CN113485309B - Robot testing method, device, system, robot controller and medium - Google Patents
Robot testing method, device, system, robot controller and medium Download PDFInfo
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- CN113485309B CN113485309B CN202110885862.7A CN202110885862A CN113485309B CN 113485309 B CN113485309 B CN 113485309B CN 202110885862 A CN202110885862 A CN 202110885862A CN 113485309 B CN113485309 B CN 113485309B
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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
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
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- G05B2219/24065—Real time diagnostics
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Abstract
The invention provides a robot testing method, a device, a system, a robot controller and a medium, and relates to the technical field of robots. The method comprises the following steps: receiving first control information aiming at the test platform, which is sent by a platform controller before controlling the test platform to move, wherein the first control information comprises: controlling starting time and platform attitude control parameters; determining second control information for the robot from the first control information, the second control information including: controlling starting time and robot action control parameters; and at the control starting moment, controlling the robot to perform balance maintaining motion according to the robot action control parameters. Before the test platform is controlled to move, the robot controller can acquire second control information, and when the test platform starts to move at the control starting moment, the robot can be controlled according to the robot action control parameters at the control starting moment in time, so that the robot can maintain balanced motion in time, and the robot is more balanced.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot testing method, a device, a system, a robot controller and a medium.
Background
With the rapid development of artificial intelligence and robotics, robots have also gained rapid popularity. The need to maintain stability of a robot walking on the ground, and maintaining the balance of the robot on an unstable platform has also become a hot point of research.
In the related art, the robot can be arranged on the platform, the control equipment can control the platform to move, the sensor in the robot on the platform can acquire parameter information, and then the processor in the robot controls the robot to maintain balanced movement according to the parameter information.
However, in the related art, the processor of the robot controls the robot to perform a balance maintaining motion according to the parameter information collected by the sensor after the platform moves, and the problem of robot imbalance is easily caused.
Disclosure of Invention
The present invention is directed to provide a robot testing method, apparatus, system, robot controller and medium for solving the problem in the related art that a processor of a robot controls the robot to perform a balance maintaining motion according to parameter information collected by a sensor after a platform moves, so that the robot is prone to imbalance.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:
in a first aspect, an embodiment of the present invention provides a robot testing method, which is applied to a robot controller in a robot testing system, where the robot testing system further includes: a test platform on which a robot in which the robot controller is located is placed, the method comprising:
receiving first control information aiming at the test platform, which is sent by a platform controller in the test platform before controlling the test platform to move, wherein the first control information comprises: controlling starting time and platform attitude control parameters;
determining second control information for the robot from the first control information, the second control information comprising: the control starting time and the robot action control parameters;
and controlling the robot to perform balance maintaining motion according to the robot action control parameters at the control starting moment.
Optionally, the method further includes:
acquiring state parameters of the robot, which are acquired by a sensor in the robot, in the process that the test platform controls the parameters to move according to the platform attitude;
determining third control information for the robot according to the state parameters;
and controlling the robot to perform balance maintaining motion according to third control information of the robot.
Optionally, the acquiring the state parameters of the robot collected by the sensor in the robot includes:
acquiring the acceleration information of the robot acquired by an acceleration sensor in the robot, and/or acquiring the position information of the robot by a gyroscope, wherein the state parameters comprise: the acceleration information and/or the position information.
Optionally, the determining second control information for the robot according to the first control information includes:
setting the control start time of the first control information as the control start time of the second control information;
and determining the robot action control parameters in the second control information according to the platform attitude control parameters in the first control information by adopting a preset mapping relation.
Optionally, controlling the robot to perform a balance maintaining motion according to the robot motion control parameter includes:
and sending a balance maintaining instruction to a motor corresponding to at least one part in the robot according to the robot action control parameters so as to enable the motor to work according to the balance maintaining instruction.
Optionally, the platform attitude control parameters include: horizontal rotation control parameters and/or up-down floating control parameters.
