CN109583260A - A kind of collecting method, apparatus and system - Google Patents
A kind of collecting method, apparatus and system Download PDFInfo
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- CN109583260A CN109583260A CN201710896219.8A CN201710896219A CN109583260A CN 109583260 A CN109583260 A CN 109583260A CN 201710896219 A CN201710896219 A CN 201710896219A CN 109583260 A CN109583260 A CN 109583260A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- G—PHYSICS
- G11—INFORMATION STORAGE
- G11C—STATIC STORES
- G11C7/00—Arrangements for writing information into, or reading information out from, a digital store
- G11C7/16—Storage of analogue signals in digital stores using an arrangement comprising analogue/digital [A/D] converters, digital memories and digital/analogue [D/A] converters
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Abstract
The embodiment of the invention provides a kind of collecting methods, apparatus and system, applied to mechanical arm, it include: acquisition image data and the corresponding exercise data of each image data, wherein, the corresponding exercise data of an image includes: the machine performance that mechanical arm acquires the mechanical arm when image data；Acquired image data and exercise data are sent to data receiver, so that the data that data receiver storage is received.The technical solution provided through the embodiment of the present invention, mechanical arm can directly transmit the data receiver for giving mechanical arm communication connection after collecting data, so as to avoid the complicated processes for acquiring data from mechanical arm, improve the efficiency of data acquisition.
Description
Technical field
The present invention relates to technical field of intelligent equipment, more particularly to a kind of collecting method, apparatus and system.
Background technique
With development in science and technology, all trades and professions have gradually moved towards intelligent, especially entity industry, such as manufacturing industry, largely
Using intelligent robot replace original manpower, not only save human resources, and improve work efficiency.
Most popular intelligent robot is mechanical arm in the industry, and mechanical arm can provide high-precision, high-frequency
Mechanical action, and flexible operation.Mechanical arm is made of machine driven system and main control computer, and machine driven system is for holding
Row correspondingly operates, and main control computer is used to control machine driven system and store the dependency number of machine driven system
According to.
The work that every mechanical arm can be done is limited after all, therefore, will use more mechanical arms at present and works at the same time, in this way
Whole working efficiency can be improved.However, every mechanical arm is independently to be operated, also, the number of every mechanical arm
Need user sharp to collect the data of associated multiple mechanical arms according to the local main control computer for being merely stored in itself
Corresponding data are copied from the main control computer on each mechanical arm with storaging medium, are then copied to the computer summarized
On, in this way, resulting in the problem cumbersome from mechanical arm acquisition data procedures.
Summary of the invention
The embodiment of the present invention is designed to provide a kind of collecting method, apparatus and system, to solve from mechanical arm
Process cumbersome problem when acquiring data.Specific technical solution is as follows:
In a first aspect, being applied to mechanical arm, the method packet the embodiment of the invention provides a kind of collecting method
It includes:
Acquire image data and the corresponding exercise data of each image data, wherein the corresponding exercise data packet of an image
Include: the mechanical arm acquires the machine performance of the mechanical arm when image data；
Acquired image data and exercise data are sent to data receiver, so that the data receiver stores
Received data.
Optionally, described the step of acquired image data and exercise data are sent to data receiver, comprising:
Exercise data corresponding to each image data collected and the image data is subjected to data packing, is beaten
Bag data；
The packaged data are sent to the data receiver.
Optionally, the described the step of packaged data are sent to the data receiver, comprising:
Determine the IP address and port numbers of the data receiver；
According to the IP address and the port numbers, the packaged data are sent to the data receiver.
Optionally, after described the step of acquired image data and exercise data are sent to data receiver, institute
State method further include:
The feedback information that the data receiver is sent is received, the feedback information is that the data receiver is receiving simultaneously
Store the information sent after the image data and exercise data that the mechanical arm is sent；
According to the feedback information, acquired image data and exercise data are deleted.
Second aspect, the embodiment of the invention provides a kind of collecting methods, are applied to data receiver, the method
Include:
Receive the image data and the corresponding exercise data of each image data that mechanical arm is sent, wherein an image is corresponding
Exercise data include: machine performance that the mechanical arm acquires the mechanical arm when image data；
The received image data of storage institute and exercise data.
Optionally, after the step of storage data, the method also includes:
Feedback information is sent to the mechanical arm, so that the mechanical arm is collected according to feedback information deletion
Image data and exercise data.
