiments, the memory can be used to store programs or instructions; the communication interface is used to receive signals from other devices and transmit them to the processor, or to send signals from the processor to other devices; the processor is used to execute the programs or instructions to complete the data acquisition work.

[0095] Optionally, the processor mentioned above can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices. The general-purpose processor mentioned above can be a microprocessor or any conventional processor, etc.

[0096] The aforementioned memory can be random access memory (RAM), read-only memory (ROM), disk storage, or other magnetic storage devices.

[0097] In some embodiments, the handheld acquisition gripper may include an image acquisition device, a positioning device, a gripper, and a hand grip, wherein the image acquisition device, gripper, and positioning device are detachably mounted on the hand grip.

[0098] The aforementioned handgrip serves as the basic carrier, satisfying ergonomic design to ensure operational stability. It can also provide standardized interfaces (such as threaded holes and snap-fit ​​structures) to support the detachable installation of various functional modules.

[0099] In some implementations, the aforementioned detachable installation may also be referred to as an interchangeable installation.

[0100] For example, the aforementioned image acquisition device, gripper, and positioning device can all be detachably mounted on the handheld handle via standardized interfaces and connection methods. This detachable design not only facilitates the assembly and disassembly of the device but also allows for flexible replacement of different components according to different acquisition task requirements, thus improving the versatility of the aforementioned handheld acquisition gripper.

[0101] The aforementioned image acquisition device has the capability to capture high-definition images and transmit them in real time; the aforementioned positioning device employs positioning technology, such as dual-base station infrared laser positioning technology, which can quickly and accurately determine the position and orientation of the aforementioned gripper in three-dimensional space, providing a reliable position reference for the gripper's precise grasping.

[0102] Optionally, the image acquisition device may include a camera for acquiring images of the environment in which the handheld acquisition gripper is located.

[0103] The aforementioned gripper can be the part that directly contacts the target object and performs the grasping action. It can have a flexible opening and closing range and sufficient gripping force to firmly grasp various items and ensure that the object will not slip during the collection process.

[0104] Optionally, the gripper described above can be an electric two-finger gripper.

[0105] In some embodiments, the data processing device described above can be used to receive and store the data acquired by the image acquisition device, the positioning device, and the gripper.

[0106] The data collected by the positioning device may include the position and orientation data of the gripper in three-dimensional space; the data collected by the gripper may include the opening and closing size data of the gripper; and the data collected by the image acquisition device may include image data of the end of the gripper.

[0107] The humanoid robot data acquisition system provided in this application includes a wearable processing device, an acquisition control component, and at least one handheld acquisition gripper. During the data acquisition process, the operator can use the handheld acquisition gripper to complete the corresponding data acquisition task without relying on the humanoid robot body. Moreover, the acquired data can be applied to other configurations of humanoid robots, demonstrating high generalization ability.

[0108] Reference Figure 3 , Figure 3 This is a schematic diagram of the structure of a handheld data collection gripper provided in an embodiment of this application.

[0109] In some embodiments, the handheld acquisition gripper 230 may include an image acquisition device 2301, a positioning device 2302, a gripper 2303, and a handheld handle 2304, wherein the image acquisition device 2301, the gripper 2303, and the positioning device 2302 are detachably mounted on the handheld handle 2304.

[0110] In addition, the hand grip 2304 is equipped with a gripper control component 2305, a gripper motor 2306, and multiple interfaces.

[0111] The gripper control component 2305 drives the gripper motor 2306 via a PWM signal to control the opening and closing of the gripper 2303. The duty cycle of the PWM signal is linearly related to the gripper opening degree.

[0112] The gripper 2303 is equipped with a detection device, which can be used to detect the opening and closing size of the gripper 2303. The above-mentioned multiple interfaces are used to connect the gripper 2303, the image acquisition device 2301, the positioning device 2302, and the power supply and data processing device in the wearable processing device 210.

[0113] Optionally, the gripper control assembly 2305 may include a gripper control button, which the data acquisition personnel can use to control the opening and closing of the grippers.

[0114] For example, the aforementioned handheld acquisition gripper can adopt a modular design, consisting of three parts: camera, gripper, and handheld handle.

[0115] The camera can be quickly attached to and detached from the gripper, and its data cable is connected to the gripper via a Type-C interface.

[0116] The gripper can be quickly attached and detached from the handgrip. When connected to the handgrip, it can be used as a standalone data acquisition tool or in conjunction with a camera for data acquisition. In addition, the gripper can be detached from the handgrip and installed on the end of robotic arms of different configurations for use in various robotic arm operations.

