CN111624921A - Door opening and closing test method, medium, terminal and device for mobile robot - Google Patents
Door opening and closing test method, medium, terminal and device for mobile robot Download PDFInfo
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- CN111624921A CN111624921A CN202010525644.8A CN202010525644A CN111624921A CN 111624921 A CN111624921 A CN 111624921A CN 202010525644 A CN202010525644 A CN 202010525644A CN 111624921 A CN111624921 A CN 111624921A
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- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention discloses a door opening and closing test method, a medium, a terminal and a device of a mobile robot, wherein the method comprises the following steps: generating a target bin gate test mode and a corresponding gate opening and closing instruction; sending the door opening and closing instruction to the mobile robot to drive the mobile robot to execute the corresponding door opening and closing instruction aiming at least one target door; receiving a first door opening and closing state of a target door fed back by the mobile robot and a second door opening and closing state of the target door fed back by an external sensor; and generating a test result according to the first door opening and closing state and the second door opening and closing state. The testing process is full-automatic, manual operation is not needed, and the testing can be carried out continuously in one day; meanwhile, the door opening and closing state is actually monitored by adopting an external sensor, the door opening and closing success rate is objective, real and reliable, and the door opening and closing test mode is diversified, so that one or more doors to be tested can be randomly selected, thereby more fully covering various test scenes and meeting the actual requirements.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the field of robots, in particular to a door opening and closing test method, medium, terminal and device of a mobile robot.
[ background of the invention ]
With the rapid development of the robot industry, the intelligent robot is more and more widely applied in the scenes of hotels, office buildings, residential districts, factories and the like. Delivery robots are an important classification in intelligent robots, which are mainly used to replace manual work to achieve the transfer of various materials. Compared with manual material transfer, the transfer by the delivery robot is high in efficiency and safety and is not easy to cause safety accidents. In the process of completing the delivery service, the delivery robot needs to perform multiple door opening and closing actions, and whether the door opening and closing is successful has a great influence on the efficiency and the safety of the delivery service completed by the robot and the experience brought to a user, so that the door opening and closing capability of the robot needs to be tested, and meanwhile, a long-time door opening and closing test is needed to confirm whether the service life test meets the design requirements. In the prior art, a manual testing method is usually adopted, the door opening and closing times and whether the door opening and closing position at each time meet the design requirements are manually recorded in the testing process, a large amount of manpower is consumed, and the actual testing result is easily influenced by depending on manual subjective judgment.
[ summary of the invention ]
The invention provides a door opening and closing test method, medium, terminal and device of a mobile robot, and solves the technical problems.
The technical scheme for solving the technical problems is as follows: a door opening and closing test method of a mobile robot comprises the following steps:
s1, generating a target bin gate test mode and a corresponding gate opening and closing instruction;
s2, sending the door opening and closing instruction to the mobile robot to drive the mobile robot to execute a corresponding door opening and closing instruction for at least one target door;
s3, receiving a first door opening and closing state of the target door fed back by the mobile robot and a second door opening and closing state of the target door fed back by an external sensor;
and S4, generating a test result according to the first door opening and closing state and the second door opening and closing state, wherein the test result comprises the door opening and closing success rate and the door opening and closing times of the mobile robot aiming at the target door.
In a preferred embodiment, the generating of the target door test pattern and the corresponding door opening and closing instruction specifically includes:
selecting a target bin gate test mode from preset bin gate test modes according to user operation, and generating a gate opening and closing instruction corresponding to the target bin gate test mode;
and/or selecting a target test scene from preset test scenes according to user operation, and generating a corresponding target door test mode and a door opening and closing instruction;
the door opening and closing instruction comprises at least one target door number and the continuous door opening and closing times of the target door.
In a preferred embodiment, the preset bin gate test mode includes a single bin gate test mode, a double bin gate test mode, a four bin gate test mode, and/or a random bin gate test mode.
In a preferred embodiment, the first door opening and closing state of the target door fed back by the mobile robot and the second door opening and closing state of the target door fed back by the external sensor are specifically:
s301, receiving a first door opening and closing state of a target door fed back by the mobile robot, wherein the first door opening and closing state comprises successful door opening, unsuccessful door opening, successful door closing or unsuccessful door closing of the target door;
s302, if the target door is successfully opened or closed, sending a query instruction to the external sensor;
and S303, receiving a second door opening and closing state fed back by the external sensor, wherein the second door opening and closing state comprises that the target bin door is opened in place, is not opened in place, is closed in place or is not closed in place.
