CN107009390A - A kind of service robot motor function Auto-Test System - Google Patents
A kind of service robot motor function Auto-Test System Download PDFInfo
- Publication number
- CN107009390A CN107009390A CN201710263385.4A CN201710263385A CN107009390A CN 107009390 A CN107009390 A CN 107009390A CN 201710263385 A CN201710263385 A CN 201710263385A CN 107009390 A CN107009390 A CN 107009390A
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- athletic posture
- interface
- detecting module
- data interaction
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Classifications
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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
- B25J19/0095—Means or methods for testing manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
-
- 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
- B25J19/02—Sensing devices
Abstract
The present invention relates to robot building technical field, a kind of service robot motor function Auto-Test System, including athletic posture objective detecting module and computer automation testing platform, the athletic posture objective detecting module includes data acquisition unit, MCU units, data interaction unit and PMU, wherein, data acquisition unit includes three axle geomagnetic sensors, three axis angular rate sensors, 3-axis acceleration sensor and coupled analog signal conditioner circuit, the MCU units include signal acquisition interface and the data fusion being sequentially connected with it, athletic posture judges and data interaction interface, the data interaction unit includes USB circuit and WiFi circuitry, the present invention is after the RC of many service robots is mutually bound with corresponding athletic posture objective detecting module respectively, computer automation testing platform can judge whether be executed correctly by the feedback data of athletic posture objective detecting module to the instruction that each service robot RC is sent, it is automatic during service robot batch production so as to realize, efficient group surveys target.
Description
Technical field
The present invention relates to a kind of service robot motor function Auto-Test System, belong to robot building technical field.
Background technology
Most service robots use wheel type traveling mechanism, and its exercise performance is the important indicator for evaluating quality.In service
In the batch production of robot, function of dispatching from the factory and service check are an indispensable production links.Service robot has discrete
Property personal feature, its dispatch from the factory test be typically simulation real-world environment ward in carry out, motor function test be to dispatch from the factory
One of main contents of test.In motor function test, done by the service robot reply different motion order of order control
Go out correct response.In actual production, installation and the wiring of service robot part are likely to occur mistake, and then cause server
The motor imagination mistake of device people, such mistake can not correctly be reflected by read machine people RC.At present, motor function test is logical
Cross tester to be observed, judged one by one at the scene, and then draw a conclusion, such method undoubtedly inefficiency.Therefore, design
A set of service robot motor function Auto-Test System is imperative, is surveyed in service robot batch production, group of dispatching from the factory
The best means of testing efficiency, accuracy and automatization level are improved under scene.
The content of the invention
In order to overcome the deficiencies in the prior art, it is an object of the present invention to provide a kind of service robot motor function certainly
Dynamic test system.The system can gather the athletic posture being arranged on service robot visitor by computer automation testing platform
The data of monitoring modular are seen, the correctness of service robot motor function is tested out, it is automatic, be efficiently completed service robot and go out
Factory group surveys target.
In order to realize foregoing invention purpose, solving oneself has problem present in technology, and the present invention is adopted the technical scheme that：
A kind of service robot motor function Auto-Test System, including athletic posture objective detecting module and computer automation testing are put down
Platform, the athletic posture objective detecting module includes data acquisition unit, MCU units, data interaction unit and power management list
Member, wherein, the data acquisition unit includes three axle geomagnetic sensors, three axis angular rate sensors, 3-axis acceleration sensor
And coupled analog signal conditioner circuit, the MCU units include signal acquisition interface and the data that are sequentially connected with it
Fusion, athletic posture judge and data interaction interface that the data interaction unit includes USB circuit and WiFi circuitry, the electricity
Source control unit is connected with data acquisition unit, MCU units and data interaction unit respectively, and the analog signal conditioner circuit leads to
Cross AD conversion interface with signal acquisition interface to be connected, three axis angular rate sensor and three axle geomagnetic sensors pass through respectively
Iic bus is connected with signal acquisition interface, and the data interaction interface is connected by usb bus with USB circuit, in addition, data
Interactive interface is also connected by SPI interface with WiFi circuitry, the computer automation testing platform include RC binding modules and with
Its motion setting module being sequentially connected, motion pick module, motion display module, testing analysis module and memory module, institute
Athletic posture objective detecting module is stated by USB or WiFi with computer automation testing platform to be connected.