Optionally, the received image data of storage institute and the step of exercise data, comprising:
Obtain the identification number of the mechanical arm；
By identification number storage corresponding with the image data and exercise data that the mechanical arm is sent.
The third aspect, the embodiment of the invention provides a kind of data acquisition devices, are applied to mechanical arm, described device packet
It includes:
Acquisition module, for acquiring image data and the corresponding exercise data of each image data a, wherein image is corresponding
Exercise data include: machine performance that the mechanical arm acquires the mechanical arm when image data；
Sending module, for acquired image data and exercise data to be sent to data receiver, so that described
The received data of data receiver storage.
Optionally, the sending module includes:
It is packaged submodule, for carrying out exercise data corresponding to each image data collected and the image data
Data are packaged, and obtain packaged data；
Sending submodule, for the packaged data to be sent to the data receiver.
Optionally, the sending submodule includes:
Determination unit, for determining the IP address and port numbers of the data receiver；
Transmission unit, for according to the IP address and the port numbers, the packaged data to be sent to the data
Receiving end.
Optionally, described device further include:
Receiving module, the feedback information sent for receiving the data receiver, the feedback information are the data
The information that receiving end is sent after receiving and storing the image data and exercise data that the mechanical arm is sent；
Removing module, for deleting acquired image data and exercise data according to the feedback information.
Fourth aspect, the embodiment of the invention provides a kind of data acquisition devices, are applied to data receiver, described device
Include:
Receiving module, for receiving the image data and the corresponding exercise data of each image data of mechanical arm transmission, wherein
The corresponding exercise data of one image includes: the machine performance that the mechanical arm acquires the mechanical arm when image data；
Memory module, received image data and exercise data for storing.
Optionally, described device further include:
Sending module, for sending feedback information to the mechanical arm, so that the mechanical arm is according to the feedback letter
Breath deletes acquired image data and exercise data.
Optionally, the memory module includes:
Acquisition submodule, for obtaining the identification number of the mechanical arm；
Sub-module stored, for depositing the identification number is corresponding with the image data and exercise data that the mechanical arm is sent
Storage.
5th aspect, the embodiment of the invention provides a kind of data collection system based on mechanical arm, the system comprises:
At least two mechanical arms, data receiver, wherein at least two mechanical arm is communicated to connect with data receiver respectively；
At least two mechanical arm, for acquiring image data and the corresponding exercise data of each image data respectively, and
Acquired image data and exercise data are sent to data receiver respectively, wherein the corresponding exercise data of an image
It include: the machine performance that the mechanical arm acquires the mechanical arm when image data；
The data receiver, for receiving and storing the image data and each image that at least two mechanical arm is sent
The corresponding exercise data of data.
6th aspect, the embodiment of the invention provides a kind of mechanical arm, including processor, communication interface, memory and logical
Believe bus, wherein processor, communication interface, memory complete mutual communication by communication bus；
Memory, for storing computer program；
Processor when for executing the program stored on memory, being realized and any of the above-described described being applied to mechanical arm
Collecting method step.
7th aspect, the embodiment of the invention provides a kind of computer readable storage mediums, are installed in mechanical arm, described
Computer program is stored in computer readable storage medium, the computer program is realized any described when being executed by processor
The collecting method step applied to mechanical arm.
Eighth aspect, the embodiment of the invention provides a kind of electronic equipment, including processor, communication interface, memory and
Communication bus, wherein processor, communication interface, memory complete mutual communication by communication bus；
Memory, for storing computer program；
Processor, when for executing the program stored on memory, realization is any of the above-described described to be connect applied to data
The collecting method step of receiving end.
9th aspect, the embodiment of the invention provides a kind of computer readable storage medium, the computer-readable storage
Dielectric memory contains computer program, and the computer program is realized when being executed by processor any of the above-described described is applied to number
According to the collecting method step of receiving end.