In a second aspect, an embodiment of the present invention further provides a robot testing apparatus, which is applied to a robot controller in a robot testing system, where the robot testing system further includes: a test platform on which a robot at which the robot controller is located is placed, the apparatus comprising:
a receiving module, configured to receive first control information, which is sent by a platform controller in the test platform before controlling the test platform to move, for the test platform, where the first control information includes: controlling starting time and platform attitude control parameters;
a determination module to determine second control information for the robot from the first control information, the second control information comprising: the control starting time and the robot action control parameters;
and the control module is used for controlling the robot to maintain balance motion according to the robot action control parameters at the control starting moment.
Optionally, the apparatus further comprises:
the acquisition module is used for acquiring the state parameters of the robot acquired by a sensor in the robot in the process that the test platform controls the parameter motion according to the platform attitude;
a first determining module for determining third control information for the robot according to the state parameters;
and the first control module is used for controlling the robot to carry out balance maintaining motion according to the third control information of the robot.
Optionally, the first determining module is further configured to acquire acceleration information of the robot, which is acquired by an acceleration sensor in the robot, and/or acquire position information of the robot by using a gyroscope, where the state parameters include: the acceleration information and/or the position information.
Optionally, the determining module is further configured to use a control start time of the first control information as a control start time of the second control information; and determining the robot action control parameters in the second control information according to the platform attitude control parameters in the first control information by adopting a preset mapping relation.
Optionally, the control module is configured to send a balance maintaining instruction to a motor corresponding to at least one part in the robot according to the robot motion control parameter, so that the motor operates according to the balance maintaining instruction.
Optionally, the platform attitude control parameters include: horizontal rotation control parameters and/or up-down floating control parameters.
In a third aspect, an embodiment of the present invention further provides a robot testing system, including: the robot is placed on the test platform, and a robot controller in the robot is in communication connection with a platform controller in the test platform; the robot controller is configured to perform the robot testing method of any of the first aspect.
In a fourth aspect, an embodiment of the present invention further provides a robot controller, including: a memory storing a computer program executable by the processor, and a processor implementing the robot testing method of any one of the first aspect when executing the computer program.
In a fifth aspect, an embodiment of the present invention further provides a storage medium, where the storage medium stores a computer program, and when the computer program is read and executed, the robot testing method according to any one of the first aspect is implemented.
The invention has the beneficial effects that: the embodiment of the application provides a robot testing method, which is applied to a robot controller in a robot testing system, wherein the robot testing system further comprises: the robot that test platform, robot controller place on test platform, the method includes: receiving first control information aiming at the test platform sent by a platform controller in the test platform before controlling the test platform to move, wherein the first control information comprises: controlling starting time and platform attitude control parameters; determining second control information for the robot from the first control information, the second control information including: controlling starting time and robot action control parameters; and at the control starting moment, controlling the robot to perform balance maintaining motion according to the robot motion control parameters. Before the platform controller controls the test platform to move according to the first control information, the robot controller can acquire the second control information, and when the test platform starts to move at the control starting moment, the robot can be controlled according to the robot action control parameters at the control starting moment in time, so that the robot can maintain balanced motion in time, and then the robot is more balanced.
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 structural diagram of a robot testing system according to an embodiment of the present disclosure;
fig. 2 is a schematic flowchart of a robot testing method according to an embodiment of the present disclosure;
fig. 3 is a schematic flowchart of a robot testing method according to an embodiment of the present disclosure;
fig. 4 is a schematic flowchart of a robot testing method according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a robot testing device according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a robot controller according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description of the present application, it should be noted that if the terms "upper", "lower", etc. are used to indicate an orientation or a positional relationship based on an orientation or a positional relationship shown in the drawings or an orientation or a positional relationship which is usually placed when the product of the application is used, the description is merely for convenience of description and simplification of the application, but the indication or suggestion that the device or the element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, cannot be understood as a limitation of the application.
Furthermore, the terms first, second and the like in the description and in the claims, as well as in the drawings described above, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in other sequences than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be noted that the features of the embodiments of the present application may be combined with each other without conflict.