Present invention has the advantages that：A kind of service robot motor function Auto-Test System, including athletic posture are objective
Monitoring modular and computer automation testing platform, it is mono- that the athletic posture objective detecting module includes data acquisition unit, MCU
Member, data interaction unit and PMU, wherein, the data acquisition unit includes three axle geomagnetic sensors, three shaft angles
Velocity sensor, 3-axis acceleration sensor and coupled analog signal conditioner circuit, the MCU units are adopted including signal
Collection interface and data fusion, athletic posture judgement and the data interaction interface being sequentially connected with it, the data interaction unit bag
Include USB circuit and WiFi circuitry, the PMU respectively with data acquisition unit, MCU units and data interaction unit
It is connected, the analog signal conditioner circuit is connected by AD conversion interface with signal acquisition interface, the three axis angular rates sensing
Device and three axle geomagnetic sensors are connected by iic bus with signal acquisition interface respectively, and the data interaction interface is total by USB
Line is connected with USB circuit, in addition, data interaction interface is also connected by SPI interface with WiFi circuitry, the computer is surveyed automatically
Examination platform includes RC binding modules and the motion setting module being sequentially connected with it, motion pick module, motion display module, survey
Analysis module and memory module are tried, the athletic posture objective detecting module is put down by USB or WiFi and computer automation testing
Platform is connected.Compared with the prior art, the present invention be by the RC of many service robots respectively with the objective prison of corresponding athletic posture
Survey after module mutually binds, computer automation testing platform can be judged by the feedback data of athletic posture objective detecting module to
Whether the instruction that each service robot RC is sent is executed correctly, so as to realize automatic, high during service robot batch production
The group of effect surveys target.
Brief description of the drawings
Fig. 1 is the theory diagram of present system.
Fig. 2 is the overall workflow figure of present system.
Fig. 3 is the software program flow chart of athletic posture objective detecting module in present system.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.
As shown in figure 1, a kind of service robot motor function Auto-Test System, including athletic posture objective detecting module
With computer automation testing platform, athletic posture objective detecting module is mainly responsible for the collection of service robot athletic posture, sentenced
Disconnected and upload；Computer automation testing platform is mainly responsible for the realization of service robot " group's survey " target.The athletic posture visitor
Seeing monitoring modular includes data acquisition unit, MCU units, data interaction unit and PMU, wherein, the data are adopted
Collect unit by a 3-axis acceleration sensor ADXL335, three axis angular rate sensor ITG3050, a three axle earth magnetism
Sensors A K8963 and all the way analog signal conditioner circuit are constituted, and are responsible under collection athletic posture objective detecting module coordinate system
3-axis acceleration data, three axis angular rate data, three axle geomagnetic datas；Axially must when ADXL335, ITG3050, AK8963 are laid
Must be consistent, to guarantee accurate, the efficient fusion and conversion for completing coordinate system.ITG3050 and AK8963 is output as data signal,
Output interface is iic bus, and the I2C1_SCL (PB6), I2C1_SDA (PB7) pin with MCU are connected；Both are by different
Distinguish IIC addresses.ADXL335 is output as analog voltage signal, and voltage swing represents acceleration magnitude, by analog signal conditioner
After circuit, it is connected with MCU ADC1_1 (PA1), ADC1_2 (PA2), ADC1_1 (PA3) pin, by MCU inside ADC
Analog quantity is completed to the conversion of digital quantity.Analog signal conditioner circuit mainly include the low pass R/C filters with a width of 1000Hz and
Using AD8603 as the amplifying circuit of core.
Data fusion, athletic posture judgement and number that the MCU units include signal acquisition interface and are sequentially connected with it
According to interactive interface, MCU uses STM32F411CEU6, collects athletic posture visitor by iic bus and AD conversion interface first
3-axis acceleration data, three axis angular rate data under sight monitoring modular coordinate system, three axle geomagnetic datas, secondly by nine number of axle evidences
Attitude data and acceleration information under geographic coordinate system are fused to, then service robot is judged according to the data after fusion
Athletic posture, is finally exported result by usb bus and SPI interface.Data anastomosing algorithm is used based on spreading kalman filter
The two benches correction algorithm of ripple device, first stage foundation 3-axis acceleration data correction attitude angle, second stage three axles of foundation
Magnetic data amendment attitude angle.The representation of posture has three kinds of Eulerian angles, spin matrix, quaternary number etc., and wherein Eulerian angles are present
Universal lock problem, it is impossible to be used in iterative calculation.The iterative process of two benches correction algorithm is as follows：
The first step, attitude angle quaternary number is calculated according to three axis angular rate data, and formula (1) is that single order finishes block-regulations iterative formula,
Wherein,The corresponding unit quaternion of posture is represented, initial value can use
ωx, ωy, ωzRepresent three axis angular rate data；
Δ t represents the sampling interval；
Second step, the quaternary number obtained according to formula (1) can obtain geographical coordinate and be tied to radio motion posture objective detecting
Spin matrix under module coordinate systemIts represent from n systems to the transformational relation of b systems,
3rd step, according to formula (2), from geographic coordinate system decomposes radio motion posture objective by constant gravity acceleration g
Monitoring modular coordinate system,
Jacobian matrix H is asked to formula (3)k1
4th step, with A in formula (1)kFor system battle array, H in formula (4)k1For observation battle array, Kalman filter is constructed, the is completed
One stage was corrected；
Five~six step, equally with A in formula (1)kFor system battle array, with geomagnetic data construction observation battle array, construction Kalman filters
Ripple device, completes second stage amendment, is recycled to the first step.