In technical solution provided in an embodiment of the present invention, image data and the corresponding movement number of each image data can be acquired
According to, wherein the corresponding exercise data of an image includes: the machine performance of mechanical arm when mechanical arm acquires the image data；
Acquired image data and exercise data are sent to data receiver, so that the number that data receiver storage is received
According to.The technical solution provided through the embodiment of the present invention, mechanical arm can directly transmit after collecting data and give the machine
The data receiver of tool arm communication connection improves data and adopts so as to avoid the complicated processes for acquiring data from mechanical arm
The efficiency of collection.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of a kind of flow chart of collecting method provided in an embodiment of the present invention；
Fig. 2 is a kind of another flow chart of collecting method provided in an embodiment of the present invention；
Fig. 3 is a kind of a kind of structural schematic diagram of data acquisition device provided in an embodiment of the present invention；
Fig. 4 is a kind of another structural schematic diagram of data acquisition device provided in an embodiment of the present invention；
Fig. 5 is a kind of a kind of structural schematic diagram of the data collection system based on mechanical arm provided in an embodiment of the present invention；
Fig. 6 is a kind of structural schematic diagram of a kind of electronic equipment provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In order to solve the problems, such as that acquisition data procedures are cumbersome from mechanical arm, and improve the efficiency of data acquisition, this hair
Bright embodiment provides a kind of collecting method, apparatus and system, wherein the method applied to mechanical arm includes:
Acquire image data and the corresponding exercise data of each image data, wherein the corresponding exercise data packet of an image
It includes: the machine performance of mechanical arm when mechanical arm acquires the image data；
Acquired image data and exercise data are sent to data receiver, so that data receiver storage is connect
The data received.
In technical solution provided in an embodiment of the present invention, image data and the corresponding movement number of each image data can be acquired
According to, wherein the corresponding exercise data of an image includes: the machine performance of mechanical arm when mechanical arm acquires the image data；
Acquired image data and exercise data are sent to data receiver, so that the number that data receiver storage is received
According to.The technical solution provided through the embodiment of the present invention, mechanical arm can directly transmit after collecting data and give the machine
The data receiver of tool arm communication connection improves data and adopts so as to avoid the complicated processes for acquiring data from mechanical arm
The efficiency of collection.
It describes in detail first below to a kind of collecting method provided in an embodiment of the present invention, as shown in Figure 1, this
A kind of collecting method that inventive embodiments provide is applied to mechanical arm, includes the following steps:
S101 acquires image data and the corresponding exercise data of each image data.
Wherein, the image data of acquisition can be the acquisition of the picture pick-up device on mechanical arm, and picture pick-up device can be photograph
Machine, video camera, visual sensor etc..Image data may include image, image name, image storage the data such as position.
Wherein, the format of image is including but not limited to following several: JPEG (Joint Photographic
Experts Group, Joint Photographic Experts Group), bmp (Bitmap, image file format), PNG (Portable Network
Graphic Format, image file storage format), GIF (Graphics Interchange Format, image exchange lattice
Formula), TIFF (Tag Image File Format, label image file format) etc..
Wherein, exercise data can be the machine performance data of mechanical arm, for example, it may be: the posture information of mechanical arm,
Six axis informations of mechanical arm etc..Certainly, exercise data can include a variety of above-mentioned a plurality of types of machine performance data simultaneously,
It can only include a type of machine performance data.In addition, the format of image can be json format.
For example, exercise data can include: six axis informations of the posture information of mechanical arm, mechanical arm simultaneously；It can also be only
Posture information including mechanical arm, alternatively, only including six axis informations of mechanical arm.
In addition, each image data and exercise data are one-to-one relationships, wherein the corresponding exercise data of an image
It include: the machine performance of mechanical arm when mechanical arm acquires the image data.That is, the acquisition moment of image data with should
The acquisition moment of the corresponding exercise data of image data, which can consider, to be consistent.
For example, image data A is corresponding with exercise data A, also, exercise data A includes the pose letter of mechanical arm
Breath and six axis informations, then, acquire image data A while also acquire exercise data A, for example, acquisition image data A when
10 divide 50 seconds when quarter is 12, then, 10 divide 50 seconds when the acquisition time of exercise data A is also 12；In addition, exercise data A can be with
Indicate are as follows: acquisition image data A when the mechanical arm locating for posture information and six axis informations, that is to say, that image data A with should
Posture information and six axis informations are one-to-one relationships.
Acquired image data and exercise data are sent to data receiver, so that data receiver is deposited by S102
The received data of storage.
In a kind of implementation, send data mode can be using the library requests in transmission order counted
According to transmission, wherein requests, which can be, to be write by python language.
Data receiver can be communicated to connect with mechanical arm, and it is possible to communicate to connect with more mechanical arms, for storing
The data that mechanical arm is sent.
