CN113686563B - Test method and system for robot rollover test - Google Patents
Test method and system for robot rollover test Download PDFInfo
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- CN113686563B CN113686563B CN202111021680.1A CN202111021680A CN113686563B CN 113686563 B CN113686563 B CN 113686563B CN 202111021680 A CN202111021680 A CN 202111021680A CN 113686563 B CN113686563 B CN 113686563B
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Abstract
The invention relates to the technical field of robots and discloses a test method and a test system for a rollover test of a robot. The invention has the beneficial effects of testing and analyzing the rollover performance of the robot, thereby selecting a reasonable use environment for the robot.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a test method and a test system for a robot rollover test.
Background
Along with the development of intelligent manufacturing, the robot field is rapidly developed, no standard exists for judging the performance of the robot at present, the standard is crucial to any industry, and no matter the technology is advanced or the market is expanded, standard and high-quality detection means are needed as support. Product demands of pipeline robots, inspection robots, detection robots, fire robots, mine-discharging robots, AGVs and the like in the current market are increasing, and if performance standards of the robots are inconsistent, the development of subsequent robot technologies is easy to cause unpredictable influence. Therefore, in the series of standard formulation, it is very important to comprehensively detect the running stability of the robot.
In the prior art, there are a method and a device for evaluating the movement performance of a robot, wherein a data acquisition device is adopted to acquire positions and angles in the movement process of the robot according to a preset data acquisition period, data points corresponding to each data acquisition period are determined, each data point is screened to screen a rest point and a movement point, the positioning performance of the robot is evaluated based on the positions and the angles of the rest points, and the navigation performance of the robot is evaluated based on the positions of the movement points, so that the positioning performance and the navigation performance of the robot are tested and evaluated; moreover, the assessment method can be suitable for long-time automatic testing of positioning accuracy and navigation accuracy in industrial application scenes, has high degree of automation, is simple and convenient to operate, and can greatly improve accuracy and reliability of positioning performance and navigation performance assessment of the robot.
Although the above-mentioned scheme can test and evaluate the positioning performance and the navigation performance of the robot during the movement process, the above-mentioned scheme is based on the research on the basis that the robot can stably and continuously move, and the scheme has not been considered for the performance test and evaluation of how the robot keeps stably moving, especially rollover during the movement or rotation process. Therefore, the performance research of the rollover of the robot is very important at present.
Disclosure of Invention
The invention aims to provide a test method for a robot rollover test, so as to solve the technical problem that rollover conditions are ambiguous in the running process of a robot at present.
In order to achieve the above purpose, the invention adopts the following technical scheme: the test method for the robot rollover test comprises the following steps:
Step S1, setting each item of the rollover test bed to be zero, setting a gate protection distance according to the size of the robot, running the robot into a rotating disc on a ramp, operating a following guardrail to a preset position and closing a gate;
Step S2, setting parameters of a ramp lifting device and parameters of a rotating disc, and starting a rollover test of the robot according to a preset test strategy;
step S21, after lifting the ramp to a preset gradient position, starting the rotating disk to rotate towards a preset angle position at a preset rotating speed, and if the robot is started to turn on the side or the rotating disk rotates to the preset angle position in the rotating process, switching on a gate protection switch, immediately stopping the operation of the rotating disk, and ending the side turning test;
Step S22, starting a rollover test, wherein the ramp starts to be lifted to a preset gradient position, and simultaneously the rotating disc starts to rotate towards a preset angle position at a preset rotating speed; if robot personnel turn on one's side in the ramp lifting process, the gate protection switch is switched on, lifting and rotating actions are stopped immediately, and the test is ended; if the ramp lifting is completed, in the rotating process of the rotating disc, the robot is started to turn on the side, the rotating disc immediately stops running, and the side turning test is finished;
And S3, after the rollover test is finished, resetting all the settings of the rollover test stand to zero, restoring the guardrail to an initial position, and opening a gate to take out the robot.
The principle and the advantages of the scheme are as follows: in practical application, the lifting angle of the ramp and the rotating speed of the rotating disk can be set manually, the rotating performance of the robot on the ramp with a certain gradient is tested, and whether the robot turns on one side in the rotating process is researched; and secondly, the rotation performance and the stability of the robot under the complex ramp condition can be tested by lifting and rotating the ramp gradient simultaneously, the rollover condition of the robot can be found according to experiments, the rollover condition of the robot is set in a program of the robot, and the rollover of the robot in the running process is avoided, so that property loss or larger safety accidents are caused.