[0117] The handheld grip can integrate gripper control buttons, positioning devices, and interfaces for connecting to the gripper, camera, power supply, and data processing device. For example, the handheld grip can connect to the gripper via an aviation interface, which includes motor power cables, motor data cables, and camera data cables. These data and power cables are integrated within the handheld grip and connected to the data processing device via the aviation interface.

[0118] Optionally, the positioning device 2302 may include a first infrared laser base station, a second infrared laser base station, and a tracker. The two infrared laser base stations (transmitters) and the tracker (receiver) can constitute a positioning system. The first and second infrared laser base stations can be used to emit infrared beams, and the tracker is used to receive the infrared beams emitted by the first and second infrared laser base stations.

[0119] Specifically, the aforementioned infrared laser base station emits a modulated infrared beam, and the aforementioned tracker receives and calculates the phase difference of the light signal through a photoelectric sensor to calculate the relative position.

[0120] In some implementations, triangulation can be used to calculate the three-dimensional position (XYZ) of the tracker in space by using the distance difference between two infrared laser base stations to the same tracker and the known coordinates of the infrared laser base stations.

[0121] In some implementations, the tracker may have an inertial measurement unit (IMU) built in, which can output the rotational attitude of the gripper end by fusing accelerometer and gyroscope data.

[0122] In some implementations, when the handheld acquisition gripper is activated, the tracker can perform initial pose calibration by scanning environmental feature points (such as base station identifiers or preset markers) to ensure that the coordinate system is strictly aligned with the end of the gripper.

[0123] In some implementations, the coordinate system of the tracker corresponds to the coordinate system of the gripper end, which can be directly used for inverse kinematics, that is, to inversely deduce the angles of each joint based on the end pose, making it convenient to replay and verify the data.

[0124] The infrared positioning scheme used in this application embodiment can achieve high positioning accuracy, which helps to improve the reliability of the collected data.

[0125] In some embodiments, the acquisition control component 220 may include a control pedal; the control pedal triggers a data acquisition start command when force is applied.

[0126] For example, the data acquisition operator can trigger the data acquisition start command by stepping on the aforementioned control pedal.

[0127] Optionally, the control pedal can be preset with a pressure threshold. The data acquisition start command will only be triggered when the pressure detected by the control pedal exceeds the pressure threshold, thereby preventing accidental touch.

[0128] Optionally, the control pedal can also trigger a data acquisition stop command. For example, the data acquisition operator can trigger the data acquisition stop command by releasing the control pedal or by pressing the control pedal twice consecutively.

[0129] Reference Figure 4 , Figure 4 This is a schematic diagram of the architecture of another humanoid robot data acquisition system provided in the embodiments of this application.

[0130] The aforementioned humanoid robot data acquisition system includes a wearable processing device 210, an acquisition control component 220, a signal indicator light 410, and a first handheld acquisition gripper 231 and a second handheld acquisition gripper 232.

[0131] The acquisition control component 220, the first handheld acquisition gripper 231, the second handheld acquisition gripper 232, and the signal indicator light 410 are respectively connected to the wearable processing device 210.

[0132] Optionally, the acquisition control component 220, the first handheld acquisition gripper 231, the second handheld acquisition gripper 232, and the signal indicator 410 can be connected to the wearable processing device 210 via wired connection; or they can be connected to the wearable processing device 210 via wireless connection. No limitation is made in this embodiment.

[0133] Specifically, the acquisition control component 220, the first handheld acquisition gripper 231, the second handheld acquisition gripper 232, and the signal indicator light 410 are respectively connected to the data processing device in the wearable processing device 210.

[0134] Optionally, the signal indicator 410 can be a tri-color LED indicator.

[0135] In some implementations, the indicator light 410 is used to display a variety of different colors according to control commands sent by the data processing device.

[0136] For example, when the data processing device indicates that the data acquisition preparation stage has begun, the signal indicator 410 will light up yellow; when the data processing device indicates that the data acquisition stage has begun, the signal indicator 410 will light up green; and when the data processing device indicates that the data acquisition has ended, the signal indicator 410 will light up red.

[0137] The humanoid robot data acquisition system provided in this application embodiment uses signal indicator lights to intuitively prompt the acquisition personnel about the current status of the acquisition system, thereby reducing the operational risks for the acquisition personnel.

[0138] Reference Figure 5 , Figure 5 This is a schematic diagram of the architecture of another humanoid robot data acquisition system provided in the embodiments of this application.

[0139] The aforementioned humanoid robot data acquisition system includes a wearable processing device 210, an acquisition control component 220, a signal indicator light 410, a speaker 510, and a first handheld acquisition gripper 231 and a second handheld acquisition gripper 232.

[0140] The acquisition control component 220, the first handheld acquisition gripper 231, the second handheld acquisition gripper 232, the signal indicator light 410, and the speaker 510 are respectively connected to the wearable processing device 210.