In the first embodiment, acquired image data and exercise data are sent to data receiver (S102)
Step is specifically as follows:
Exercise data corresponding to each image data collected and the image data is subjected to data packing, is beaten
Bag data, and packaged data are sent to data receiver.
Wherein, image data and exercise data included in each packaged data are corresponding relationships, therefore, each
Content included by a packaged data be all it is different, can will be respectively by each packaged data in order to distinguish each packaged data
It is named, the mode of name can refer to the name of included image data and exercise data, for example, institute in packaged data
Including image data be named as " image data A ", exercise data is named as " exercise data A ".So, which can
To be named as " packaged data A ".
The naming method of packaged data can also refer to the acquisition time of included image data and exercise data, example
Such as, 10 divide 50 seconds when image data and the acquisition time of exercise data included by a packaged data are 12, then, the packing number
According to " 10 divide 50 seconds when packaged data 12 " can be named as.
Certainly, the naming method of packaged data is not limited only to above two naming method, can also there is other kind of name side
Formula, details are not described herein.
Wherein, the mode that packaged data are sent to data receiver can be and successively send, i.e., it is every to be packaged one and beat
The packaged data can be sent to data receiver immediately by bag data；,.
It can also be and complete preset quantity packaged data wait be packaged, which is sent to together
Data receiver, wherein preset quantity can be customized setting.For example, preset quantity is 10, then 10 can be completed
When a packaged data, while 10 packaged data are sent to data receiver.
For the first embodiment, for example, the image data of acquisition includes: image data A, image data B
With image data C, exercise data includes: exercise data A, exercise data B and exercise data C, wherein image data A and movement
Data A be it is corresponding, image data B with exercise data B be it is corresponding, image data C is corresponding with exercise data C
's；So, image data A and exercise data A is subjected to data packing, and then available packaged data A, by image data B
Data packing, and then available packaged data B are carried out with exercise data B, image data C and exercise data C is subjected to data
It is packaged, and then available packaged data C.And packaged data A, packaged data B and packaged data C are respectively sent to data and connect
Receiving end, to be stored.
On the basis of the first above-mentioned embodiment, in second of embodiment, packaged data is sent to data and are connect
Receiving end specifically may include steps of:
It, then, can be with according to the IP address and the port numbers firstly, determine the IP address and port numbers of data receiver
Packaged data are sent to data receiver.
Wherein, for the network equipment, IP address and port numbers have uniqueness, for example, the data determined connect
The IP address of receiving end are as follows: 123.122.130.140, port numbers 40, then the IP address are as follows: 123.122.130.140 and end
Slogan is 40 directions and is only directed to the data receiver.
In the third embodiment, acquired image data and exercise data are sent to data receiver (S102)
After step, this method can also include:
Receive the feedback information that data receiver is sent, and according to the feedback information, delete acquired image data and
Exercise data.
Wherein, feedback information be data receiver receive and store mechanical arm transmission image data and exercise data it
The information sent afterwards, feedback information may include: the identification number for sending the mechanical arm of data, image data title, exercise data
Title etc., certainly, it can also only include one therein that feedback information can include multinomial content among the above simultaneously.
Feedback information is used to indicate that data receiver to have received and stores the data of mechanical arm transmission, therefore, feedback
The generation of information is after the data that data receiver stores mechanical arm transmission.
Also, feedback information and mechanical arm are one-to-one relationships, when data receiver connects multiple mechanical arms simultaneously
When, received data are from which mechanical arm, then feedback information is sent to corresponding mechanical arm.
For example, data receiver is connected with mechanical arm A, mechanical arm B and mechanical arm C simultaneously, when mechanical arm A sends image
Data A and exercise data A after data receiver receives and stores image data A and exercise data A, are obtained to data receiver
To corresponding feedback information A, then feedback information A is sent to mechanical arm A by data receiver, so that mechanical arm A deletes figure
As data A and exercise data A.
It, can be timely clear by mechanical arm acquired image data and exercise data by the third embodiment
It removes, in this way, other data and occupancy memory space in covering mechanical arm can be prevented, also, the later period pair can also be solved
The inconvenient problem of mechanical arm maintenance.
In technical solution provided in an embodiment of the present invention, image data and the corresponding movement number of each image data can be acquired
According to, wherein the corresponding exercise data of an image includes: the machine performance of mechanical arm when mechanical arm acquires the image data；
Acquired image data and exercise data are sent to data receiver, so that the number that data receiver storage is received
According to.The technical solution provided through the embodiment of the present invention, mechanical arm can directly transmit after collecting data and give the machine
The data receiver of tool arm communication connection improves data and adopts so as to avoid the complicated processes for acquiring data from mechanical arm
The efficiency of collection.