Preferably, as an improvement, each setting of the rollover test stand is zeroed, the angle of the ramp is adjusted to the horizontal position, and parameter settings of the ramp lifting device and the rotating disk are cleared.
Before the test, the ramp is adjusted to be horizontal, the adaptability and the running stability of the test robot from the horizontal road surface to the ramp can be improved, parameters of the lifting device and the rotating disc can be manually cleared, the condition of each test is set up most recently, the condition repetition is avoided, the test difficulty is increased, and the test is stopped.
Preferably, as a modification, the preset position is a position at which the distance between the following guardrail and the robot is at a safe distance.
The following guardrail is arranged at a position with a safe distance from the robot, so that the robot can be protected when the robot turns on one side in the test process, and the loss is avoided; on the other hand, the operation data acquisition state of the robot in the test process can be acquired through the sensor arranged on the following guardrail, so that convenience is brought to the subsequent analysis of test results.
Preferably, as an improvement, the rollover test stand sends out a reminding signal when the robot rollover or the rotating disc stops rotating.
After the robot turns on one's side, the test bench of turning on one's side sends the warning signal and reminds the staff in time to right the robot or interrupt the test, avoids causing secondary damage to the robot. Meanwhile, when the rotating disc stops, the test is ended, the reminding signal can remind the staff to carry out the next work, and the waste of time resources is avoided.
Preferably, as a modification, step S2 further comprises,
Step S23, after lifting the ramp to a preset gradient position, starting the rotating disk to continuously rotate at a preset rotating speed, and if a robot is turned over by a person in the rotating process of the rotating disk, switching on a gate protection switch, immediately stopping rotating the rotating disk, and ending a side turning test;
step S24, after lifting the ramp to a preset gradient position, starting the rotating disk to rotate at a preset rotating speed, and if the robot does not turn over after the rotating disk rotates for three weeks, increasing the rotating disk speed step by step until the robot rotates over and the rotating disk stops rotating; if the robot is turned over in the process of rotating the rotating disc for three weeks, the gate protection switch is turned on, the rotating disc immediately stops rotating, then the rotating disc rotating speed is gradually reduced, and the rollover test is restarted until the robot is not turned over, and the rollover test is ended;
Step S25, starting a rollover test, wherein the ramp starts to randomly perform lifting or descending actions within a preset gradient position range, and simultaneously sets the rotating speed range of the rotating disc, and enables the rotating disc to start to periodically rotate at an initial rotating speed; if the robot turns on the side in the ramp lifting process, the gate protection switch is turned on, lifting and rotating actions are stopped immediately, the current angle position of the ramp is fixed, the rotating speed of the rotating disc is reduced, and the test is continued until the robot does not turn on the side; and repeating the steps to enable the angle of the ramp to be changed continuously until the ramp is lifted to the maximum angle position or the speed of the rotating disc is reduced to the minimum rotating speed, and ending the rollover test.
Through the step S23, the stability of the robot in the period rotation process of the rotating disc can be tested to provide more comprehensive operation data about the robot, so that improvement of defects of later designers on the robot and selection of application scenes of the robot by users are facilitated, for example, 360-degree turning can be involved in the operation process of the robot in most of the time;
Step S24, the rotation speed of the robot can be tested by controlling the variable of the lifting angle of the ramp, and the limit speed of the robot at the current ramp angle position in a rollover manner is tested by gradually increasing or decreasing the rotation speed of the rotating disc from the current random rotation speed, so that a worker can set the rotation speed range value of the robot in the running program of the robot;
Step S25 improves the complexity of a robot rollover test scene, and tests the robot in an omnibearing way by changing the gradient of the ramp and the rotating speed of the rotating disk simultaneously, so that the rollover condition of the robot under each gradient and each rotating speed is tested, a worker can set gradient and rotating speed comparison values of the robot operation in a robot operation program, the robot can adapt to the random change of an application scene, and the intelligence of the robot is improved.
Preferably, as a modification, the preset gradient is in the range of 0-60 degrees; the preset angle range is 0-360 degrees.