In a preferred embodiment, the external sensor generating the second open/close door state comprises at least the following steps:
inquiring a preset mapping table, and generating a corresponding target opening distance according to the size of a delivered object;
collecting the actual opening distance of a target bin gate;
and comparing the actual opening distance with the target opening distance, and generating a target door opening in-place state when the actual opening distance is greater than or equal to the target opening distance, or generating a target door opening out-of-place state.
In a preferred embodiment, the door opening and closing instruction is sent to the mobile robot through network communication, USB-to-485 communication and/or USB-to-serial communication, and a first door opening and closing state fed back by the mobile robot is received; and sending the query instruction to an external sensor through USB-to-485 communication and/or USB-to-serial port communication, and receiving a second door opening and closing state fed back by the external sensor.
A second aspect of the embodiments of the present invention provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the door opening and closing test method for a mobile robot described above.
A third aspect of the embodiments of the present invention provides a door opening and closing test terminal for a mobile robot, including the computer-readable storage medium and a processor, where the processor implements the steps of the door opening and closing test method for the mobile robot when executing a computer program on the computer-readable storage medium.
A fourth aspect of the embodiments of the present invention provides a door opening and closing testing apparatus for a mobile robot, including an instruction generating module, an instruction sending module, a state receiving module, and a testing result generating module,
the instruction generating module is used for generating a target bin gate test mode and a corresponding gate opening and closing instruction;
the instruction sending module is used for sending the door opening and closing instruction to the mobile robot so as to drive the mobile robot to execute a corresponding door opening and closing instruction for at least one target door;
the state receiving module is used for receiving a first door opening and closing state which is fed back by the mobile robot and related to a target door and a second door opening and closing state which is fed back by an external sensor and related to the target door;
the test result generation module is used for generating a test result according to the first door opening and closing state and the second door opening and closing state, and the test result comprises the door opening and closing success rate and the door opening and closing times of the mobile robot aiming at the target door.
In a preferred embodiment, the instruction generating module is configured to select a target door test mode from preset door test modes according to a user operation, and generate a door opening and closing instruction corresponding to the target door test mode; the system comprises a target door test system, a door opening and closing device and a door closing and opening device, wherein the target door test system is used for selecting a target test scene from preset test scenes according to user operation and generating a corresponding target door test mode and a door opening and closing instruction; the door opening and closing instruction comprises at least one target door number and the continuous door opening and closing times of the target door.
In a preferred embodiment, the preset bin gate test mode includes a single bin gate test mode, a double bin gate test mode, a four bin gate test mode, and/or a random bin gate test mode.
In a preferred embodiment, the status receiving module includes:
the first receiving unit is used for receiving a first door opening and closing state which is fed back by the mobile robot and is about the target door, wherein the first door opening and closing state comprises successful door opening, unsuccessful door opening, successful door closing or unsuccessful door closing of the target door;
the query unit is used for sending a query instruction to the external sensor when the target bin gate is successfully opened or closed;
and the second receiving unit is used for receiving a second door opening and closing state fed back by the external sensor, wherein the second door opening and closing state comprises that the target bin door is opened in place, is not opened in place, is closed in place or is closed in place.
In a preferred embodiment, the external sensor includes a state generation module, and the state generation module includes:
the table look-up unit is used for inquiring a preset mapping table and generating a corresponding target opening distance according to the size of a delivered object;
the acquisition unit is used for acquiring the actual opening distance of the target bin gate;
and the judging unit is used for comparing the actual opening distance with the target opening distance, generating a target door opening in-place state when the actual opening distance is greater than or equal to the target opening distance, and otherwise generating a target door opening out-of-place state.
In a preferred embodiment, the instruction sending module sends the door opening and closing instruction to the mobile robot through network communication, USB to 485 communication and/or USB to serial port communication;
the first receiving unit receives a first door opening and closing state fed back by the mobile robot through network communication, USB-to-485 communication and/or USB-to-serial communication;
the query unit sends a query instruction to the external sensor through USB-to-485 communication and/or USB-to-serial communication;
and the second receiving unit receives the second door opening and closing state fed back by the external sensor through USB-to-485 communication and/or USB-to-serial communication.