The embodiment of the present invention also provides a kind of collecting method, is applied to data receiver, as shown in Fig. 2, this method
Include the following steps:
S201 receives image data and the corresponding exercise data of each image data that mechanical arm is sent.
Wherein, image data received by data receiver and exercise data are one-to-one relationship, an image
Corresponding exercise data includes: the machine performance of mechanical arm when mechanical arm acquires the image data.
, can be with reference to the introduction in S101 in above-described embodiment about image data and exercise data, details are not described herein.
In addition, data receiver can only connect a mechanical arm, more mechanical arms can also be connected, for receiving and depositing
Store up the data of one or more mechanical arm transmission.
Wherein, data receiver can be the training machine of deep learning, which, which passes through, utilizes a large amount of image
Data and corresponding exercise data carry out the crawl training of mechanical arm, and then can make operating process of the machine to mechanical arm
In it is more intelligent.
S202, the received image data of storage institute and exercise data.
In 4th kind of embodiment, it is possible, firstly, to the identification number for sending the mechanical arm of image data and exercise data is obtained,
Then, the image data and exercise data identification number sent with mechanical arm accordingly stores.
That is, the identification number stored is corresponding relationship with image data, exercise data, in this way, being conducive to area
Other stored each image data and exercise data, also, corresponding image data can be more clearly represented with identification number
Which mechanical arm derived from exercise data.
For example, the identification number of mechanical arm A is 1A, the image data and exercise data for being sent to data receiver are respectively as follows:
Image data A, exercise data A, then the available identification number 1A to mechanical arm A of data receiver, and by 1A and image data
A, the corresponding storage of exercise data A.
Wherein, identification number has uniqueness for mechanical arm, and identification number can be with are as follows: the number of mechanical arm, mechanical arm
Corresponding IP address etc..
It can also include: to machine after the received image data of storage institute and exercise data in 5th kind of embodiment
Tool arm sends feedback information, so that mechanical arm deletes acquired image data and exercise data according to the feedback information.
Wherein, feedback information may include: the identification number for sending the mechanical arm of data, image data title, exercise data
Title etc., certainly, it can also only include one therein that feedback information can include multinomial content among the above simultaneously.
Feedback information and mechanical arm are one-to-one relationships, when data receiver connects multiple mechanical arms simultaneously, are connect
The data of receipts are from which mechanical arm, then feedback information is sent to corresponding mechanical arm.
The third above-mentioned embodiment can be specifically referred to, details are not described herein.
By the 5th kind of embodiment, mechanical arm acquired image data and exercise data can timely be removed,
In this way, other data and occupancy memory space in covering mechanical arm can be prevented, also, the later period can also be solved to machinery
The inconvenient problem of arm maintenance.
In technical solution provided in an embodiment of the present invention, mechanical arm acquires image data and the corresponding movement of each image data
Data, and acquired image data and exercise data are sent to data receiver, so that data receiver storage is connect
The data received.The technical solution provided through the embodiment of the present invention, mechanical arm can directly transmit after collecting data
The data receiver of mechanical arm communication connection is given, so as to avoid the complicated processes for acquiring data from mechanical arm, is improved
The efficiency of data acquisition.
Corresponding to the corresponding embodiment of the method for above-mentioned Fig. 1 and Fig. 1, the embodiment of the present invention also provides a kind of data acquisition dress
It sets, is applied to mechanical arm, as shown in Figure 3, comprising:
Acquisition module 310, for acquiring image data and the corresponding exercise data of each image data a, wherein image
Corresponding exercise data includes: the machine performance that the mechanical arm acquires the mechanical arm when image data；
Sending module 320, for acquired image data and exercise data to be sent to data receiver, so that institute
State the received data of data receiver storage.
Optionally, in the 6th kind of embodiment, the sending module 320 may include:
It is packaged submodule, for carrying out exercise data corresponding to each image data collected and the image data
Data are packaged, and obtain packaged data；
Sending submodule, for the packaged data to be sent to the data receiver.