The gradient range is set in the range of 0-60 degrees, the robot is more similar to the scene that the robot can face in the actual use process, the actual and omnibearing gradient rollover test can be carried out on the robot, the rollover conditions of the robot under different gradients are tested, the overall performance of the robot is more clearly known, meanwhile, the preset angle range of the rotating disc is 0-360 degrees, all rotation angle conditions of the robot in the actual use process can be actually simulated, the circumference rotation and the fixed angle rotation are included, the test surface is more comprehensive, the corresponding test result has more reference value, and the rollover performance of the robot is accurately evaluated and judged.
Preferably, as a modification, the rotational speed is in the range of 20-40 revolutions per minute.
The actual conditions of the robot are combined, and the robot is heavy under most conditions, so that the rotating speed of the robot cannot be too high, the rotating speed range of the rotating disc is set to be 20-40 revolutions per minute, the rollover test of the robot in the rotating process can be more similar to the actual running state of the robot, and the tested data is more representative.
Preferably, as an improvement, when the rotating disk is stopped, current rotating disk angle information, ramp angle information, and rotating disk rotation speed are recorded.
The rotating disc stops, current rotating disc angle information, ramp angle information and rotating disc rotating speed are recorded, so that the follow-up comprehensive analysis of the running process of the robot is facilitated, the critical condition that the robot sends side turning is set, and the value of the robot is maximized.
Preferably, as an improvement, an auxiliary rod is arranged on the following guardrail; the auxiliary rod is used for righting the robot after the robot turns on one's side.
The auxiliary rod is arranged on the following guardrail, after the robot turns over, the guardrail can perform primary protection on the robot, the robot is prevented from being damaged due to falling off due to side turning over, the robot is straightened by the auxiliary rod, the robot returns to the running state again, and the manual recovery of the robot is avoided, so that the test workload is increased.
The invention also provides a test system for the robot rollover test, which comprises a processor, and a memory, a controller, a power device, a reminding device and a rollover test stand which are respectively connected with the processor;
The processor is used for carrying out multiple rollover tests on the robot according to a preset test strategy;
a memory for storing a computer program for a test strategy for a robot rollover test;
the controller is used for setting the parameters of the test system and inputting the test control command;
the power device is used for providing power for the operation of the rollover test stand;
the reminding device is used for sending a reminding signal when the robot turns on one's side or the rotating disk stops;
the rollover test bed is used for providing a test field and a judgment basis for rollover performance test of the robot.
The test system has the advantages that the program operated by the robot and the program used by the test method are stored through the memory, and meanwhile, the operation of the robot and the test can be manually or automatically controlled through the controller; in the test process, test data are collected through the collecting device so as to comprehensively analyze the test in the later period, and meanwhile, the power device provides power for the change of the gradient of the ramp and the rotation of the rotating disc, so that the orderly performance of the test is ensured; if the robot turns on one's side or the test ends in the test process, a reminding signal is sent out through a reminding device, so that resource waste is avoided; the most important processor is responsible for processing a series of data and program commands in the test process, so that the whole test is completely and planned to be carried out, and finally the expected test effect is achieved.
Drawings
FIG. 1 is a schematic diagram of a test flow of a first embodiment of a method and system for robot rollover testing according to the present invention.
FIG. 2 is a schematic diagram of a system according to one embodiment of the present invention for a robot rollover test.
FIG. 3 is a schematic diagram of a side-tipping test stand for an embodiment of the method and system for testing robot side tipping according to the present invention.
Detailed Description
The following is a further detailed description of the embodiments:
The labels in the drawings of this specification include: the device comprises a processor 1, a memory 2, a controller 3, a power device 4, a reminding device 5, a rollover test stand 6, a rotating disc 7 and a ramp 8.
Embodiment one:
This embodiment is basically as shown in fig. 2: a test system for a robot rollover test comprises a processor 1, a memory 2, a controller 3, a power device 4, a reminding device 5 and a rollover test stand 6, wherein the memory 2, the controller 3, the power device 4 and the reminding device 5 are respectively connected with the processor 1, and the rollover test stand 6 is in wireless connection with the processor 1.