Fig. 1 is a schematic structural diagram of a robot testing system according to an embodiment of the present disclosure, and as shown in fig. 1, the robot testing system may include: the robot 101 and the test platform 102, a robot controller 1011 may be disposed in the robot 101, and a platform controller 1021 may be disposed in the test platform 102.
The test platform 102 may further be provided with a platform motor, the platform controller 1021 is connected to the platform motor, the robot 101 may further be provided with a robot motor, and the robot controller 1011 is connected to the robot motor. The platform controller 1021 is in communication connection with the robot controller 1011, and the communication connection may be a wireless communication connection or a wired communication connection.
Alternatively, if the platform controller 1021 and the robot controller 1011 communicate with each other through their respective communication devices, the communication devices may be zigbee communication (a wireless communication technology applied to short distance and Low speed) or Ble (Bluetooth Low Energy) communication.
In some embodiments, the platform controller 1021 sends first control information for the test platform 102 to the robot controller 1011 before controlling the test platform 102 to move based on the first control information, the robot controller 1011 receiving the first control information, the first control information comprising: controlling starting time and platform attitude control parameters; the robot controller 1011 determines second control information for the robot 101 based on the first control information, the second control information including: control start time and robot 101 motion control parameters; at the control start time, the robot 101 is controlled to perform the balance maintaining motion based on the robot 101 operation control parameter.
It should be noted that, when the current time is the control start time, the platform controller 1021 controls the platform motor to work according to the first control information, so as to control the test platform 102 to move; when the current time is the control start time, the robot controller 1011 controls the robot motor to operate according to the second control information to control the robot 101 to perform the balance maintaining motion.
In addition, the setting position of the robot motor in the robot 101 and the setting position of the platform motor in the test platform 102 may be set according to actual requirements, which is not specifically limited in the embodiment of the present application.
The following explains a robot testing method provided in the embodiments of the present application, with a robot controller as an execution subject.
Fig. 2 is a schematic flowchart of a robot testing method according to an embodiment of the present disclosure, and as shown in fig. 2, the method may include:
s201, receiving first control information aiming at the test platform sent by a platform controller in the test platform before controlling the test platform to move.
Wherein the first control information may include: control start time and platform attitude control parameters.
In some embodiments, first control information for the test platform is sent to the robot controller before the platform controller controls the test platform to move according to the first control information, which the controller may receive.
It should be noted that the platform controller may send the first control information to the robot controller before the control start time and at a time spaced from the control start time by a preset time period. For example, the control start time may be one point and one tenth of a second, and the preset time period may be 1 second, and the platform controller may transmit the first control information to the robot controller at one point and one tenth.
Of course, the platform controller may send the first control information to the robot controller at any time before the control start time. This is not particularly limited by the embodiments of the present application.
And S202, determining second control information aiming at the robot according to the first control information.
Wherein the second control information may include: control start time and robot motion control parameters.
In some embodiments, the robot controller determines the second control information of the robot from the first control information using any one of a preset robot action determination rule, a preset robot action determination algorithm, and a preset robot action determination model.
Of course, the robot may also determine the second control information according to the first control information in other manners, which is not specifically limited in this embodiment of the application.
In addition, the second control information may be used to control the robot to perform a balance maintaining motion.
And S203, controlling the robot to perform balance maintaining motion according to the robot motion control parameters at the control starting moment.
In the embodiment of the present application, the control start time in the first control information is the same as the control start time in the second control. Namely, the platform controller starts to adjust the posture of the test platform according to the first control information, and simultaneously, the robot controller starts to perform balance maintaining movement according to the second control information.
It should be noted that the robot may control at least one part of the robot to execute a corresponding balance maintaining motion according to the robot motion control parameter, so as to control the robot to perform a balance maintaining motion.
In addition, the robot in the embodiment of the present application may be a humanoid robot, and may also be a robot of other types, which is not specifically limited in the embodiment of the present application.
