Disclosure of Invention
The invention aims to provide a teleoperated exoskeleton device, a teleoperated exoskeleton system and a teleoperated exoskeleton teaching method for a humanoid robot, and the technical problems are solved.
To achieve the purpose, the invention adopts the following technical scheme:
the teleoperated exoskeleton device of the humanoid robot comprises a main frame, wherein exoskeleton arms are respectively arranged at two sides of the main frame, and connecting straps for fixing the exoskeleton arms are arranged on the exoskeleton arms;
a rotary joint is arranged between the exoskeleton arm and the main frame, and at least one group of rotary joints is arranged in the exoskeleton arm; wherein, the rotary joints are internally provided with encoders for detecting the rotation angles of the rotary joints;
The one end that the ectoskeleton arm kept away from the ectoskeleton arm is provided with data gloves, data gloves internal integration has the sensing subassembly that is used for detecting the hand action.
Optionally, the rotary joint comprises a bottom shell and a joint upper shell which are rotatably connected, a damper is arranged between the bottom shell and the joint upper shell, and the encoder is connected with the damper;
The damper is provided with an upper rotating part and a lower rotating part which are connected in a rotating way, the upper rotating part is connected with the joint upper shell, and the lower rotating part is connected with the bottom shell;
a first lug part is arranged on one side part of the bottom shell, and a second lug part is arranged on one side part of the joint upper shell.
Optionally, a limiter is arranged on the bottom shell, the limiter comprises a main rotary table, the main rotary table is provided with a rotary groove, and the rotary groove is rotationally connected with a small rotary table;
The bottom of the rotating groove is provided with a first arc groove, a second arc groove is formed in the end face of the small rotary table, which faces the first arc groove, a rotating space is formed between the first arc groove and the second arc groove in a matched mode, and balls are accommodated in the rotating space; when the ball moves to one end of the first arc-shaped groove and the second arc-shaped groove, the small turntable is limited.
Optionally, the main frame includes a main body portion, two ends of the main body portion are respectively provided with a mounting block, and the mounting blocks are provided with connecting holes connected with the first bump portions;
The chest support is characterized in that a fixing seat is arranged on the main body part, a support rod is arranged on the fixing seat along the vertical direction, and a chest support frame and a strap connecting seat are sequentially arranged on the support rod; the strap connecting seat is connected with a strap component.
Optionally, a head support assembly is arranged on the upper end face of the main frame, and a head camera assembly is mounted on the head support assembly;
The head camera assembly comprises a height adjusting rod, a first adjusting seat is arranged at the lower end part of the height adjusting rod, a locking piece is arranged on the first adjusting seat, a first adjusting rod is connected to the first adjusting seat in a sliding mode, and the first adjusting rod is fixed to the first adjusting seat through the locking piece;
the first adjusting rod is provided with a connecting plate, and the lower end of the connecting plate is rotationally connected with a depth camera.
Optionally, the head support assembly comprises a support seat, an arc-shaped support plate is arranged on the support seat, and a plurality of hollowed-out holes are formed in the arc-shaped support plate;
The upper end of supporting seat is provided with the connecting rod along vertical direction, the adjustment tank has been seted up to the one end of arc backup pad, the connecting rod joint in the adjustment tank.
Optionally, the exoskeleton arm includes a first joint connector, two ends of the first joint connector are respectively provided with a first set of rotary joints and a second set of rotary joints, and the rotation axis directions of the first set of rotary joints and the second set of rotary joints are mutually perpendicular;
The exoskeleton arm is sequentially provided with a third group of rotary joints, a fourth group of rotary joints, a fifth group of rotary joints and a sixth group of rotary joints along the length direction; the rotation axis directions of the third group of rotation joints and the fifth group of rotation joints are the same as the length direction of the exoskeleton arm, and the rotation axis directions of the fourth group of rotation joints and the sixth group of rotation joints are perpendicular to the length direction of the exoskeleton arm.
Optionally, the sensing assembly comprises an inertial sensor and a bending sensor, and the bending sensor is attached to the inner wall of the data glove;
And a hand camera is arranged at one end part of the exoskeleton arm, which is close to the data glove, and is used for acquiring image information of hand motions.
The invention also provides an exoskeleton system for teaching the humanoid robot, which comprises the humanoid robot and the teleoperated exoskeleton device of the humanoid robot;
The exoskeleton system further comprises a control system which is respectively in communication connection with the humanoid robot and the exoskeleton device, and the control system receives detection data transmitted by the exoskeleton device and generates corresponding control instructions to control the humanoid robot to move.