The processor 1 is specifically a central control PLC and is used for controlling the running states of the robot, the power device 4, the reminding device 5 and the rollover test stand 6;
the memory 2 is used for storing the computer program of the test strategy of the rollover test of the robot;
the controller 3 comprises a touch display screen, is used for inputting control commands to the test system and sending the control commands to the processor 1;
the power device 4 comprises a lifting servo motor and a rotating servo motor and is used for providing power for the rollover test bed 6 to change the gradient and the rotating disk 7 to rotate so as to enable the robot to perform rollover test on the test bed;
The reminding device 5 comprises an LED lamp and a loudspeaker, and is used for sending out a reminding signal when the robot turns on one's side or the rotating disk 7 stops rotating;
As shown in fig. 3, the rollover test stand 6 comprises a ramp 8 with a changeable gradient and a protective gate which is arranged on the ramp 8, can move in the advancing direction of the ramp 8 and has an adjustable height, the height of the protective gate can be adjusted at any time according to the height of the mobile robot to be tested, and a rotating disk 7 is arranged on the ramp. The rollover test stand 6 is used for providing a test field and a judgment basis for rollover performance test of the robot.
The test method for the robot rollover test, as shown in fig. 1, comprises the following steps:
Step S1, setting each item of the rollover test stand 6 to zero, adjusting the angle of the ramp 8 to a horizontal position, clearing parameter settings of a lifting device of the ramp 8 and the rotating disc 7, setting a gate protection distance according to the size of a robot, manually operating the robot into the rotating disc 7 on the ramp 8, manually operating the robot to follow the guardrail to a preset position and manually closing the gate;
Step S2, setting the preset gradient of the ramp 8 to be 30 degrees, setting the preset rotation speed of the rotating disc 7 to be 20 revolutions per minute, starting a rollover test of the robot according to a preset test strategy,
Step S21, after lifting the ramp 8 to a preset gradient position, starting the rotating disk 7 to rotate towards a preset angle position at a preset rotating speed, and if the robot is turned on by the human during the rotation or the rotating disk 7 rotates to the preset angle position, switching on a gate protection switch, immediately stopping the operation of the rotating disk 7, and ending the side turning test;
Step S22, starting a rollover test, wherein the ramp 8 starts to be lifted to a preset gradient position, and simultaneously the rotating disc 7 starts to rotate towards a preset angle position at a preset rotating speed; if robot personnel turn on one's side in the lifting process of the ramp 8, the gate protection switch is turned on, lifting and rotating actions are stopped immediately, and the test is ended; if the ramp 8 is lifted, during the rotation process of the rotating disc 7, the robot is turned over, the gate protection switch is switched on, the rotating disc 7 immediately stops running, and the side turning test is finished;
and S3, after the rollover test is finished, resetting all settings of the rollover test stand 6 to zero, restoring the guardrail to an initial position, and opening a gate to take out the robot.
In this embodiment, the width of the ramp 8 is 1.5 times the diameter of the rotating disk 7, the diameter of the rotating disk 7 is 5 times the diameter of the bottom of the robot, and the height of the guard gate is 2 times the height of the robot.
Manually setting the lifting angle of the ramp 8 and the rotating speed of the rotating disc 7, testing the rotating performance and the running stability of the robot on the ramp 8, and researching whether the robot turns over in the rotating process; and secondly, the rotation performance and the stability of the robot under variable conditions can be further tested by lifting and rotating the gradient of the ramp 8, finally, the rollover conditions of the robot are mastered according to test data, and relevant settings are carried out in the running program of the robot, so that the rollover of the robot in the running process is avoided to cause loss, meanwhile, the application capability of the robot in different scenes can be improved through tests, the performance of the robot is enhanced, and the application rate of the robot is improved.
The specific implementation process of this embodiment is as follows:
Firstly, switching on and starting a power supply of the rollover test stand 6, resetting all settings of the rollover test stand 6 to zero, adjusting the angle of the ramp 8 to a horizontal position, clearing parameter settings of a lifting device of the ramp 8 and the rotating disc 7, setting a gate protection distance to be 10 cm according to the diameter of the bottom of the robot, inputting a control command through a touch display screen, running the robot to the central position of the rotating disc 7 on the ramp 8, manually operating a following guardrail through the touch display screen, enabling the distance between the following guardrail and the robot to be a safe distance of 10 cm, and finally manually closing the gate.
And secondly, setting the preset gradient of the ramp 8 to be 30 degrees on the touch display screen, setting the running mode of the lifting device to be automatic, setting the lifting speed to be 1 degree/second, setting the rotating speed of the rotating disk 7 to be 20 revolutions per minute, and starting to perform a rollover test on the robot after the setting is completed.