To sum up, the embodiment of the present application provides a robot testing method, which is applied to a robot controller in a robot testing system, and the robot testing system further includes: the test platform, the robot that robot controller is located places on the test platform, and the method includes: receiving first control information aiming at the test platform sent by a platform controller in the test platform before controlling the test platform to move, wherein the first control information comprises: controlling starting time and platform attitude control parameters; determining second control information for the robot from the first control information, the second control information including: controlling the starting time and the robot action control parameters; and at the control starting moment, controlling the robot to perform balance maintaining motion according to the robot motion control parameters. Before the platform controller controls the test platform to move according to the first control information, the robot controller can acquire the second control information, and when the test platform starts to move at the control starting moment, the robot can be controlled according to the robot action control parameters at the control starting moment in time, so that the robot can maintain balanced motion in time, and then the robot is more balanced.
Fig. 3 is a schematic flowchart of a robot testing method provided in an embodiment of the present application, and as shown in fig. 3, the method may further include:
s301, acquiring state parameters of the robot, acquired by a sensor in the robot, in the motion process of the test platform according to the platform attitude control parameters.
In some embodiments, during the movement of the test platform according to the platform attitude control parameter, at least one sensor in the robot may acquire at least one state parameter of the robot in real time and send the at least one state parameter to the robot controller in real time, and the robot controller may receive the at least one state parameter.
And S302, determining third control information for the robot according to the state parameters.
In some embodiments, the robot controller may determine the third control information for the robot according to the state parameters using any one of a preset robot motion determination rule, a preset robot motion determination algorithm, and a preset robot motion determination model.
Of course, the robot controller may also determine third control information for the robot according to the state parameter according to the preset correspondence. The preset corresponding relation is used for representing the corresponding relation between the preset state parameter and the preset control information.
And S303, controlling the robot to perform balance maintaining movement according to the third control information of the robot.
It should be noted that, at the control start time, the robot is controlled to perform the balance maintaining motion according to the robot motion control parameter, so that the robot can perform the balance maintaining motion in time when the test platform starts to move. In the process of the movement of the test platform, third control information is generated according to the state parameters of the robot collected by the sensor, and the robot is controlled to maintain the balance movement, so that the robot can accurately maintain the balance movement in the whole rotating process of the test platform.
Optionally, the acquiring of the state parameters of the robot acquired by the sensor in the robot includes:
acquiring the acceleration information of the robot acquired by an acceleration sensor in the robot and/or acquiring the position information of the robot by a gyroscope, wherein the state parameters comprise: acceleration information and/or position information.
Wherein, the sensor can include: acceleration sensor, gyroscope, of course, may also include: a speed sensor, a displacement sensor, etc., which are not particularly limited by the embodiments of the present application.
In the embodiment of the present application, the state parameters include: acceleration information and/or position information, the state parameters only including: acceleration information, state parameters include only: the position information, or the state parameters, includes: acceleration information and position information.
Optionally, fig. 4 is a schematic flowchart of a robot testing method provided in an embodiment of the present application, and as shown in fig. 4, the process of determining the second control information for the robot according to the first control information in S202 may include:
s401 sets the control start time of the first control information as the control start time of the second control information.
And the control starting time in the first control information is the same as the control starting time in the second control information, so that the test platform and the robot start to move simultaneously.
S402, determining robot action control parameters in second control information according to platform attitude control parameters in the first control information by adopting a preset mapping relation.
The preset mapping relation is used for representing the mapping relation between the preset platform attitude control parameters and the preset robot action control parameters.
In some embodiments, the robot controller may determine a target preset platform attitude control parameter matching the platform attitude control parameter from among the preset platform attitude control parameters using a preset mapping relationship, and use a preset robot motion control parameter corresponding to the target preset platform attitude control parameter as the robot motion control parameter in the second control information.
Optionally, the step S203 of controlling the robot to perform the process of maintaining the balance motion according to the robot motion control parameter may include:
and sending a balance maintaining instruction to a motor corresponding to at least one part in the robot according to the robot action control parameters so as to enable the motor to work according to the balance maintaining instruction.