Optionally, in the 7th kind of embodiment, the sending submodule may include:
Determination unit, for determining the IP address and port numbers of the data receiver；
Transmission unit, for according to the IP address and the port numbers, the packaged data to be sent to the data
Receiving end.
Optionally, in the 8th kind of embodiment, described device can also include:
Receiving module, the feedback information sent for receiving the data receiver, the feedback information are the data
The information that receiving end is sent after receiving and storing the image data and exercise data that the mechanical arm is sent；
Removing module, for deleting acquired image data and exercise data according to the feedback information.
For the Installation practice, since it is substantially similar to the corresponding embodiment of the method for Fig. 1 and Fig. 1, so retouching
State fairly simple, related place illustrates referring to the part of the corresponding embodiment of the method for Fig. 1 and Fig. 1.
In technical solution provided in an embodiment of the present invention, image data and the corresponding movement number of each image data can be acquired
According to, wherein the corresponding exercise data of an image includes: the machine performance of mechanical arm when mechanical arm acquires the image data；
Acquired image data and exercise data are sent to data receiver, so that the number that data receiver storage is received
According to.The technical solution provided through the embodiment of the present invention, mechanical arm can directly transmit after collecting data and give the machine
The data receiver of tool arm communication connection improves data and adopts so as to avoid the complicated processes for acquiring data from mechanical arm
The efficiency of collection.
Corresponding to the corresponding embodiment of the method for above-mentioned Fig. 2 and Fig. 2, the embodiment of the present invention also provides a kind of data acquisition dress
It sets, is applied to data receiver, as shown in Figure 4, comprising:
Receiving module 410, for receiving the image data and the corresponding exercise data of each image data of mechanical arm transmission,
In, the corresponding exercise data of an image includes: the machine performance that the mechanical arm acquires the mechanical arm when image data；
Memory module 420, received image data and exercise data for storing.
Optionally, in the 9th kind of embodiment, described device can also include:
Sending module, for sending feedback information to the mechanical arm, so that the mechanical arm is according to the feedback letter
Breath deletes acquired image data and exercise data.
Optionally, in the tenth kind of embodiment, the memory module 420 may include:
Acquisition submodule, for obtaining the identification number of the mechanical arm；
Sub-module stored, for depositing the identification number is corresponding with the image data and exercise data that the mechanical arm is sent
Storage.
For the Installation practice, since it is substantially similar to the corresponding embodiment of the method for Fig. 2 and Fig. 2, so retouching
State fairly simple, related place is referring to fig. 2 and the part of the corresponding embodiment of the method for Fig. 2 explanation.
In technical solution provided in an embodiment of the present invention, mechanical arm acquires image data and the corresponding movement of each image data
Data, and acquired image data and exercise data are sent to data receiver, so that data receiver storage is connect
The data received.The technical solution provided through the embodiment of the present invention, mechanical arm can directly transmit after collecting data
The data receiver of mechanical arm communication connection is given, so as to avoid the complicated processes for acquiring data from mechanical arm, is improved
The efficiency of data acquisition.
Corresponding to above method embodiment, the embodiment of the present invention also provides a kind of data collection system based on mechanical arm,
As shown in figure 5, the data collection system 500 includes: at least two mechanical arms, data receiver, wherein at least two mechanical arms
It is communicated to connect respectively with data receiver；
At least two mechanical arms, for acquiring image data and the corresponding exercise data of each image data respectively, and respectively
Acquired image data and exercise data are sent to data receiver, wherein the corresponding exercise data of an image includes:
The machine performance of mechanical arm when mechanical arm acquires the image data；
Data receiver, the image data and each image data sent for receiving and storing at least two mechanical arm
Corresponding exercise data.
In technical solution provided in an embodiment of the present invention, mechanical arm can acquire image data and each image data is corresponding
Exercise data, and acquired image data and exercise data are sent to data receiver, data receiver is then received and is deposited
The received data of storage.The technical solution provided through the embodiment of the present invention, mechanical arm can be straight after collecting data
The data receiver for giving mechanical arm communication connection is received and sent, so as to avoid the cumbersome mistake for acquiring data from mechanical arm
Journey improves the efficiency of data acquisition.
Optionally, in a kind of the tenth embodiment, each mechanical arm can be specifically used for:
Exercise data corresponding to each image data collected and the image data is subjected to data packing, is beaten
Bag data；
Packaged data are sent to the data receiver.