Thirdly, manually controlling the ramp 8 to be lifted to a position of 30 degrees through a touch display screen, starting the rotating disc 7, and starting the rotating disc 7 to rotate clockwise towards a preset position of 90 degrees at a rotating speed of 20 revolutions per minute; if robot personnel turn on one's side or the rotary disk 7 rotates to a preset 90-degree position in the rotating process, the gate protection switch is turned on, and the rotary disk 7 immediately stops running; the LED light flashes, and the loudspeaker emits sound to make a prompt; and (3) finishing the rollover test, and automatically recording the current angle position of the rotating disc 7, the angle of the ramp 8 and the rotating speed of the rotating disc 7 by the system.
Fourth, after the rollover test is finished, each item of the rollover test stand 6 is reset to zero, the guardrail is restored to the initial position, the gate is opened to take out the robot, and the power supply of the rollover test stand 6 is cut off.
The existing market generally comprises the aspects of positioning, navigation, home service and the like of the used robots, the specific application condition of the robots generally relates to the rotation action of the robots, the specific performance of the robots when rotating is performed, no deep study is performed by a robot developer or a manufacturer for technical problems or cost problems, only the robot can provide the function, the rollover performance study of the robots is not important, and in the specific application scene, even if rollover occurs, a user can right in time. Therefore, the research of the rollover performance of the robot is unexpected, the rotation condition and rollover condition of the robot on the flat ground or the ramp can be known through the performance test, and therefore the performance of the robot is improved from the running program of the robot through analysis and processing, the user experience of the robot is ensured, the damage caused by rollover of the robot can be avoided, and economic loss is caused for a user.
Embodiment two:
This embodiment is basically the same as embodiment one, except that: the rollover test mode of the robot is that the ramp 8 is lifted and started simultaneously with the rotation of the rotating disc 7.
Through adopting different test modes of turning on one's side, add a variable again on the experimental basis of last example, through making rotary disk 7 and ramp 8 promote the action simultaneously, make the test environment of robot become more complicated, carry out further test to the robot of turning on one's side, can be with the performance ground of preventing turning on one's side of robot more perfect.
The implementation process of this embodiment is the same as that of the first embodiment, except that:
Thirdly, starting a rollover test, wherein the ramp 8 starts to lift to a preset 30-degree position at a speed of 1 degree/second, and simultaneously the rotating disc 7 starts to rotate clockwise to a preset 90-degree position at a rotating speed of 20 revolutions/minute; if robot personnel turn on one's side in the lifting process of the ramp 8, the gate protection switch is turned on, lifting and rotating actions are stopped immediately, and the test is ended; if the ramp 8 is lifted, in the rotating process of the rotating disc 7, robot personnel turn on the side, the gate protection switch is turned on, the rotating disc 7 immediately stops running, the side turning test is finished, the LED light flashes, and meanwhile, the loudspeaker emits sound to make a prompt, and the system automatically records the current angle position of the rotating disc 7, the angle size of the ramp 8 and the rotating speed of the rotating disc 7.
The environmental factors for testing the rollover performance of the robot are increased, so that the rollover performance of the robot can be tested under the condition that the ramp is dynamically changed, and the rollover performance upper limit of the robot can be tested, so that the analysis and research of the robot are more thorough and comprehensive.
Embodiment III:
This embodiment is basically the same as embodiment one, except that: firstly lifting the ramp 8 to a preset gradient position, then starting the rotating disc 7, enabling the rotating disc 7 to continuously rotate at a preset rotating speed, and finally ending the test by using the robot to turn over.
Basically in the first embodiment, by setting the rotating disc 7 to different rotation modes, changing the rotation mode to a test mode in which the rotating disc 7 is set with a fixed rotation angle position, setting the rotating disc 7 to a continuous uniform rotation mode, and testing the rollover prevention capability and the operation stability of the robot under the continuous rotation condition, the comprehensive performance of the robot can be conveniently and accurately evaluated.