The invention also provides a teaching method of the humanoid robot, which is realized by adopting the teleoperated exoskeleton device of the humanoid robot; the teaching method specifically comprises the following steps:
The method comprises the steps that an operator wears the exoskeleton device, the main frame is fixed on the body of the operator, the exoskeleton arms are fixed on the arms of the operator through connecting straps, and the data glove is sleeved on the hands of the operator;
The operator moves the arm to drive the corresponding rotary joints of the exoskeleton arm to rotate, the exoskeleton arm feeds back the detection information of the encoders of the rotary joints to the humanoid robot, and the two arms of the humanoid robot move along with the exoskeleton arm by using the driving motors of the corresponding joints of the humanoid robot;
The operator moves hands and fingers, and the sensing component of the data glove detects hand gesture information and feeds the hand gesture information back to the humanoid robot; the humanoid robot receives hand gesture information to control hand movement of the humanoid robot;
the hand camera and the head camera of the exoskeleton device recognize and record image information when the operator operates so as to be used as training learning data of the humanoid robot.
Compared with the prior art, the invention has the following beneficial effects: during operation, the main frame is fixed on the body of an operator, the exoskeleton arm is fixed on the arm of the operator through the connecting binding band, the data glove is sleeved on the hand of the operator, the swinging angle of the arm of the operator and the hand motions detected by the sensing assembly are detected through the rotating angles of the corresponding rotating joints detected by the encoders, and corresponding control instructions are generated to control the humanoid robot to make corresponding motions, so that the teaching effect is achieved; the device carries out action demonstration through the exoskeleton device worn by an operator, and an encoder and a sensing assembly in the device detect and record the arm swing angle and the hand action of the operator in real time, so that the actions are accurately converted into control instructions and directly transmitted to the humanoid robot.
Detailed Description
In order to make the objects, features and advantages of the present invention more comprehensible, the technical solutions in the embodiments of the present invention are described in detail below with reference to the accompanying drawings, and it is apparent that the embodiments described below are only some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "top", "bottom", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. It is noted that when one component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.
The technical scheme of the invention is further described below by the specific embodiments with reference to the accompanying drawings.
Embodiment one:
Referring to fig. 1 to 7, an embodiment of the present invention provides a teleoperated exoskeleton device of a humanoid robot, which includes a main frame 10, two sides of the main frame 10 are respectively provided with an exoskeleton arm 20, and the exoskeleton arm 20 is provided with a connection strap 21 for fixing the exoskeleton arm 20; a rotary joint 30 is arranged between the exoskeleton arm 20 and the main frame 10, and at least one set of rotary joints 30 is arranged in the exoskeleton arm 20; wherein, the rotary joints 30 are provided with encoders 31 for detecting the rotation angle of the rotary joints 30; the end of the exoskeleton arm 20, which is far away from the exoskeleton arm 20, is provided with a data glove 40, and a sensing assembly for detecting hand movements is integrated inside the data glove 40.
The working principle of the invention is as follows: during operation, the main frame 10 is fixed on the body of an operator, the exoskeleton arms 20 are fixed on the arms of the operator through the connecting straps 21, the data glove 40 is sleeved on the hands of the operator, the swinging angle of the arms of the operator and the hand motions detected by the sensing assemblies are detected through the rotating angles of the corresponding rotary joints 30 detected by the encoders 31, and corresponding control instructions are generated to control the humanoid robot to make corresponding motions, so that the teaching effect is achieved; compared with the control method in the prior art, the device carries out action demonstration by wearing the exoskeleton device by an operator, the encoder 31 and the sensing component in the device detect and record the arm swing angle and the hand action of the operator in real time, and further the actions are accurately converted into control instructions and directly transmitted to the humanoid robot, so that the visual teaching mode greatly reduces the dependence on complex programming, and improves the accuracy and efficiency of the teaching process and the smoothness of the robot action.
It should be noted that, in addition, the device can also be used for learning and training of the robot, and the detection data of the encoder 31 and the sensing component captured by the device is used as training data, because the training data is captured based on real human actions, the actions learned by the humanoid robot in this way are more natural, smooth and humanized, and the naturalness and the friendliness of human-computer interaction are enhanced. In addition, the teaching mode avoids the high cost required by learning and training by using a plurality of robots at the same time, and is beneficial to reducing the cost.