Optionally, in the 12nd kind of embodiment, each mechanical arm can also be specifically used for:
Determine the IP address and port numbers of data receiver；
According to IP address and port numbers, packaged data are sent to data receiver.
Optionally, in the 13rd kind of embodiment,
Data receiver sends feedback information to mechanical arm, wherein feedback information is that data receiver is receiving and storing
The information sent after image data and exercise data that mechanical arm is sent；
The mechanical arm of feedback information is received according to feedback information, deletes acquired image data and exercise data.
For system embodiments, since it is substantially similar to Fig. 1, Fig. 2 and corresponding embodiment, so description ground ratio
Relatively simple, related place illustrates referring to the part of Fig. 1, Fig. 2 and corresponding embodiment of the method.
The embodiment of the invention also provides a kind of mechanical arms, as shown in fig. 6, including processor 610, communication interface 620, depositing
Reservoir 630 and communication bus 640, wherein processor 610, communication interface 620, memory 630 are completed by communication bus 640
Mutual communication；
Memory 630, for storing computer program；
Processor 610 when for executing the program stored on memory 630, realizes following steps:
Acquire image data and the corresponding exercise data of each image data, wherein the corresponding exercise data packet of an image
Include: the mechanical arm acquires the machine performance of the mechanical arm when image data；
Acquired image data and exercise data are sent to data receiver, so that the data receiver stores
Received data.
In technical solution provided in an embodiment of the present invention, image data and the corresponding movement number of each image data can be acquired
According to, wherein the corresponding exercise data of an image includes: the machine performance of mechanical arm when mechanical arm acquires the image data；
Acquired image data and exercise data are sent to data receiver, so that the number that data receiver storage is received
According to.The technical solution provided through the embodiment of the present invention, mechanical arm can directly transmit after collecting data and give the machine
The data receiver of tool arm communication connection improves data and adopts so as to avoid the complicated processes for acquiring data from mechanical arm
The efficiency of collection.
Certainly, any described one kind in above-described embodiment can also be performed in a kind of mechanical arm provided in an embodiment of the present invention
Collecting method.It is specifically shown in embodiment corresponding to Fig. 1 and Fig. 1, which is not described herein again.
In another embodiment provided by the invention, a kind of computer readable storage medium is additionally provided, which can
It reads to be stored with instruction in storage medium, when run on a computer, so that the above-mentioned Fig. 1 and Fig. 1 of computer execution is corresponding
Any a kind of collecting method in embodiment.
The embodiment of the invention also provides a kind of electronic equipment, as shown in fig. 6, include processor 610, communication interface 620,
Memory 630 and communication bus 640, wherein processor 610, communication interface 620, memory 630 are complete by communication bus 640
At mutual communication；
Memory 630, for storing computer program；
Processor 610 when for executing the program stored on memory 630, realizes following steps:
Receive the image data and the corresponding exercise data of each image data that mechanical arm is sent, wherein an image is corresponding
Exercise data include: machine performance that the mechanical arm acquires the mechanical arm when image data；
The received image data of storage institute and exercise data.
In technical solution provided in an embodiment of the present invention, mechanical arm acquires image data and the corresponding movement of each image data
Data, and acquired image data and exercise data are sent to data receiver, so that data receiver storage is connect
The data received.The technical solution provided through the embodiment of the present invention, mechanical arm can directly transmit after collecting data
The data receiver of mechanical arm communication connection is given, so as to avoid the complicated processes for acquiring data from mechanical arm, is improved
The efficiency of data acquisition.
Certainly, a kind of electronic equipment provided in an embodiment of the present invention can also be performed any described one in above-described embodiment
Kind collecting method.It is specifically shown in embodiment corresponding to Fig. 2 and Fig. 2, which is not described herein again.
In another embodiment provided by the invention, a kind of computer readable storage medium is additionally provided, which can
It reads to be stored with instruction in storage medium, when run on a computer, so that the above-mentioned Fig. 2 and Fig. 2 of computer execution is corresponding
Any a kind of collecting method in embodiment.
The communication bus that above-mentioned electronic equipment is mentioned can be Peripheral Component Interconnect standard (Peripheral Component
Interconnect, PCI) bus or expanding the industrial standard structure (Extended Industry Standard
Architecture, EISA) bus etc..The communication bus can be divided into address bus, data/address bus, control bus etc..For just
It is only indicated with a thick line in expression, figure, it is not intended that an only bus or a type of bus.