The invention provides a door opening and closing test method, a medium, a terminal and a device of a mobile robot, wherein after the mobile robot completes a door opening instruction or a door closing instruction, whether the door is opened in place or closed in place is confirmed through an external sensor, and door opening and closing service life and door opening and closing success rate tests are sequentially and repeatedly completed according to the processes, and compared with the prior art, the door opening and closing test method has the following beneficial effects:
(1) the test process is basically full-automatic, manual operation is not needed, the test can be continuously carried out 24 hours a day, the test is efficient and simple, data can be automatically counted, and the test result can be exported by one key;
(2) the external sensor is adopted to actually monitor the door opening and closing state, and the door opening and closing success rate is objective, real and reliable;
(3) the test mode of the switch bin gate is diversified, and one or more bin gates needing to be tested can be randomly selected, so that various test scenes can be more fully covered, and the actual requirements can be met.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic flowchart of a door opening and closing test method of a mobile robot provided in embodiment 1;
fig. 2 is a software flowchart of a door opening and closing test method of a mobile robot provided in embodiment 2;
fig. 3 is a schematic structural diagram of a door opening and closing test device of a mobile robot provided in embodiment 3;
fig. 4 is a schematic structural diagram of a door opening and closing test terminal of a mobile robot provided in embodiment 4.
[ detailed description ] embodiments
In order to make the objects, technical solutions and advantageous effects of the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
Fig. 1 is a schematic flowchart of a door opening and closing test method for a mobile robot according to embodiment 1 of the present invention, as shown in fig. 1, including the following steps:
and S1, the PC end test upper computer generates a target bin gate test mode and a corresponding gate opening and closing instruction. Specifically, multiple bin gate test modes are preset in the PC end test upper computer, including a single bin gate test mode, a double bin gate test mode, a four bin gate test mode and/or a random bin gate test mode and the like, a target bin gate test mode can be selected from the preset bin gate test modes according to user operation, so that a gate opening and closing instruction corresponding to the target bin gate test mode is generated, and the gate opening and closing instruction comprises at least one target bin gate number and continuous gate opening and closing times of a target bin gate, so that continuous and repeated gate opening and closing tests are carried out on the target bin gate. In other embodiments, the PC-side testing upper computer may also preset various testing scenarios, for example, testing scenarios for large articles/small articles, or idle/busy testing scenarios, each testing scenario preset a corresponding door testing mode, for example, in a busy testing scenario, a plurality of target doors are subjected to continuous multiple door opening and closing tests, and in an idle testing scenario, only the commonly used doors are subjected to continuous multiple door opening and closing tests, so that after a user selects a target testing scenario, a corresponding target door testing mode and a door opening and closing instruction may be directly generated.
And S2, sending the door opening and closing instruction to the mobile robot by the PC end test upper computer so as to drive the mobile robot to execute a corresponding door opening and closing instruction for at least one target bin gate.
And S3, the PC end testing upper computer receives the first door opening and closing state of the target door fed back by the mobile robot and the second door opening and closing state of the target door fed back by the external sensor. In a preferred embodiment, the method comprises the following steps:
s301, the PC end testing upper computer receives a first door opening and closing state which is fed back by the mobile robot and is about to the target door, wherein the first door opening and closing state comprises successful door opening, unsuccessful door opening, successful door closing or unsuccessful door closing of the target door.
And S302, if the target bin gate is successfully opened or closed, the PC end testing upper computer sends a query instruction to the external sensor. After receiving the query instruction, the external sensor queries the actual door opening and closing state of the target door, namely the second door opening and closing state, and at least comprises the following steps:
inquiring a preset mapping table, and generating a corresponding target opening distance according to the size of a delivered object;
collecting the actual opening distance of a target bin gate;
and comparing the actual opening distance with the target opening distance, and generating a target door opening in-place state when the actual opening distance is greater than or equal to the target opening distance, or generating a target door opening out-of-place state. In a preferred embodiment, the external sensor is an infrared sensor, and the actual opening distance of the target bin gate is acquired through the infrared sensor. Meanwhile, different target opening distances are set for different delivery objects, and a user can select the size of the delivery object from three levels of small, medium and large when throwing the delivery object so as to obtain the target opening distance matched with the delivery object. When the user takes out the delivered object, the infrared sensor collects the gap existing after the target door is closed again, whether the door is completely closed is judged according to the gap distance, if the gap distance is smaller than or equal to a preset value, the target door is successfully closed, and otherwise, the target door is not successfully closed.