[0141] Optionally, the acquisition control component 220, the first handheld acquisition gripper 231, the second handheld acquisition gripper 232, the signal indicator light 410, and the speaker 510 can be connected to the wearable processing device 210 via wired connection; or they can be connected to the wearable processing device 210 via wireless connection. No limitation is imposed in this embodiment.

[0142] Specifically, the acquisition control component 220, the first handheld acquisition gripper 231, the second handheld acquisition gripper 232, the signal indicator light 410, and the speaker 510 are respectively connected to the data processing device in the wearable processing device 210.

[0143] In some embodiments, the speaker 510 can be used to output various different voice signals according to control commands sent by the data processing device, including a preparation status prompt tone, a data acquisition start prompt tone, and a data acquisition end prompt tone.

[0144] For example, when the data processing device indicates that the data acquisition preparation stage has begun, the speaker 510 outputs a voice signal saying "Ready to acquire"; when the data processing device indicates that the data acquisition stage has begun, the speaker 510 outputs a voice signal saying "Start acquisition"; and when the data processing device indicates that the data acquisition has ended, the speaker 510 outputs a voice signal saying "Acquisition ended".

[0145] The humanoid robot data acquisition system provided in this application embodiment uses a speaker to help acquisition personnel understand the current status of the acquisition system, further reducing the operational risks for acquisition personnel.

[0146] In some embodiments, the wearable processing device 210 includes a backpack-style data collection device, with the power supply and data processing device located inside the backpack.

[0147] Optionally, the aforementioned backpack for collecting materials may include, but is not limited to:

[0148] Shoulder straps: can adopt an "S" or "J" shaped curve design to fit the contour of the shoulder and reduce the feeling of pressure.

[0149] Waist belt: A thick lumbar pad combined with an adjustable nylon waist belt transfers weight to the hip bones, reducing shoulder strain.

[0150] Function: Some belts have integrated pockets for easy and quick access to small items (such as mobile phones or energy bars).

[0151] Chest strap: Fixes the distance between the shoulder straps and prevents the backpack from swaying.

[0152] Bottom support: High-density plastic or metal plates (such as aluminum frames) can be used to prevent backpack deformation and protect internal items.

[0153] Optionally, the side of the aforementioned backpack that is close to the user's back is made of heat-insulating material to prevent the main control computer from overheating.

[0154] Optionally, the aforementioned heat insulation material can be aerogel (such as silica aerogel), which can effectively block the heat generated by the power supply and data processing device from being conducted to the back.

[0155] Optionally, the aforementioned backpack for data collection can also be equipped with a heat dissipation device. For example, a miniature fan can be installed on the backpack to accelerate air circulation inside the backpack.

[0156] The humanoid robot data acquisition system provided in this application embodiment solves the problems of excessive end-effector weight, reliance on external power supply, and excessive external cables by placing the power supply and data processing device inside the acquisition backpack, compared to the previous solution of placing the power supply equipment at the end of the gripper and relying on the computer host. This enables portable data acquisition by a single person, increases the continuous acquisition time for a single person, and improves acquisition efficiency.

[0157] In some embodiments, the aforementioned backpack-type data acquisition device has multiple first interfaces on its exterior and at least one second interface on its interior. The data acquisition control component, handheld data acquisition gripper, signal indicator light, and speaker can be connected to the backpack-type data acquisition device via the multiple first interfaces. The aforementioned power supply and data processing device can be connected to the backpack-type data acquisition device via the at least one second interface.

[0158] The above method simplifies the wiring of the backpack-style data collection system and reduces the complexity for data collection personnel when wiring.

[0159] In some implementations, the connection cable between the aforementioned acquisition control component, handheld acquisition gripper, signal indicator light, speaker, and backpack acquisition backpack is a retractable connection cable. This not only meets various operating scenarios but also avoids cable tangling and prevents the connection cable from being too long and affecting the operation of the acquisition personnel.

[0160] When collecting data using the humanoid robot data acquisition system provided in the above embodiments, some preparatory work can be carried out first, including: the data acquisition personnel carrying the above-mentioned data acquisition backpack and holding the above-mentioned handheld data acquisition gripper, and placing the above-mentioned control pedal and the above-mentioned signal indicator light at a suitable position on the ground.

[0161] Once preparation is complete, the data acquisition personnel can trigger the data acquisition start command by stepping on the aforementioned control pedal.

[0162] For example, refer to Figure 6 , Figure 6 This is a schematic diagram of a data acquisition process provided in an embodiment of this application.

[0163] In some implementations, the above data acquisition process includes:

[0164] S601, Depress the control pedal.

[0165] S602, the speaker outputs "Ready to acquire", and the signal indicator light turns yellow.