In the present embodiment, as shown in fig. 3, the rotary joint 30 includes a bottom housing 32 and a joint upper housing 33 rotatably connected, a damper 34 is provided between the bottom housing 32 and the joint upper housing 33, and the encoder 31 is connected to the damper 34; when the bottom shell 32 rotates under external force, the upper part and the lower part of the damper 34 rotate relatively to generate damping, and meanwhile, the encoder 31 rotates along with the damper 34 to record the rotation angle; the damper 34 has an upper rotating part 341 and a lower rotating part 342 which are rotatably connected, the upper rotating part 341 is connected with the joint upper shell 33, and the lower rotating part 342 is connected with the bottom shell 32; when the bottom housing 32 is rotated by an external force under the action of an operator, the upper and lower rotating portions 341 and 342 of the damper 34 are rotated relatively, and the damping effect of such relative rotation helps to dampen and stabilize the movement of the joint.
A first bump portion 35 is provided at one side of the bottom housing 32, and a second bump portion 36 is provided at one side of the joint upper shell 33; the rotary joint 30 is connected with corresponding structural components through the first lug parts 35 and the second lug parts 36 on the two side parts, and the rotary joint 30 is connected with other structural components of the exoskeleton device through the first lug parts 35 of the bottom shell 32 and the second lug parts 36 of the joint upper shell 33, so that stable connection of the rotary joint 30 and other structural components of the exoskeleton device is ensured.
Further to explain, the bottom shell 32 is provided with a limiter 37, the limiter 37 comprises a main turntable 371, the main turntable 371 is provided with a rotating groove 372, and the rotating groove 372 is rotationally connected with a small turntable 373; the groove bottom of the rotating groove 372 is provided with a first arc-shaped groove 374, a second arc-shaped groove is formed in the small turntable 373 towards one end face of the first arc-shaped groove 374, a rotating space is formed between the first arc-shaped groove 374 and the second arc-shaped groove in a matching mode, and balls 375 are accommodated in the rotating space; when the ball 375 moves to one end of the first arc-shaped groove 374 and the second arc-shaped groove, the small turntable 373 is limited, i.e. rotated to a maximum angle, and is limited to be unable to rotate any more when the limiter 37 rotates to the maximum angle, at this time, the joint reaches the limit position, the rotation angle of the limiter 37 can be adjusted according to the joint movement range of the actual robot, and thus the collision interference of the robot during the remote control operation is prevented.
Specifically, referring to fig. 4, the main frame 10 includes a main body 11, mounting blocks 12 are respectively provided at both ends of the main body 11, and connection holes 13 connected to the first bump portions 35 are formed in the mounting blocks 12; a fixing seat 14 is arranged on the main body 11, a supporting rod 15 is arranged on the fixing seat 14 along the vertical direction, and a chest supporting frame 16 and a strap connecting seat 17 are sequentially arranged on the supporting rod 15; the strap connector 17 is connected with a strap assembly 50.
The main body 11 is used as a core of the main frame 10 of the exoskeleton device, and the mounting blocks 12 disposed at both ends are connected to the first bump portions 35 of the exoskeleton arms 20 through the connection holes 13, so as to provide structural support for mounting the exoskeleton arms 20.
The strap assembly 50 comprises a connecting body, wherein the connecting body is connected with the strap connecting seat 17, an annular strap is arranged on the connecting body, and a first strap and a second strap which are respectively arranged on two sides of the connecting body; wherein, first braces and second braces are adjustable elasticity braces respectively.
The ring-shaped belt and the first strap and the second strap (both adjustable elastic straps) respectively arranged at the two sides of the connecting body are arranged, so that the exoskeleton device can be adapted to an operator; the adjustable elastic harness not only ensures firm securement of the device, but also provides good adjustability and adaptability, enabling an operator to adjust for personal comfort and demand during use, thereby maintaining comfort and efficiency during long-term operation.
In the present embodiment, the upper end surface of the main frame 10 is provided with a head support assembly 60, and the head support assembly 60 is mounted with a head camera assembly 70; the head camera assembly 70 comprises a height adjusting rod 71, a first adjusting seat 72 is arranged at the lower end part of the height adjusting rod 71, a locking piece 73 is arranged on the first adjusting seat 72, a first adjusting rod 74 is connected to the first adjusting seat 72 in a sliding mode, and the first adjusting rod 74 is fixed to the first adjusting seat 72 through the locking piece 73; the first adjusting lever 74 is provided with a connecting plate 75, and the lower end of the connecting plate 75 is rotatably connected with a depth camera 76.
