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CN-122008298-A - Interactive information acquisition equipment and control method

CN122008298ACN 122008298 ACN122008298 ACN 122008298ACN-122008298-A

Abstract

The application provides an interaction information acquisition device and a control method, wherein the interaction information acquisition device comprises a holding support, an operation end, a master end feedback mechanism, an execution end, a holding support, a multi-dimensional force sensor, a slave end driving mechanism and a multi-dimensional force sensor, wherein the holding support comprises a holding clamp operating mechanism and the master end feedback mechanism, the holding clamp operating mechanism is used for an operator to carry out holding clamp, the master end feedback mechanism is used for acquiring holding clamp actions input through the holding clamp operating mechanism, the execution end comprises a clamping jaw mechanism, the slave end driving mechanism and the multi-dimensional force sensor, the slave end driving mechanism is used for driving the clamping jaw mechanism to execute clamping actions according to the holding clamp actions and capturing actual clamping forces of the clamping jaw mechanism, the multi-dimensional force sensor is used for acquiring interaction forces when the execution end and an external environment entity are interacted, the holding support, the multi-dimensional force sensor, the slave end driving mechanism and the clamping jaw mechanism are sequentially stacked, and the master end feedback mechanism is further configured to drive the holding clamp operating mechanism to move according to the actual clamping forces so as to apply the clamping feedback forces to the operator. The interactive information acquisition equipment provided by the application has higher interactive force acquisition precision, spatial freedom degree and portability.

Inventors

  • LUO SHAQI
  • HU SHA

Assignees

  • 北京智源人工智能研究院

Dates

Publication Date
20260512
Application Date
20260411
Priority Date
20250611

Claims (17)