The implementation process of this embodiment is the same as that of the first embodiment, except that:
Thirdly, manually controlling the ramp 8 to be lifted to a position of 30 degrees through a touch display screen, starting the rotating disc 7, and starting the rotating disc 7 to rotate continuously at a constant speed clockwise at a rotating speed of 20 revolutions per minute; if robot personnel turn on one's side in the rotatory in-process of rotary disk 7, then gate protection switch on, rotary disk 7 stop rotatory immediately, and the test of turning on one's side ends, and LED light glimmers, and the speaker makes the warning simultaneously, and the system is automatic to be recorded current rotary disk 7 angular position, ramp 8 angular size and rotary disk 7's rotational speed.
The rotation rollover condition of the robot on the fixed ramp is tested, and the specific performance of the robot in the use process on the actual ramp is simulated, so that the test result has more referential property and realizability.
Embodiment four:
This embodiment is substantially the same as embodiment three except that: setting the initial rotating speed of the rotating disc 7 to be 40 revolutions per minute, setting the rotating speed range to be 20 revolutions per minute to 60 revolutions per minute, setting the rotating mode of the rotating disc 7 to rotate for three weeks at the current rotating speed, and if the robot does not turn over, gradually increasing the rotating speed of 2 revolutions per minute each time to continue testing until the robot is turned over; if the robot is caused to turn on its side, the rotary disk 7 stops rotating.
The robot is subjected to a side-turning limit rotation speed test, in the rotation speed range of the rotating disc 7, a middle value is selected to start the side-turning test by referring to a middle value method in mathematics, the rotation speed is increased or reduced from the middle value, the judging process can be reduced, the test time is saved, meanwhile, the test conditions can be graded and layered, the subsequent analysis of the test data is facilitated, the side-turning limit rotation speed of the robot can be finally obtained, and the limitation can be performed in the operation program of the robot, so that the side-turning of the robot due to the exceeding of the speed in the actual operation process at the later stage is prevented, and loss or accidents are caused.
The specific implementation process of the embodiment is the same as that of the embodiment, and the difference is that:
Setting the preset gradient of the ramp 8 to be 30 degrees on the touch display screen, setting the running mode of the lifting device to be automatic, setting the lifting speed to be 1 degree/second, setting the rotating speed of the rotating disk 7 to be 40 revolutions per minute, setting the rotating speed range to be 20 revolutions per minute to 60 revolutions per minute, rotating the rotating disk 7 for three weeks at the current rotating speed, if the robot does not turn on one's side, continuously testing by gradually increasing the rotating speed of 2 revolutions per minute each time, and starting to turn on one's side of the robot after the setting is completed.
Thirdly, manually controlling the ramp 8 to be lifted to a position of 30 degrees through a touch display screen, starting the rotating disc 7, and starting the rotating disc 7 to rotate continuously at a constant speed clockwise at a rotation speed of 40 revolutions per minute; if the robot does not turn over after the rotating disc 7 rotates for three weeks, the rotating speed of 2 revolutions per minute is gradually increased each time to continue the test until the robot is turned over, if the robot turns over, the LED light flashes, and meanwhile, the loudspeaker sends out a sound to remind; if the robot rotates for three weeks at the rotating speed of 40 revolutions per minute, the gate protection switch is turned on, the rotating disc 7 immediately stops rotating, the rotating speed of 2 revolutions per minute is manually reduced step by step, the rollover test is restarted until the robot does not rollover, the rollover test is ended, and the system automatically records data such as the rotating number of revolutions of the rotating disc 7, the angle of the ramp 8, the rotating speed of the rotating disc 7 and the like in the testing process.
Through constantly changing the rotational speed of rotary disk, test out the extreme speed that the robot takes place to turn on one's side under current environment, can make the restriction to the rotational speed of robot according to the test result, avoid the robot to turn on one's side because of the too fast emergence of speed in the in-service use and cause the damage.
Fifth embodiment:
This embodiment is basically the same as embodiment one, except that: the gradient lifting of the ramp 8 is set to be in a random mode, an initial speed is set for the rotating disk 7 in a rollover test of the robot, then the gradient is randomly changed, and meanwhile the limit rotation speed of the robot rollover under different gradients is tested.
The variable conditions of the robot rollover test are increased by continuously changing the gradient and the rotating speed of the rotating disc 7, the rollover condition of the robot under each gradient and the comparison condition of the rotating speed of the rotating disc 7 are tested, and the comparison relation between the gradient and the rotating speed is established, so that different rotating speed programs under different gradients can be set for the robot through the background, the robot can be ensured to be self-adaptive to more application scenes, and the running efficiency and the intelligent degree of the robot are improved under the condition of ensuring that rollover does not occur.