In a possible implementation mode, the robot controller sends a balance maintaining instruction to a motor corresponding to at least one part in the robot according to the robot action control parameters; the motor corresponding to at least one part can receive the balance maintaining instruction and work according to the balance maintaining instruction, and then the robot can realize balance maintaining motion.
It should be noted that the motor corresponding to at least one position may include a combination of at least one of the following: the motor that the arm corresponds, the motor that both hands correspond, the motor that both legs correspond, the motor that both feet correspond, the motor that the head corresponds, the motor that the neck corresponds, the motor that the waist corresponds.
Optionally, the platform attitude control parameters include: horizontal rotation control parameters and/or up-down floating control parameters.
Wherein the platform attitude control parameters may only include: a horizontal rotation control parameter; the platform attitude control parameters may also include only: up-down floating control parameters; the platform attitude control parameters may also include simultaneously: horizontal rotation control parameters and up-down floating control parameters.
In this application embodiment, the platform controller can send horizontal rotation control parameter to the platform motor, and the platform motor can receive horizontal rotation control parameter, and the platform motor can work according to horizontal rotation control parameter to realize test platform's horizontal rotation.
Of course, the platform controller can send the up-down floating control parameters to the platform motor, the platform motor can receive the up-down floating control parameters, and the platform motor can work according to the up-down floating control parameters so as to realize the up-down swing of the test platform.
Additionally, the pose of the test platform may include: a horizontal rotation attitude and/or a float-up attitude. That is, the test platform may rotate only horizontally, may swing only up and down, and may also swing up and down while rotating horizontally.
To sum up, the embodiment of the present application provides a robot testing method, before a platform controller controls a testing platform to move according to first control information, the robot controller may acquire second control information, and when the testing platform starts to move at a control start time, the robot may also be controlled according to robot action control parameters at the control start time in time, so that the robot maintains a balanced motion in time, and then the robot is more balanced. In the case of signal delay or signal interference of the robot sensor, balance display of the robot can still be completed.
The following describes a robot testing apparatus, a robot controller, a storage medium, and the like for executing the robot testing method provided by the present application, and for specific implementation processes and technical effects thereof, reference is made to relevant contents of the robot testing method, which are not described in detail below.
Fig. 5 is a schematic structural diagram of a robot testing apparatus according to an embodiment of the present application, where the apparatus is applied to a robot controller in a robot testing system, and the robot testing system further includes: a test platform on which a robot in which the robot controller is located is placed, as shown in fig. 5, the apparatus may include:
a receiving module 501, configured to receive first control information, which is sent by a platform controller in the test platform before controlling the test platform to move, for the test platform, where the first control information includes: controlling starting time and platform attitude control parameters;
a determining module 502 for determining second control information for the robot from the first control information, the second control information comprising: the control starting time and the robot action control parameters;
and a control module 503, configured to control the robot to perform a balance maintaining motion according to the robot motion control parameter at the control start time.
Optionally, the apparatus further comprises:
the acquisition module is used for acquiring the state parameters of the robot acquired by a sensor in the robot in the process that the test platform controls the parameter motion according to the platform attitude;
a first determination module for determining third control information for the robot according to the state parameters;
and the first control module is used for controlling the robot to perform balance maintaining movement according to the third control information of the robot.
Optionally, the first determining module is further configured to acquire acceleration information of the robot, which is acquired by an acceleration sensor in the robot, and/or acquire position information of the robot by using a gyroscope, where the state parameters include: the acceleration information and/or the position information.
Optionally, the determining module 502 is further configured to use the control starting time of the first control information as the control starting time of the second control information; and determining the robot action control parameters in the second control information according to the platform attitude control parameters in the first control information by adopting a preset mapping relation.
Optionally, the control module 503 is configured to send a balance maintaining instruction to a motor corresponding to at least one part in the robot according to the robot motion control parameter, so that the motor operates according to the balance maintaining instruction.