And S303, receiving a second door opening and closing state fed back by the external sensor by the PC end testing upper computer, wherein the second door opening and closing state comprises that the target bin door is opened in place, is not opened in place, is closed in place or is closed in place. And executing S4, generating a test result according to the first door opening and closing state and the second door opening and closing state, wherein the test result comprises the door opening and closing success rate and the door opening and closing times of the mobile robot aiming at the target door, and only when the external sensor feeds back the success of opening and closing the target door and/or the success of closing the door, the target door can be determined to be opened and closed once, so that accurate and real door opening and closing success rate data can be obtained.
In a preferred embodiment, the PC side testing upper computer sends the door opening and closing instruction to the mobile robot through network communication, USB-to-485 communication and/or USB-to-serial communication, and receives a first door opening and closing state fed back by the mobile robot. And the PC end testing upper computer sends the query instruction to the external sensor through USB-to-485 communication and/or USB-to-serial port communication and receives a second door opening and closing state fed back by the external sensor.
Fig. 2 is a software flowchart of the open/close door testing method in embodiment 2, and as shown in fig. 2, the method includes the following specific processes: and the user tests the upper computer at the PC end to select the mode, so that a door opening and closing instruction is generated and sent to the mobile robot. After the mobile robot controls the target bin gate to open the gate, the PC end testing upper computer inquires the mobile robot about a first gate opening state, if the gate is not opened, the gate opening testing times are increased once, and meanwhile, the mobile robot is driven again to control the target bin gate to open the gate; if the door is opened, inquiring the corresponding value of the external sensor, and acquiring a second door opening state of the target door according to the value of the external sensor, namely whether the target door is opened in place or not, if the target door is not opened in place, increasing the door opening test times once and then driving the mobile robot to control the target door to be closed; if the door is opened in place, the door opening test frequency is increased once, and after the door opening success frequency is increased once, the mobile robot is driven to control the target door to be closed. Then the PC end testing upper computer inquires a first door closing state of the mobile robot, if the door is not closed, the door closing testing times are increased once, and meanwhile, the mobile robot is driven again to control the target door to be closed; if the door is closed, inquiring the corresponding value of the external sensor, and acquiring a second door closing state of the target door according to the value of the external sensor, namely whether the target door is closed in place or not, and if the door is not closed in place, driving the mobile robot to control the target door to open again after the door closing test times are increased once; if the door is closed in place, the door closing test frequency is increased once, the door closing success frequency is increased once, then the target bin door is controlled to be opened again, and the process is repeated until the corresponding total door opening and closing frequency is completed. And after the test is finished, calculating the real success rate of opening and closing the door according to the success rate of opening and closing the door and the total times of opening and closing the door.
The door opening and closing test method of the embodiment has the advantages that the test process is full-automatic, manual operation is not needed, and the door opening and closing test method can be continuously carried out in one day; meanwhile, the door opening and closing state is actually monitored by adopting an external sensor, the door opening and closing success rate is objective, real and reliable, and the door opening and closing test mode is diversified, so that one or more doors to be tested can be randomly selected, thereby more fully covering various test scenes and meeting the actual requirements.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
The embodiment of the invention also provides a computer readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the door opening and closing test method of the mobile robot is realized.
Fig. 3 is a schematic structural diagram of a door opening and closing testing device of a mobile robot provided in embodiment 3, the door opening and closing testing device includes a PC-side upper computer 100, an external sensor 200, and the mobile robot, as shown in fig. 3, the PC-side upper computer 100 includes an instruction generating module 101, an instruction sending module 102, a state receiving module 103, and a testing result generating module 104,
the instruction generating module 101 is configured to generate a target door test mode and a corresponding door opening and closing instruction;
the instruction sending module 102 is configured to send the door opening and closing instruction to a mobile robot, so as to drive the mobile robot to execute a corresponding door opening and closing instruction for at least one target door;
the state receiving module 103 is configured to receive a first door opening and closing state of the target door fed back by the mobile robot and a second door opening and closing state of the target door fed back by an external sensor;
the test result generating module 104 is configured to generate a test result according to the first door opening and closing state and the second door opening and closing state, where the test result includes a success rate of opening and closing a door by the mobile robot for a target door and a door opening and closing frequency.
In a preferred embodiment, the instruction generating module 101 is configured to select a target door test mode from preset door test modes according to a user operation, and generate a door opening and closing instruction corresponding to the target door test mode; the system comprises a target door test system, a door opening and closing device and a door closing and opening device, wherein the target door test system is used for selecting a target test scene from preset test scenes according to user operation and generating a corresponding target door test mode and a door opening and closing instruction; the door opening and closing instruction comprises at least one target door number and the continuous door opening and closing times of the target door.