The implementation process of this embodiment is the same as that of the first embodiment, except that:
And secondly, setting the gradient lifting of the ramp 8 to be in a random mode on the touch display screen, setting the gradient lifting amount to be 1 degree for each lifting, setting the initial rotation speed of the rotating disk 7 to be 20 revolutions per minute, and starting to perform a rollover test on the robot after the setting is completed.
Thirdly, starting a rollover test, controlling the ramp 8 to be lifted step by step within a preset gradient range of 0-60 degrees, simultaneously controlling the rotating speed of the rotating disk 7 to be lifted step by step within a rotating speed range of 20-60 revolutions per minute, starting periodic rotation of the rotating disk 7 at an initial rotating speed of 20 revolutions per minute and lifting the rotating speed step by step, if the robot is started to roll over during lifting of the ramp 8, turning on a gate protection switch, immediately stopping lifting and rotating actions, flashing LED light, and simultaneously making a sound by a loudspeaker; then fixing the ramp 8 at the current gradient position, reducing the rotating speed of the rotating disk 7, and continuing the test until the robot does not turn over; and repeating the steps to continuously increase the gradient of the ramp 8 until the ramp 8 is lifted until the robot naturally slides down when being placed on the rotating disc 7, or the speed of the rotating disc 7 is reduced to the minimum rotating speed, and ending the rollover test.
The limit ramp angle of the robot in the rotation speed range is tested, so that qualified ramps are selected and used when the robot is practically applied subsequently, and the robot is prevented from being turned over due to overlarge ramps.
Example six:
This embodiment is basically the same as embodiment one, except that: be equipped with the auxiliary rod on following the guardrail, can right the robot after the robot takes place to turn on one's side, avoid the robot to turn on one's side and damage on ramp 8, can also reduce the operation of manual work righting simultaneously, improve the efficiency of test of turning on one's side.
Through adding an auxiliary rod on following the guardrail, not only can play the effect of resisting the support when the robot takes place to turn on one's side, thereby avoid the robot to fall on ramp 8 and appear the circumstances of damaging, simultaneously after the robot turns on one's side, this test of turning on one's side is corresponding also ended, but follow-up perhaps also the test of turning on one's side of other conditions, so direct through the auxiliary rod with the robot right, can go to carry out the test of turning on one's side next time soon, avoid the manual work to right the robot, cause the waste of time and reduce the efficiency of test, also make whole test of turning on one's side more intelligent.
The implementation process of this embodiment is the same as that of the first embodiment, except that:
Thirdly, manually controlling the ramp 8 to be lifted to a position of 30 degrees through a touch display screen, starting the rotating disc 7, and starting the rotating disc 7 to rotate clockwise towards a preset position of 90 degrees at a rotating speed of 20 revolutions per minute; if the rotating disc 7 smoothly rotates to a preset 90-degree position and the robot does not turn over, the turning over test is ended; if robot personnel turn on one's side in the rotation process, the gate protection switch is switched on, the rotating disk 7 stops running immediately, the test of turning on one's side ends, LED light flashes, the loudspeaker makes the sound to make the reminder at the same time; the robot of turning on one's side is right automatically to auxiliary rod on following the guardrail, avoids the robot to damage by accident, and the current rotary disk 7 angular position of system automatic recording, ramp 8 angular size and rotary disk 7's rotational speed.
The foregoing is merely exemplary of the present application, and specific technical solutions and/or features that are well known in the art have not been described in detail herein. It should be noted that, for those skilled in the art, several variations and modifications can be made without departing from the technical solution of the present application, and these should also be regarded as the protection scope of the present application, which does not affect the effect of the implementation of the present application and the practical applicability of the patent. The protection scope of the present application is subject to the content of the claims, and the description of the specific embodiments and the like in the specification can be used for explaining the content of the claims.