Athletic posture judges that, using the Feature Correspondence Algorithm based on experience, basic exercise posture includes turning left 45 °, turned right
45 °, turn left 90 °, turn right 90 °, turn left 180 °, turn right 180 °, advance, retreat etc. eight kinds.According to level in data fusion result
The change of direction attitude angle data, you can judge that the first six plants steering situation；In conjunction with the change of horizontal direction acceleration information,
Advance, retrogressing situation can be distinguished.In athletic posture judgement, horizontal direction attitude angle data is judge athletic posture main
Foundation.Horizontal direction attitude error is general within ± 3 ° in data fusion result, easy for the minimum 45 ° steering in interval
Distinguish.
Data interaction unit includes USB and WiFi two parts, and USB is that radio motion posture objective detecting module is dispatched from the factory letter
Breath, the configuration interface of application message, USB is in addition to for data transfer, and also with power supply, charge function, charging chip uses lithium
Battery management chip BQ24086.Usb communication uses MCU internal bus controllers, and data transfer pin is USB_FS_DM
(PA11)、USB_FS_DM(PA12).WiFi is radio motion posture objective detecting module and computer automation testing platform data
Interactive interface；Computer automation testing platform reads the athletic posture number of athletic posture objective detecting module by the interface
According to；In the case of athletic posture objective detecting module and computer automation testing platform are successful by WiFi networkings, WiFi connects
Mouth can be realized and USB interface identical application message configuration feature.WiFi communication uses RS110-N-11-02 modules, with MCU
Connected by SPI interface, connection pin is SPI1_NSS (PA4), SPI1_SCK (PA5), SPI1_MISO (PA6), SPI1_
MOSI(PA7)。
PMU is made up of four road controllable electric powers, power supply control chip model TPS78230,1 tunnel control data
The power supply of collecting unit, 1 tunnel controls the power supply of MCU units, and 1 tunnel controls the power supply of USB circuit, and 1 tunnel controls the confession of WiFi circuitry
Electricity.Each road on/off control primitive rule is as follows：
If 1. not receiving the instruction from USB in certain time, the power supply of USB circuit is closed；
If 2. not receiving the instruction from WiFi in certain time, WiFi circuitry and data acquisition unit are simultaneously closed off
Power supply；
If 3. not receiving all power supplies in the instruction from USB or WiFi, closedown module in long-time；
If 4. operating personnel's external trigger module start button, opens the power supply of MCU units and data interactive unit；
If 5. receiving the data acquisition instructions from WiFi, the power supply of data acquisition unit is opened.
Through analysis, test, this scheme main power consumption concentrates on wireless data transmission, during full speed operation, and electric current is about 80mA,
Use 1000mAH batteries, it is ensured that radio motion posture objective detecting module effectively works 12~13 hours, fully meets reality
Demand.
Computer automation testing platform is main to be shown by RC binding modules, motion setting module, motion pick module, motion
Module, testing analysis module and memory module composition.
RC binding modules are used to bind service robot RC and the athletic posture objective detecting module installed thereon.March into the arena
After test machine people start, connected by wireless network and athletic posture objective detecting module, the networking of computer automation testing platform
Connect, because each service robot RC and athletic posture objective detecting module have unique IP address, therefore utilize IP address will
Service robot RC is bound with corresponding athletic posture objective detecting mould.It is automatic that binding information is stored in service robot computer
In the binding information table of test platform.
Motion setting module is used to set the type and order sent instructions under service robot RC, and motion set information is
Eight kinds of basic exercise patterns such as 45 ° of left-hand rotation, 45 ° of right-hand rotation, 90 ° of left-hand rotation, 90 ° of right-hand rotation, 180 ° of left-hand rotation, 180 ° of right-hand rotation, advance, retrogressing
Free generalization.Set information is stored in the motion set information table of computer automation testing platform, is to judge service-delivery machine
The foundation whether people sends instructions under correctly performing.