In a preferred embodiment, the preset bin gate test mode includes a single bin gate test mode, a double bin gate test mode, a four bin gate test mode, and/or a random bin gate test mode.
In a preferred embodiment, the status receiving module 103 includes:
a first receiving unit 1031, configured to receive a first door opening and closing state of the target door fed back by the mobile robot, where the first door opening and closing state includes that the target door is successfully opened, the door is not successfully opened, the door is successfully closed, or the door is not successfully closed;
the query unit 1032 is configured to send a query instruction to the external sensor when the target door is successfully opened or closed;
the second receiving unit 1033 is configured to receive a second door opening and closing state fed back by the external sensor, where the second door opening and closing state includes that a target cabin door is opened in place, is not opened in place, is closed in place, or is closed in place.
In a preferred embodiment, the external sensor 200 includes a state generating module 201, and the state generating module 201 includes:
the table look-up unit 2011 is configured to query a preset mapping table and generate a corresponding target opening distance according to the size of a delivered object;
a collecting unit 2012 for collecting an actual opening distance of the target bin gate;
and the judging unit 2013 is used for comparing the actual opening distance with the target opening distance, generating a target door opening in-place state when the actual opening distance is larger than or equal to the target opening distance, and otherwise generating a target door opening out-of-place state.
In a preferred embodiment, the instruction sending module 102 is configured to send the door opening and closing instruction to the mobile robot through network communication, USB to 485 communication, and/or USB to serial port communication;
the first receiving unit 1031 is configured to receive a first door opening and closing state fed back by the mobile robot through network communication, USB to 485 communication, and/or USB to serial communication;
the query unit 1032 is used for sending a query instruction to the external sensor through USB-to-485 communication and/or USB-to-serial port communication;
the second receiving unit 1033 is configured to receive a second switch state fed back by the external sensor through USB to 485 communication and/or USB to serial communication.
The embodiment of the invention also provides a door opening and closing test terminal of the mobile robot, which comprises the computer readable storage medium and a processor, wherein the processor realizes the steps of the door opening and closing test method of the mobile robot when executing the computer program on the computer readable storage medium. Fig. 4 is a schematic structural diagram of a door opening and closing test terminal of a mobile robot according to embodiment 4 of the present invention, and as shown in fig. 4, the door opening and closing test terminal 8 of the mobile robot according to this embodiment includes: a processor 80, a readable storage medium 81 and a computer program 82 stored in said readable storage medium 81 and executable on said processor 80. The processor 80, when executing the computer program 82, implements the steps in the various method embodiments described above, such as steps 1 through 4 shown in fig. 1. Alternatively, the processor 80, when executing the computer program 82, implements the functions of the modules in the device embodiments, such as the functions of the modules 101 to 104 shown in fig. 3.
Illustratively, the computer program 82 may be partitioned into one or more modules that are stored in the readable storage medium 81 and executed by the processor 80 to implement the present invention. The one or more modules may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program 82 in the door opening and closing test terminal 8 of the mobile robot.
The door opening and closing test terminal 8 of the mobile robot may include, but is not limited to, a processor 80 and a readable storage medium 81. It will be understood by those skilled in the art that fig. 4 is only an example of the door opening and closing test terminal 8 of the mobile robot, and does not constitute a limitation to the door opening and closing test terminal 8 of the mobile robot, and may include more or less components than those shown in the drawings, or combine some components, or different components, for example, the door opening and closing test terminal of the mobile robot may further include a power management module, an arithmetic processing module, an input and output device, a network access device, a bus, and the like.
The Processor 80 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The readable storage medium 81 may be an internal storage unit of the door opening and closing test terminal 8 of the mobile robot, such as a hard disk or a memory of the door opening and closing test terminal 8 of the mobile robot. The readable storage medium 81 may also be an external storage device of the door opening and closing test terminal 8 of the mobile robot, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are equipped on the door opening and closing test terminal 8 of the mobile robot. Further, the readable storage medium 81 may also include both an internal storage unit and an external storage device of the door opening and closing test terminal 8 of the mobile robot. The readable storage medium 81 is used to store the computer program and other programs and data required for the door opening and closing test terminal of the mobile robot. The readable storage medium 81 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and method steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The invention is not limited solely to that described in the specification and embodiments, and additional advantages and modifications will readily occur to those skilled in the art, so that the invention is not limited to the specific details, representative apparatus, and illustrative examples shown and described herein, without departing from the spirit and scope of the general concept as defined by the appended claims and their equivalents.
