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CN-122008313-A - Data acquisition equipment

CN122008313ACN 122008313 ACN122008313 ACN 122008313ACN-122008313-A

Abstract

The specification discloses a data acquisition equipment, and data acquisition equipment includes arm, neck subassembly and dresses the subassembly, and neck subassembly and dresses subassembly fixed connection, and the arm is installed on the neck subassembly. The mechanical arm comprises a plurality of joint structures which are sequentially connected, 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 are intersected at one point. Therefore, the mechanical arm of the data acquisition equipment has both analytic positive solution and analytic negative solution, and when a robot isomorphic with the data acquisition equipment is designed, the acquired data can be directly applied to the training of the control strategy of the robot, so that the application scene of the data acquired by the data acquisition equipment is greatly expanded, and the generalization capability of the data application is improved.

Inventors

  • CUI PENG
  • WANG QIAN

Assignees

  • 自变量机器人科技(深圳)有限公司

Dates

Publication Date
20260512
Application Date
20241112

Claims (10)

  1. 1. The data acquisition equipment is characterized by comprising a mechanical arm (1), a head and neck assembly (2) and a wearing assembly (3), wherein the head and neck assembly (2) is fixedly connected with the wearing assembly (3), and the mechanical arm (1) is arranged on the head and neck assembly (2); The mechanical arm (1) comprises a plurality of joint structures which are sequentially connected, wherein a first joint structure (11), a second joint structure (12) and a third joint structure (13) in the plurality of joint structures are continuous three 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) are intersected at one point.
  2. 2. The data acquisition device of claim 1, wherein each of the plurality of joint structures comprises an encoder assembly (101) and an accessory structure (102); For each joint structure, the encoder assembly (101) of the joint structure comprises 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 with the angle encoder (1015), the first bearing (1011) and the second bearing (1012) are respectively used for fixing the output shaft (1013) on the connecting structure (1014), and the connecting structure (1014) is fixedly connected with the auxiliary structure (102); For each joint structure in turn, the output shaft (1013) in the encoder assembly (101) of that joint structure is connected to the secondary structure (102) of the next joint structure of that joint structure.
  3. 3. The data acquisition device of claim 1, wherein the robotic arm (1) further comprises a gripping device (18), the gripping device (18) comprising a jaw assembly (181), a trigger (182), a hand-held module (183), and an electrical control module (184), the trigger (182) deploying a trigger angle sensor (1821), the electrical control module (184) comprising a jaw control unit (1841), a drive circuit (1842), a jaw motor (1843); When a user wears the data acquisition device and pulls the trigger (182), the trigger angle sensor (1821) acquires 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), and the driving circuit (1842) responds to the driving signal and drives the clamping jaw motor (1843) to drive the clamping jaw assembly (181) to move so as to control the clamping jaw assembly (181) to clamp or release a target object.
  4. 4. A data acquisition device according to claim 3, characterized in that the gripping means (18) is provided with end image acquisition means (185); environmental image data including the target object is acquired by the end image acquisition device (185) when the user wears the data acquisition device to control the clamping jaw assembly (181) to operate the target object.
  5. 5. A data acquisition device as claimed in claim 3, characterized in that a jaw pressure sensor (1811) is disposed on the jaw assembly (181); When the user pulls a trigger (182) to control the clamping jaw assembly (181) to clamp a target object, the clamping force of the clamping jaw assembly (181) to clamp the target object is determined through the pressure value between the clamping jaw assembly (181) and the target object acquired by the clamping jaw pressure sensor (1811).
  6. 6. The data acquisition device according to claim 1, wherein the head and neck assembly (2) comprises a head and neck infrastructure (21) and a helmet (22), the helmet (22) having a head image acquisition device (221) mounted thereon, the head and neck infrastructure (21) having disposed thereon at least one robotic arm mounting assembly (211), the robotic arm (1) being mounted on the head and neck assembly (2) by the robotic arm mounting assembly (211); The wearing assembly (3) comprises a back strap (31), a back plate (32) and a central processing unit (33), wherein the back strap (31) is connected with the back plate (32), the central processing unit (33) is arranged on the back plate (32), and a head and neck basic structure (21) of the head and neck assembly (2) is fixedly connected with the wearing assembly (3) through the back plate (32).
  7. 7. The data acquisition device according to claim 6, characterized in that a head pitch angle encoder (212), a gear ring (213) and a gear (214) meshing with the gear ring (213) are disposed on the head and neck infrastructure (21), the gear (214) having a head rotation angle encoder (215) mounted thereon; Acquiring a head pitch angle through the head pitch angle encoder (212) when a user wears the data acquisition device for pitch motion; the head rotation angle is acquired by the head rotation angle encoder (215) when the user wears the data acquisition device for rotational movement.
  8. 8. The data acquisition device according to claim 6, characterized in that the head image acquisition means (221) mounted on the helmet (22) comprises a first camera and a second camera, the helmet (22) being further mounted with an inertial measurement unit; When a user wears the data acquisition equipment to move, acquiring first image data through the first camera, acquiring second image data through the second camera, and acquiring angular velocity data and linear acceleration data of the head of the user through the inertia measurement unit; The first image data, the angular velocity data and the linear acceleration data are used for determining the pose of the head of the user, and the second image data are used for providing visual information of the environment where the data acquisition equipment is located.
  9. 9. The data acquisition device according to claim 6, characterized in that the helmet (22) is further equipped with an inertial measurement unit; When a user wears the data acquisition device to move, acquiring image data through the head image acquisition device (221), and acquiring angular velocity data and linear acceleration data of the head of the user through the inertial measurement unit; The head image acquisition device (221) acquires image data used for providing visual information of the environment where the data acquisition equipment is located, and determining the pose of the head of the user with the angular velocity data and the linear acceleration data acquired by the inertial measurement unit.
  10. 10. The data acquisition device according to claim 1, wherein the wearing assembly (3) further comprises a storage device (34), the storage device (34) being mounted on a back plate (32) of the wearing assembly (3); When the central processing unit (33) of the wearing component (3) receives data to be recorded, the data to be recorded is sent to the storage device (34), so that the storage device (34) stores the data to be recorded; The data to be recorded comprises joint angle data of the joint structure, which are acquired by an angle encoder in the joint structure, environment image data containing a target object, which are acquired by an end image acquisition device (185) of a clamping device (18) in the mechanical arm (1), image data acquired by a head image acquisition device (221) mounted on a helmet (22) in the head and neck assembly (2), a buckling angle of a trigger (182) acquired by a trigger angle sensor (1821) in a trigger (182) contained in the clamping device (18), a pressure value between the clamping jaw assembly (181) and the target object, which are acquired by a clamping jaw pressure sensor (1811) in a clamping jaw assembly (181) contained in the clamping device (18), a head pitch angle acquired by a head pitch angle encoder (212) disposed on a head and neck base structure (21) contained in the head and neck assembly (2), a head rotation angle acquired by a head rotation angle encoder (215) disposed on the head and neck base structure (21), image data acquired by a first camera (221) of a head image device mounted on the helmet (22), and image data acquired by a second camera (22) and at least one linear camera.