  1. 1. An interactive information acquisition device, comprising: Holding the bracket; The operation end is arranged on the holding bracket and comprises a grabbing operation mechanism and a main end feedback mechanism, wherein the grabbing operation mechanism is configured for an operator to grab, and the main end feedback mechanism is configured for capturing grabbing actions input by the operator through the grabbing operation mechanism; The device comprises an execution end, a slave end driving mechanism and a multi-dimensional force sensor, wherein the slave end driving mechanism is configured to drive the clamping mechanism to execute the clamping action on a target object and capture the actual clamping force of the clamping mechanism, the multi-dimensional force sensor is configured to collect interaction force when the execution end interacts with an external environment entity, the holding support, the multi-dimensional force sensor, the slave end driving mechanism and the clamping mechanism are sequentially arranged in a stacked mode, and the master end feedback mechanism is further configured to drive the clamping operation mechanism to move according to the actual clamping force so as to apply clamping feedback force to an operator.
  2. 2. The interactive information acquisition apparatus of claim 1 wherein the multi-dimensional force sensor is a six-dimensional force sensor.
  3. 3. The interactive information acquisition apparatus of claim 1 or 2, wherein the pinch grip operating mechanism comprises two finger rings, the main end feedback mechanism comprises a main end driving member and a main end transmission assembly, and the main end driving member drives the two finger rings to slidably approach or separate from each other through the main end transmission assembly.
  4. 4. The interactive information acquisition apparatus according to claim 3, wherein the grip operating mechanism includes a main end rail provided on the grip bracket or the housing of the main end driving member, the two finger rings being slidably provided on the main end rail, respectively; The main end driving piece is a main end motor, the main end transmission assembly comprises a main end gear and two main end racks meshed with the main end gear, the main end gear is arranged at the output end of the main end motor, and the two main end racks and the two finger rings are arranged in one-to-one correspondence; the main end motor is used for driving the main end gear wheels to rotate so as to drive the two main end racks to horizontally move and further drive the two finger rings to be close to or far away from each other in a sliding manner along the main end guide rail.
  5. 5. The apparatus according to claim 1 or 2, wherein the jaw mechanism includes two jaws, and the slave-end driving mechanism includes a slave-end driver and a slave-end transmission assembly, and the slave-end driver drives the two jaws to slidably approach or separate from each other through the slave-end transmission assembly.
  6. 6. The interactive information acquisition device according to claim 5, wherein each clamping claw comprises a fingertip mechanism, a finger belly mechanism and a finger root mechanism which are sequentially connected, and the fingertip mechanism, the finger belly mechanism and the finger root mechanism are respectively used for clamping target objects with different sizes and/or different materials.
  7. 7. The interactive information collecting apparatus according to claim 6, wherein a tactile sensor is provided on a surface of the grip surface of the finger web mechanism for collecting contact information between the grip claw and the grip object.
  8. 8. The interactive information acquisition apparatus of claim 5, wherein the jaw mechanism comprises a slave end rail disposed on the housing of the slave end drive, the two clamping jaws being slidably disposed on the slave end rail, respectively; the slave end driving piece is a slave end motor, and the multi-dimensional force sensor is clamped between the slave end motor and the holding bracket; The slave end transmission assembly comprises a slave end gear and two slave end racks meshed with the slave end gear, wherein the slave end gear is arranged at the output end of the slave end motor, and the two slave end racks and the two clamping claws are arranged in one-to-one correspondence.
  9. 9. The interactive information acquisition apparatus of claim 8, wherein the execution end comprises a connection flange, the connection flange is sandwiched between the slave-end motor and the multi-dimensional force sensor and is used for rigidly connecting the slave-end motor and the multi-dimensional force sensor, and the slave-end gear is disposed on a side of the slave-end motor away from the multi-dimensional force sensor.
  10. 10. The interactive information acquisition apparatus of claim 1 or 2 wherein the grip support is provided with a grip handle adapted to be gripped by an operator.
  11. 11. The interactive information acquisition apparatus of claim 1 or 2, wherein the interactive information acquisition apparatus comprises a data acquisition module comprising at least one of a depth camera, a fisheye camera, and a self-positioning tracking module for acquiring RGB-D information, ultra-wide angle RGB information, and position and orientation information of the information acquisition apparatus, respectively, of an environment in front of the interactive information acquisition apparatus; the holding support, the multi-dimensional force sensor, the slave end driving mechanism and the clamping jaw mechanism are sequentially stacked along a second direction, the first direction and the second direction are perpendicular or inclined at an angle, and the extension and the multi-dimensional force sensor are arranged in a staggered mode.
  12. 12. The interactive information acquisition apparatus of claim 1 or 2, wherein the slave end drive mechanism has a motion information acquisition structure for acquiring a gripping speed and a gripping position of the jaw mechanism, and the master end feedback mechanism is further configured to drive the gripper operating mechanism to move in accordance with the gripping speed and the gripping position to feedback an actual gripping posture of the jaw mechanism to an operator.
  13. 13. The interactive information acquisition apparatus of claim 1 or 2, wherein the actuating end is quickly detachably mounted on the grip bracket.
  14. 14. The interactive information acquisition apparatus of claim 1 or 2, further comprising a drive control module for stable power supply and data transmission and control of the relevant electronic components of the interactive information acquisition apparatus.
  15. 15. An interactive information acquisition apparatus control method for controlling the interactive information acquisition apparatus according to any one of claims 1 to 14, the control method comprising: Acquiring the grabbing and clamping actions of an operator through the main end feedback mechanism; controlling the slave end driving mechanism to drive the clamping jaw mechanism to execute the clamping action on the target object and capturing the actual clamping force of the clamping jaw mechanism; Controlling the main end feedback mechanism to drive the grabbing and clamping operation mechanism to move according to the actual clamping force so as to apply clamping feedback force to an operator; and acquiring interaction force of the execution end when interacting with an external environment entity through the multidimensional force sensor.
  16. 16. The method of claim 15, wherein the master end feedback mechanism includes a master end driver for driving movement of the pinch grip operation mechanism, and wherein the slave end driver includes a slave end driver for driving movement of the jaw mechanism; The control method further includes: and carrying out bidirectional synchronous control on the master end driving piece and the slave end driving piece.
  17. 17. The method of claim 16, wherein the master end driving member is a master end motor, and the slave end driving member is a slave end motor; The control method further includes: And carrying out bidirectional synchronous control on the angles, the angular speeds and the output torque of the master end motor and the slave end motor.