Claims (10)
1. A door opening and closing test method of a mobile robot is characterized by comprising the following steps:
s1, generating a target bin gate test mode and a corresponding gate opening and closing instruction;
s2, sending the door opening and closing instruction to the mobile robot to drive the mobile robot to execute a corresponding door opening and closing instruction for at least one target door;
s3, receiving a first door opening and closing state of the target door fed back by the mobile robot and a second door opening and closing state of the target door fed back by an external sensor;
and S4, generating a test result according to the first door opening and closing state and the second door opening and closing state, wherein the test result comprises the door opening and closing success rate and the door opening and closing times of the mobile robot aiming at the target door.
2. The door opening and closing test method of the mobile robot according to claim 1, wherein the generating of the target door test mode and the corresponding door opening and closing instruction specifically comprises:
selecting a target bin gate test mode from preset bin gate test modes according to user operation, and generating a gate opening and closing instruction corresponding to the target bin gate test mode;
and/or selecting a target test scene from preset test scenes according to user operation, and generating a corresponding target door test mode and a door opening and closing instruction;
the door opening and closing instruction comprises at least one target door number and the continuous door opening and closing times of the target door.
3. The door opening and closing test method of the mobile robot according to claim 2, wherein the preset door test mode comprises a single door test mode, a double door test mode, a four door test mode and/or a random door test mode.
4. The door opening and closing test method of the mobile robot as claimed in any one of claims 1 to 3, wherein the first door opening and closing state related to the target door fed back by the mobile robot and the second door opening and closing state related to the target door fed back by the external sensor are specifically:
s301, receiving a first door opening and closing state of a target door fed back by the mobile robot, wherein the first door opening and closing state comprises successful door opening, unsuccessful door opening, successful door closing or unsuccessful door closing of the target door;
s302, if the target door is successfully opened or closed, sending a query instruction to the external sensor;
and S303, receiving a second door opening and closing state fed back by the external sensor, wherein the second door opening and closing state comprises that the target bin door is opened in place, is not opened in place, is closed in place or is not closed in place.
5. The door opening and closing test method of the mobile robot as claimed in claim 4, wherein the step of generating the second door opening and closing state by the external sensor at least comprises the following steps:
inquiring a preset mapping table, and generating a corresponding target opening distance according to the size of a delivered object;
collecting the actual opening distance of a target bin gate;
and comparing the actual opening distance with the target opening distance, and generating a target door opening in-place state when the actual opening distance is greater than or equal to the target opening distance, or generating a target door opening out-of-place state.
6. The door opening and closing test method of the mobile robot according to claim 5, wherein the door opening and closing instruction is sent to the mobile robot through network communication, USB-to-485 communication and/or USB-to-serial communication, and a first door opening and closing state fed back by the mobile robot is received; and sending the query instruction to an external sensor through USB-to-485 communication and/or USB-to-serial port communication, and receiving a second door opening and closing state fed back by the external sensor.
7. A computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the door opening and closing test method of the mobile robot according to any one of claims 1 to 6.
8. A door opening and closing test terminal of a mobile robot, comprising the computer-readable storage medium of claim 7 and a processor, which when executing a computer program on the computer-readable storage medium implements the steps of the door opening and closing test method of the mobile robot according to any one of claims 1-6.
9. A door opening and closing test device of a mobile robot is characterized by comprising a command generation module, a command sending module, a state receiving module and a test result generation module,
the instruction generating module is used for generating a target bin gate test mode and a corresponding gate opening and closing instruction;
the instruction sending module is used for sending the door opening and closing instruction to the mobile robot so as to drive the mobile robot to execute a corresponding door opening and closing instruction for at least one target door;
the state receiving module is used for receiving a first door opening and closing state which is fed back by the mobile robot and related to a target door and a second door opening and closing state which is fed back by an external sensor and related to the target door;
the test result generation module is used for generating a test result according to the first door opening and closing state and the second door opening and closing state, and the test result comprises the door opening and closing success rate and the door opening and closing times of the mobile robot aiming at the target door.
10. The door opening and closing test device according to claim 9, wherein the instruction generating module is configured to select a target door test mode from preset door test modes according to a user operation, and generate a door opening and closing instruction corresponding to the target door test mode; the system comprises a target door test system, a door opening and closing device and a door closing and opening device, wherein the target door test system is used for selecting a target test scene from preset test scenes according to user operation and generating a corresponding target door test mode and a door opening and closing instruction; the door opening and closing instruction comprises at least one target door number and the continuous door opening and closing times of the target door.
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