It should be noted that the design of the head camera assembly 70, particularly the arrangement of the height adjustment lever 71 and the first adjustment lever 74, allows the user to adjust the height and angle of the camera as required to adapt to different operation environments and task requirements; this adjustment mechanism ensures that the head camera can capture visual information from an optimal angle, providing more accurate and extensive data entry, whether for environmental recognition, motion capture, or other visual aid functions. The use of the locking member 73 ensures that once adjusted to the proper position and angle, the camera assembly is held firmly in the set position, avoiding displacement or loosening during movement.
Further, referring to fig. 5, the head support assembly 60 includes a support seat 61, an arc support plate 62 is disposed on the support seat 61, and a plurality of hollow holes 621 are formed in the arc support plate 62; the upper end of the supporting seat 61 is provided with a connecting rod 63 along the vertical direction, one end of the arc-shaped supporting plate 62 is provided with an adjusting groove 622, and the connecting rod 63 is clamped in the adjusting groove 622.
It should be noted that, by mounting the head support assembly 60 on the upper end surface of the main frame 10, stability and proper position setting of the head camera assembly 70 are ensured; the structural design of the support base 61 and the arc-shaped support plate 62 not only provides structural support for the head camera assembly 70, but also further reduces the weight of the overall device, increases the air permeability of the device, and improves the comfort level of the operator when the operator wears the device.
As an alternative of this embodiment, the head support assembly 60 in this embodiment may also adopt a helmet type structure, where the helmet type head support assembly 60 includes a helmet 64, a camera adjusting seat 65, a depth camera 76, and a camera mounting seat 66, the depth camera 76 is fixed on the camera mounting seat 66, the camera mounting seat 66 is fixed on the camera adjusting seat 65, and the front-back distance and pitch angle of the camera mounting can be adjusted by the camera adjusting seat 65 so as to adapt to shooting requirements of different angles of the camera.
In the present embodiment, the exoskeleton arm 20 includes a first joint connection member 22, and both ends of the first joint connection member 22 are respectively provided with a first set of rotary joints 30-1 and a second set of rotary joints 30-2, and the rotation axis directions of the first set of rotary joints 30-1 and the second set of rotary joints 30-2 are disposed perpendicularly to each other; the exoskeleton arm 20 is further provided with a third set of rotary joints 30-3, a fourth set of rotary joints 30-4, a fifth set of rotary joints 30-5 and a sixth set of rotary joints 30-6 in sequence along the length direction thereof; wherein the rotation axis directions of the third and fifth sets of rotation joints 30-3 and 30-5 are the same as the length direction of the exoskeleton arm 20, and the rotation axis directions of the fourth and sixth sets of rotation joints 30-4 and 30-6 are perpendicular to the length direction of the exoskeleton arm 20.
The exoskeleton arm 20 adopts a plurality of sets of rotary joints 30, wherein the first set of rotary joints 30-2 and the second set of rotary joints 30-2 are arranged in such a way that the exoskeleton arm 20 has more complex motion capability, and the mutually perpendicular arrangement of the rotation directions increases the operation dimension, so that the motion range of the arm simulation is wider and is closer to the motion characteristics of the real human arm. Careful arrangement of the third, fourth, fifth and sixth sets of rotational joints 30-6 further enhances the flexibility of arm movement, enabling the exoskeleton device to accurately capture fine gestures of the operator and simulate in a highly natural manner.
In this embodiment, the sensing assembly includes an inertial sensor and a flex sensor, the flex sensor being disposed in close proximity to the inner wall of the data glove 40;
The configuration of the sensing assembly, particularly the combination of the inertial sensor and the bending sensor, provides possibility for capturing finer hand and finger movements, the inertial sensor can accurately capture the movement and acceleration of the arm, the bending sensor can sense the bending of the knuckle, and the exoskeleton device can comprehensively and accurately record the hand movements of an operator through the combination of the inertial sensor and the bending sensor, and the data are important for the humanoid robot to learn and simulate the movements.
A hand camera 80 is provided at an end of the exoskeleton arm 20 near the data glove 40, and the hand camera 80 is used for acquiring image information of hand motions.