[0166] When the data acquisition personnel step on the pedal, the system enters the data acquisition preparation state. At the same time, the system plays the voice message "Ready to acquire data" through the speaker, and the signal indicator light turns yellow to indicate to the data acquisition personnel that the current data acquisition state is ready.

[0167] S603, the speaker outputs "Start Acquisition", and the signal indicator light turns green.

[0168] When the system is ready, the system will announce "Start Data Acquisition" via speaker, and the indicator light will turn green, prompting the data acquisition personnel to begin data collection. At this point, the personnel will use the data acquisition gripper to perform the specified actions within a given time to complete the data acquisition process.

[0169] S604, the speaker outputs "Acquisition complete", and the signal indicator light turns red.

[0170] After the designated time has elapsed, a message will be played through a loudspeaker indicating "Data collection complete," and a red indicator light will illuminate to signal to the data collector that the data collection has been completed.

[0171] The above data acquisition process does not rely on the humanoid robot itself, and the acquired data can be applied to other types of humanoid robots, demonstrating high generalization ability.

[0172] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, it can refer to a fixed connection, an indirect connection through an intermediate medium, or the internal connection of two elements or the interaction between two elements. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.

[0173] It should be understood that the embodiments described above are merely illustrative. For example, the division of modules described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or modules, and may be electrical, mechanical, or other forms.

[0174] The modules described above as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the objectives of each scheme in this embodiment, depending on actual needs.

[0175] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A humanoid robot data acquisition system, characterized in that, It includes a wearable processing device, a data acquisition control component, and at least one handheld data acquisition gripper, wherein the data acquisition control component and the handheld data acquisition gripper are respectively connected to the wearable processing device; The acquisition control component is used to trigger the data acquisition start command; The wearable processing device includes a power supply and a data processing device, wherein the power supply is used to supply power to the acquisition control component, the handheld acquisition gripper and the data processing device; The handheld acquisition gripper includes an image acquisition device, a positioning device, a gripper, and a handheld handle. The image acquisition device, the gripper, and the positioning device are detachably mounted on the handheld handle. The data processing device is used to receive and save the data acquired by the image acquisition device, the positioning device, and the gripper. The data acquired by the image acquisition device includes image data of the gripper's end; the data acquired by the positioning device includes the position and orientation data of the gripper in three-dimensional space; and the data acquired by the gripper includes the opening and closing size data of the gripper.

2. The system according to claim 1, characterized in that, The hand grip is also equipped with a gripper control component, a gripper motor, and multiple interfaces. The gripper control component is used to drive the gripper motor to control the opening and closing of the gripper; The gripper is equipped with a detection device, which is used to detect the opening and closing size of the gripper; The multiple interfaces are used to connect the gripper, the image acquisition device, the positioning device, the power supply, and the data processing device.

3. The system according to claim 1 or 2, characterized in that, The at least one handheld acquisition gripper includes a first handheld acquisition gripper and a second handheld acquisition gripper; the first handheld acquisition gripper is held by the user's left hand, and the second handheld acquisition gripper is held by the user's right hand.

4. The system according to claim 1, characterized in that, The acquisition and control component includes a control pedal; The positioning device includes a first infrared laser base station, a second infrared laser base station, and a tracker; the first infrared laser base station and the second infrared laser base station are used to emit infrared beams; the tracker is used to receive the infrared beams emitted by the first infrared laser base station and the second infrared laser base station.

5. The system according to claim 4, characterized in that, The system also includes signal indicator lights, which are connected to the data processing device; The indicator lights are used to display a variety of different colors.

6. The system according to claim 5, characterized in that, The system also includes a speaker connected to the data processing device; The speaker is used to output a variety of different voice signals; the voice signals include a preparation status prompt tone, a start acquisition prompt tone, and a finish acquisition prompt tone.

7. The system according to claim 6, characterized in that, The wearable processing device includes a backpack-style data collection device, with the power supply and the data processing device located inside the backpack.

8. The system according to claim 7, characterized in that, The side of the backpack closest to the user's back is made of heat-insulating material; And / or, the backpack is equipped with a heat dissipation device.

9. The system according to claim 7 or 8, characterized in that, The backpack has multiple first interfaces on its exterior and at least one second interface inside its interior. The acquisition control component, the handheld acquisition gripper, the signal indicator light, and the speaker are connected to the backpack-style acquisition device via the plurality of first interfaces. The power supply and the data processing device are connected to the backpack-style data collection device via the at least one second interface.

10. The system according to claim 9, characterized in that, The connection cable between the acquisition control component, the handheld acquisition gripper, the signal indicator light, the speaker, and the backpack acquisition backpack is a retractable connection cable.

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