Motion pick module is used to obtain service robot response instruction to be measured from radio motion posture objective detecting module
When test data.Test data necessarily turn left 45 °, turn right 45 °, turn left 90 °, turn right 90 °, turn left 180 °, turn right 180 °,
One kind in nine kinds of advance, retrogressing, malfunction etc..Motion pick information is stored in service robot computer automation testing and put down
In the motion pick information table of platform.
Move display module and use the three-dimensional driving model based on OpenGL, using the data in motion pick information table,
In the actual motion of service robot computer automation testing platform end analog service robot.The module act as allowing operator
It is more directly perceived during member's on-the-spot test, clearly understand testing process and result.
Testing analysis module contrast motion set information table content and motion pick information table content, its truly reflect to
The uniformity of the instruction that service robot RC is assigned and service robot actual motion.According to comparing result, test report is generated
And warning message etc..
Memory module use MySQL5.6 databases, act as storing and safeguard motion set information, motion pick information,
Test report etc..The connection of MySQL5.6 databases and C++ IDEs uses Connector/C++1.1 drivers.
Such as Fig. 2, whole system workflow approximately as：
1. each athletic posture objective detecting module is arranged on each to-be-detected machine people by operating personnel；
2. operating personnel bind each to robot to be measured and athletic posture objective detecting module successively, and bindings are：
A pair of to-be-detected machine people and athletic posture objective detecting module are started shooting, computer automation testing platform automatically scanning is simultaneously found,
Will both ID identification records, manual confirmation binding；
3. computer automation testing platform sends each class testing successively by default testing process to each service robot RC
Instruction；Basic test instruction include turn left 45 °, turn right 45 °, turn left 90 °, turn right 90 °, turn left 180 °, turn right 180 °, advance,
Eight kinds of retrogressing etc.；
4. athletic posture objective detecting module continuous monitoring service robot motion state, and flat to computer automation testing
Platform feedback data；
5. computer automation testing platform contrast feedback data is instructed with the test sent；
6. computer automation testing platform automatically generates test report, and stores related data.
Claims (1)
1. a kind of service robot motor function Auto-Test System, including athletic posture objective detecting module and computer it is automatic
Test platform, it is characterised in that：The athletic posture objective detecting module includes data acquisition unit, MCU units, data interaction
Unit and PMU, wherein, the data acquisition unit include three axle geomagnetic sensors, three axis angular rate sensors,
3-axis acceleration sensor and coupled analog signal conditioner circuit, the MCU units include signal acquisition interface and with
Its data fusion being sequentially connected, athletic posture judge and data interaction interface, the data interaction unit include USB circuit and
WiFi circuitry, the PMU is connected with data acquisition unit, MCU units and data interaction unit respectively, the mould
Intend signal conditioning circuit by AD conversion interface with signal acquisition interface to be connected, three axis angular rate sensor and three axle earth magnetism
Sensor is connected by iic bus with signal acquisition interface respectively, and the data interaction interface passes through usb bus and USB circuit
It is connected, in addition, data interaction interface is also connected by SPI interface with WiFi circuitry, the computer automation testing platform includes
RC binding modules and be sequentially connected with it motion setting module, motion pick module, motion display module, testing analysis module
And memory module, the athletic posture objective detecting module is connected by USB or WiFi with computer automation testing platform.
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| CN201710263385.4A CN107009390A (en) | 2017-04-21 | 2017-04-21 | A kind of service robot motor function Auto-Test System |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108310762A (en) * | 2018-03-09 | 2018-07-24 | 威海华软信息技术有限公司 | Multi-freedom intelligent somatosensory device platform courses case, control system and method |
| CN109975043A (en) * | 2017-12-28 | 2019-07-05 | 沈阳新松机器人自动化股份有限公司 | A kind of robot acceleration measuring method and device |
| CN111558953A (en) * | 2020-04-30 | 2020-08-21 | 广东博智林机器人有限公司 | Automated test platform, method and storage medium |
| CN111956449A (en) * | 2020-08-10 | 2020-11-20 | 河海大学常州校区 | Exoskeleton rehabilitation treatment device for shoulder-elbow joint injury and control system thereof |
| CN113485309A (en) * | 2021-08-03 | 2021-10-08 | 乐聚(深圳)机器人技术有限公司 | Robot testing method, device and system, robot controller and medium |
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Application publication date: 20170804 |