Claims (8)
1. The test method for the robot rollover test is characterized by comprising the following steps of:
Step S1, setting each item of the rollover test bed to be zero, setting a gate protection distance according to the size of the robot, running the robot into a rotating disc on a ramp, operating a following guardrail to a preset position and closing a gate;
Step S2, setting parameters of a ramp lifting device and parameters of a rotating disc, and starting a rollover test of the robot according to a preset test strategy;
step S21, after lifting the ramp to a preset gradient position, starting the rotating disk to rotate towards a preset angle position at a preset rotating speed, and if the robot is started to turn on the side or the rotating disk rotates to the preset angle position in the rotating process, switching on a gate protection switch, immediately stopping the operation of the rotating disk, and ending the side turning test;
Step S22, starting a rollover test, wherein the ramp starts to be lifted to a preset gradient position, and simultaneously the rotating disc starts to rotate towards a preset angle position at a preset rotating speed; if robot personnel turn on one's side in the ramp lifting process, the gate protection switch is switched on, lifting and rotating actions are stopped immediately, and the test is ended; if the ramp lifting is completed, in the rotating process of the rotating disc, the robot is started to turn on the side, the rotating disc immediately stops running, and the side turning test is finished;
Step S23, after lifting the ramp to a preset gradient position, starting the rotating disk to continuously rotate at a preset rotating speed, and if a robot is turned over by a person in the rotating process of the rotating disk, switching on a gate protection switch, immediately stopping rotating the rotating disk, and ending a side turning test;
step S24, after lifting the ramp to a preset gradient position, starting the rotating disk to rotate at a preset rotating speed, and if the robot does not turn over after the rotating disk rotates for three weeks, continuously testing by gradually increasing the rotating speed of 2 revolutions per minute each time until the robot rotates over and the rotating disk stops rotating; if the robot is turned over in the process of rotating the rotating disc for three weeks, the gate protection switch is turned on, the rotating disc immediately stops rotating, then the rotating speed of 2 revolutions per minute is manually reduced step by step, and the turning-over test is restarted until the robot is not turned over, and the turning-over test is ended;
Step S25, starting a rollover test, controlling the ramp to be lifted step by step in a preset gradient range, simultaneously controlling the rotating speed of the rotating disc to be lifted step by step in a rotating speed range, setting an initial rotating speed for the rotating disc to start periodic rotation, if a robot is in rollover during the lifting process of the ramp, switching on a gate protection switch, immediately stopping lifting and rotating actions, fixing the ramp at a current gradient position, and reducing the rotating speed of the rotating disc to continue the test until the robot is not in rollover; repeating the steps until the slope is lifted to a position where the robot naturally slides down when placed on the rotating disk or the rotating disk speed is reduced to the lowest rotating speed, and ending the rollover test;
S3, after the rollover test is finished, setting each item of the rollover test stand to zero, restoring the guardrail to an initial position, and opening a gate to take out the robot;
an auxiliary rod is arranged on the following guardrail; the auxiliary rod is used for righting the robot after the robot turns on one's side.
2. The test method for a robot rollover test of claim 1, wherein: and setting all the side-turning test bed to zero, adjusting the angle of the ramp to a horizontal position, and clearing parameter settings of the ramp lifting device and the rotating disc.
3. The test method for a robot rollover test of claim 1, wherein: the preset position is a position at which the distance between the following guardrail and the robot is a safe distance.
4. The test method for a robot rollover test of claim 1, wherein: when the robot turns over or the rotating disc stops rotating, the turning over test bed sends out a reminding signal.
5. The test method for a robot rollover test of claim 1, wherein: the preset gradient range is 0-60 degrees; the preset angle range is 0-360 degrees.
6. The test method for a robot rollover test of claim 1, wherein: the rotation speed ranges from 20 to 60 revolutions per minute.
7. A test method for a robot rollover test as recited in any one of claims 1-6, wherein: and when the rotating disc stops, recording the current rotating disc angle information, the ramp angle information and the rotating speed of the rotating disc.
8. A test system for robot test of turning on one's side, its characterized in that: a test method for a robot rollover test as recited in any one of claims 1 to 7, comprising a processor, and a memory, a controller, a power device, a reminding device and a rollover test stand which are respectively connected with the processor;
the processor is used for carrying out multiple rollover tests on the robot according to a preset test strategy;
The memory is used for storing a computer program of a test strategy for the robot rollover test;
The controller is used for setting parameters of the test system and inputting test control commands;
the power device is used for providing power for the operation of the rollover test stand;
The reminding device is used for sending a reminding signal when the robot turns on one's side or the rotating disk stops;
The rollover test stand is used for providing a test field and a judgment basis for rollover performance test of the robot.
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