Description

Data acquisition equipment Technical Field The present disclosure relates to the field of robotics, and in particular, to a data acquisition device. Background The robot automation operation has wide application value in a plurality of fields, can improve the production efficiency, can replace human beings to operate in dangerous and complex environments, and ensures the safety of the human beings. Currently, since robot operations mainly depend on hand movements, studies of robot control techniques are mainly focused on actuators mounted at the ends of robot arms. In this process, the arm part of the robot needs to carry the end effector to a designated position to support the end effector to complete its task, and it can be seen that the arm part of the robot also performs an important function. In order to achieve precise automated control of the robotic arm portion, a data acquisition device may be worn by a user, which may include a robotic arm that engages the user's arm. When the arm of the user moves, the mechanical arm of the data acquisition device moves along with the arm, and the control strategy of the mechanical arm is designed based on the acquired joint data by acquiring the joint data of each joint of the mechanical arm. The control strategy is applied to the mechanical arm isomorphic to the mechanical arm of the data acquisition equipment, and accurate control on the arm part of the robot can be realized. Because the joint structure of the human arm is extremely complex, in order to simulate the motion of the human arm as far as possible, the current data acquisition device generally adopts a mechanical arm which does not meet the Pieper criterion, that is, in each joint included in the mechanical arm in the current data acquisition device, there are no continuous three joints with axes intersecting at one point or with axes parallel. However, the fact that the manipulator does not meet the Pieper criterion means that only the analytical positive solution of the manipulator (the position and posture of the manipulator end are calculated based on the joint angles) can be obtained, and the analytical negative solution (the joint angles are calculated based on the position and posture of the manipulator end) cannot be obtained. In practical applications, it is often necessary to use an actuator carried by the end of the mechanical arm to reach a desired position as a control target, that is, a control strategy calculates angles of joints of the mechanical arm based on a desired pose of the end of the mechanical arm, and thus controls movement of the joints of the mechanical arm. However, obviously, according to the control strategy designed by the joint data acquired by the data acquisition equipment, the joint angles of all joints of the mechanical arm are difficult to directly solve through the expected pose of the tail end of the mechanical arm, and the control strategy can only be applied to the mechanical arm of the robot which is isomorphic with the data acquisition equipment and does not meet the Pieper criterion. However, the mechanical arm which does not meet the Pieper criterion has limited application scenes, so that the generalization capability of the joint data acquired by the data acquisition equipment in various application scenes is greatly reduced. Disclosure of Invention The present specification provides a data acquisition device to partially solve the above-mentioned problems of the prior art. The technical scheme adopted in the specification is as follows: The specification provides data acquisition equipment which comprises a mechanical arm 1, a head and neck assembly 2 and a wearing assembly 3, wherein the head and neck assembly 2 is fixedly connected with the wearing assembly 3, and the mechanical arm 1 is arranged on the head and neck assembly 2; The mechanical arm 1 comprises 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 in the plurality of joint structures are continuous three 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. Optionally, each of the plurality of articular structures includes an encoder assembly 101 and an attachment structure 102; For each joint structure, the encoder assembly 101 of the joint structure comprises 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 with the angle encoder 1015, the first bearing 1011 and the second bearing 1012 are respectively used for fixing the output shaft 1013 on the connecting structure 1014, and the connecting structure 1014 is fixedly connected with the auxiliary structure 102; For each joint structure in turn, the output shaft 1013 in the encoder assembly 101 of