Optionally, the platform attitude control parameters include: horizontal rotation control parameters and/or up-down floating control parameters.
The above-mentioned apparatus is used for executing the method provided by the foregoing embodiment, and the implementation principle and technical effect are similar, which are not described herein again.
These above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), among others. For another example, when one of the above modules is implemented in the form of a Processing element scheduler code, the Processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. As another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
Fig. 6 is a schematic structural diagram of a robot controller according to an embodiment of the present disclosure, and as shown in fig. 6, the robot controller may include: a processor 601, a memory 602.
The memory 602 is used for storing programs, and the processor 601 calls the programs stored in the memory 602 to execute the above-mentioned method embodiments. The specific implementation and technical effects are similar, and are not described herein again.
Optionally, the invention also provides a program product, for example a computer-readable storage medium, comprising a program which, when being executed by a processor, is adapted to carry out the above-mentioned method embodiments.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one type of logical functional division, and other divisions may be realized in practice, for example, multiple 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, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer-readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A robot testing method is applied to a robot controller in a robot testing system, and the robot testing system further comprises: a test platform on which a robot in which the robot controller is located is placed, the method comprising:
receiving first control information aiming at the test platform, which is sent by a platform controller in the test platform before controlling the test platform to move, wherein the first control information comprises: controlling starting time and platform attitude control parameters;
determining second control information for the robot from the first control information, the second control information comprising: the control starting time and the robot action control parameters;
controlling the robot to perform balance maintaining motion according to the robot action control parameters at the control starting moment;
the determining second control information for the robot from the first control information comprises:
setting the control start time of the first control information as the control start time of the second control information;
and determining the robot action control parameters in the second control information according to the platform attitude control parameters in the first control information by adopting a preset mapping relation.
2. The method of claim 1, further comprising:
acquiring state parameters of the robot, which are acquired by a sensor in the robot, in the motion process of the test platform according to the platform attitude control parameters;
determining third control information for the robot according to the state parameters;
and controlling the robot to perform balance maintaining motion according to third control information of the robot.
3. The method of claim 2, wherein the obtaining of the state parameters of the robot collected by the sensors in the robot comprises:
acquiring the acceleration information of the robot acquired by an acceleration sensor in the robot, and/or acquiring the position information of the robot by a gyroscope, wherein the state parameters comprise: the acceleration information and/or the position information.
4. The method of claim 1, wherein controlling the robot to perform a maintenance balance motion in accordance with the robot motion control parameters comprises:
and sending a balance maintaining instruction to a motor corresponding to at least one part in the robot according to the robot action control parameters so as to enable the motor to work according to the balance maintaining instruction.
5. The method of any of claims 1 to 4, wherein the platform attitude control parameters comprise: horizontal rotation control parameters and/or up-down floating control parameters.
6. A testing device based on the robot testing method of any one of claims 1 to 5, wherein the testing device is applied to a robot controller in a robot testing system, and the robot testing system further comprises: a test platform on which a robot in which the robot controller is located is placed, the apparatus comprising:
a receiving module, configured to receive first control information, which is sent by a platform controller in the test platform before controlling the test platform to move, for the test platform, where the first control information includes: controlling starting time and platform attitude control parameters;
a determining module, configured to determine second control information for the robot, the control start time, and a robot motion control parameter according to the first control information;
and the control module is used for controlling the robot to perform balance maintaining motion according to the robot action control parameters at the control starting moment.
7. A robotic test system, comprising: the robot is placed on the test platform, and a robot controller in the robot is in communication connection with a platform controller in the test platform;
the robot controller is configured to perform the robot testing method of any of claims 1-5.
8. A robot controller, comprising: a memory storing a computer program executable by the processor, and a processor implementing the robot testing method of any of the above claims 1-5 when executing the computer program.
9. A storage medium having stored thereon a computer program which, when read and executed, implements the robot testing method of any of claims 1-5.
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