The provision of the hand camera 80 further enriches the ability to capture details of hand movements, and by capturing image information of hand movements, the hand camera 80 provides an intuitive way to analyze and understand the gestures and movements of an operator, which is particularly important for human-shaped robots to perform more complex and detailed movements. For example, these image data may be used as important references when fine manipulation of objects or complex gesture interactions are required.
Embodiment two:
The invention also provides an exoskeleton system for teaching the humanoid robot, which comprises the humanoid robot and the teleoperated exoskeleton device of the humanoid robot as in the first embodiment.
The exoskeleton system further comprises a control system which is respectively in communication connection with the humanoid robot and the exoskeleton device, and the control system receives detection data transmitted by the exoskeleton device and generates corresponding control instructions to control the humanoid robot to move.
The system creates a complete ecology through integrating the humanoid robot, the exoskeleton device remotely operated by the humanoid robot and the control system, so that the teaching and learning processes of actions are more natural and accurate.
Firstly, the control system acts as the "brain" of the overall exoskeleton system and is responsible for receiving detection data from the exoskeleton device; such data includes, but is not limited to, motion information performed by an operator through the exoskeleton device, such as arm swing angles, hand motions, and detailed motion data captured by various sensing components inside the device (such as inertial sensors, bending sensors, and hand camera 80, etc.). These highly accurate real-time data provide rich input to the control system enabling it to understand deeply the fine details of the operator's intent and actions.
Next, the control system calculates and generates corresponding control instructions based on the received detection data, which involves complex data processing and algorithms, including action recognition, pattern matching, instruction conversion, and the like. The control instructions specifically define the actions that the humanoid robot needs to perform, which may be simple motion indications, such as moving a certain joint, or complex sequences of actions, requiring the humanoid robot to simulate the entire course of action exhibited by the operator through the exoskeleton device.
Finally, the control instruction generated by the control system is transmitted to the humanoid robot to guide the humanoid robot to perform corresponding movement according to the action of an operator; the process not only enables the humanoid robot to learn and reproduce the natural actions of human beings, but also greatly reduces the programming complexity of the robot, so that the action teaching of the robot can be performed without professional programming knowledge.
Embodiment III:
the invention also provides a teaching method of the humanoid robot, which is realized by adopting the teleoperated exoskeleton device of the humanoid robot as in the first embodiment; the teaching method specifically comprises the following steps:
S1, an operator wears the exoskeleton device, fixes the main frame 10 on the body of the operator, fixes the exoskeleton arm 20 on the arm of the operator through the connecting straps 21, and fits the data glove 40 on the hand of the operator.
S2, an operator moves the arm to drive the corresponding rotary joints 30 of the exoskeleton arm 20 to rotate, the exoskeleton arm 20 feeds back detection information of the encoders 31 of the rotary joints 30 to the humanoid robot, and the two arms of the humanoid robot move along with the exoskeleton arm 20 by using driving motors of the corresponding joints of the humanoid robot.
S3, an operator moves hands and fingers, and the sensing assembly of the data glove 40 detects hand gesture information and feeds the hand gesture information back to the humanoid robot; the humanoid robot receives hand gesture information to control its hand motions.
S4, the operator performs the actions of object grabbing, object placing and object moving and feeds information back to the humanoid robot, and the hand camera 80 and the head camera of the exoskeleton device recognize and record image information when the operator operates so as to serve as training learning data of the humanoid robot.
According to the teaching method of the humanoid robot, the highly advanced exoskeleton device is utilized, so that accurate and visual action teaching of the humanoid robot is achieved, an operator directly wears the exoskeleton device to conduct action demonstration, highly natural and fine action capturing and transmission can be achieved, and the teaching method has important significance for improving the action accuracy and naturalness of the humanoid robot.
By means of the motion information captured by the encoder 31 of the rotary joint 30 of the exoskeleton arm 20 and the hand gesture information detected by the sensing assembly of the data glove 40, the humanoid robot can obtain very detailed and precise motion execution instructions, and not only can the basic motions of a human be reproduced, but also more complex gestures and hand motions can be learned. In addition, the image information provided by the hand camera 80 and the head camera is used as training data, so that the learning material of the humanoid robot is further enriched, the humanoid robot can visually understand and imitate the process of operating objects by human, and the cognitive ability of the robot is improved.
In general, the method effectively bridges the gap between human actions and robot actions, greatly improves the teaching efficiency and the action expression capability of the robot, and lays a solid foundation for human-machine cooperation and wider application fields.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.