Communication interface is for the communication between above-mentioned electronic equipment and other equipment.
Memory may include random access memory (Random Access Memory, RAM), also may include non-easy
The property lost memory (Non-Volatile Memory, NVM), for example, at least a magnetic disk storage.Optionally, memory may be used also
To be storage device that at least one is located remotely from aforementioned processor.
Above-mentioned processor can be general processor, including central processing unit (Central Processing Unit,
CPU), network processing unit (Network Processor, NP) etc.；It can also be digital signal processor (Digital Signal
Processing, DSP), it is specific integrated circuit (Application Specific Integrated Circuit, ASIC), existing
It is field programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete
Door or transistor logic, discrete hardware components.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
Each embodiment in this specification is all made of relevant mode and describes, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for device reality
For applying example, system embodiment, since it is substantially similar to the method embodiment, so being described relatively simple, related place ginseng
See the part explanation of embodiment of the method.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.It is all
Any modification, equivalent replacement, improvement and so within the spirit and principles in the present invention, are all contained in protection scope of the present invention
It is interior.
Claims (10)
1. a kind of collecting method, which is characterized in that be applied to mechanical arm, which comprises
Acquire image data and the corresponding exercise data of each image data, wherein the corresponding exercise data of an image includes: institute
State the machine performance that mechanical arm acquires the mechanical arm when image data；
Acquired image data and exercise data are sent to data receiver, so that data receiver storage is connect
The data received.
2. the method according to claim 1, wherein described send acquired image data and exercise data
The step of to data receiver, comprising:
Exercise data corresponding to each image data collected and the image data is subjected to data packing, obtains being packaged number
According to；
The packaged data are sent to the data receiver.
3. according to the method described in claim 2, it is characterized in that, described be sent to the data receiver for the packaged data
The step of end, comprising:
Determine the IP address and port numbers of the data receiver；
According to the IP address and the port numbers, the packaged data are sent to the data receiver.
4. the method according to claim 1, wherein described send acquired image data and exercise data
After the step of to data receiver, the method also includes:
The feedback information that the data receiver is sent is received, the feedback information is that the data receiver is receiving and storing
The information sent after image data and exercise data that the mechanical arm is sent；
According to the feedback information, acquired image data and exercise data are deleted.
5. a kind of collecting method, which is characterized in that be applied to data receiver, which comprises
Receive the image data and the corresponding exercise data of each image data that mechanical arm is sent, wherein the corresponding fortune of an image
Dynamic data include: the machine performance that the mechanical arm acquires the mechanical arm when image data；
The received image data of storage institute and exercise data.
6. a kind of data acquisition device, which is characterized in that be applied to mechanical arm, described device includes:
Acquisition module, for acquiring image data and the corresponding exercise data of each image data, wherein the corresponding fortune of an image
Dynamic data include: the machine performance that the mechanical arm acquires the mechanical arm when image data；
Sending module, for acquired image data and exercise data to be sent to data receiver, so that the data
The received data of receiving end storage.
7. a kind of data acquisition device, which is characterized in that be applied to data receiver, described device includes:
Receiving module, for receiving the image data and the corresponding exercise data of each image data of mechanical arm transmission, wherein one
The corresponding exercise data of image includes: the machine performance that the mechanical arm acquires the mechanical arm when image data；
Memory module, received image data and exercise data for storing.
8. a kind of data collection system based on mechanical arm, which is characterized in that the system comprises: at least two mechanical arms, number
According to receiving end, wherein at least two mechanical arm is communicated to connect with data receiver respectively；
At least two mechanical arm, for acquiring image data and the corresponding exercise data of each image data respectively, and respectively
Acquired image data and exercise data are sent to data receiver, wherein the corresponding exercise data of an image includes:
The mechanical arm acquires the machine performance of the mechanical arm when image data；
The data receiver, the image data and each image data sent for receiving and storing at least two mechanical arm
Corresponding exercise data.
9. a kind of mechanical arm, which is characterized in that including processor, communication interface, memory and communication bus, wherein processor,
Communication interface, memory complete mutual communication by communication bus；
Memory, for storing computer program；
Processor when for executing the program stored on memory, realizes any method and step of claim 1-4.
10. a kind of computer readable storage medium, is installed in mechanical arm, which is characterized in that the computer-readable storage medium
It is stored with computer program in matter, any side claim 1-4 is realized when the computer program is executed by processor
Method step.
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