Description

Interactive information acquisition equipment and control method Technical Field The application relates to the technical field of data acquisition, in particular to an interactive information acquisition device and a control method. Background In the field of robot operation and man-machine cooperation, how to accurately acquire interactive force information between a man-machine environment still faces a plurality of challenges, and the interactive information acquisition equipment in the related technology still has defects in force feedback precision, space freedom and portability and cannot better meet the use requirements. Disclosure of Invention The application aims to provide the interactive information acquisition equipment and the control method for solving the defects in the prior art, which have higher force feedback precision, spatial freedom degree and portability, so that the accurate acquisition of the interactive information can be better realized. The first aspect of the present application provides an interactive information acquisition apparatus, comprising: Holding the bracket; The operation end is arranged on the holding bracket and comprises a grabbing operation mechanism and a main end feedback mechanism, wherein the grabbing operation mechanism is configured for an operator to grab, and the main end feedback mechanism is configured for capturing grabbing actions input by the operator through the grabbing operation mechanism; The device comprises an execution end, a slave end driving mechanism and a multi-dimensional force sensor, wherein the slave end driving mechanism is configured to drive the clamping mechanism to execute the clamping action on a target object and capture the actual clamping force of the clamping mechanism, the multi-dimensional force sensor is configured to collect interaction force when the execution end interacts with an external environment entity, the holding support, the multi-dimensional force sensor, the slave end driving mechanism and the clamping mechanism are sequentially arranged in a stacked mode, and the master end feedback mechanism is further configured to drive the clamping operation mechanism to move according to the actual clamping force so as to apply clamping feedback force to an operator. Preferably, the multi-dimensional force sensor is a six-dimensional force sensor. Preferably, the pinch grip operating mechanism comprises two finger rings, the main end feedback mechanism comprises a main end driving member and a main end transmission assembly, and the main end driving member drives the two finger rings to be close to or far away from each other in a sliding manner through the main end transmission assembly. Preferably, the grabbing and clamping operation mechanism comprises a main end guide rail, the main end guide rail is arranged on the holding bracket or the shell of the main end driving piece, and the two finger rings are respectively and slidably arranged on the main end guide rail; The main end driving piece is a main end motor, the main end transmission assembly comprises a main end gear and two main end racks meshed with the main end gear, the main end gear is arranged at the output end of the main end motor, and the two main end racks and the two finger rings are arranged in a one-to-one correspondence manner; the main end motor is used for driving the main end gear wheels to rotate so as to drive the two main end racks to horizontally move and further drive the two finger rings to be close to or far away from each other in a sliding manner along the main end guide rail. Preferably, the jaw mechanism comprises two jaws, the slave end drive mechanism comprising a slave end drive and a slave end transmission assembly, the slave end drive driving the two jaws to slidingly approach or separate from each other via the slave end transmission assembly. Preferably, each clamping claw comprises a fingertip mechanism, a finger belly mechanism and a finger root mechanism which are sequentially connected, wherein the fingertip mechanism, the finger belly mechanism and the finger root mechanism are respectively used for clamping target objects with different sizes and/or different materials. Preferably, a touch sensor is arranged on the surface of the clamping surface of the abdomen pointing mechanism and used for collecting contact information between the clamping claw and the clamping object. Preferably, the jaw mechanism comprises a slave end guide rail provided on a housing of the slave end driver, and the two clamping jaws are respectively slidably provided on the slave end guide rail; the slave end driving piece is a slave end motor, and the multi-dimensional force sensor is clamped between the slave end motor and the holding bracket; The slave end transmission assembly comprises a slave end gear and two slave end racks meshed with the slave end gear, wherein the slave end gear is arranged at the output end of the slave end motor, and t