CN114559467A - Robot climbing performance testing method and system and testing controller - Google Patents
Robot climbing performance testing method and system and testing controller Download PDFInfo
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- CN114559467A CN114559467A CN202210169776.0A CN202210169776A CN114559467A CN 114559467 A CN114559467 A CN 114559467A CN 202210169776 A CN202210169776 A CN 202210169776A CN 114559467 A CN114559467 A CN 114559467A
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- 230000009194 climbing Effects 0.000 title claims abstract description 171
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Abstract
The invention discloses a method and a system for testing climbing performance of a robot and a test controller. The climbing performance test method of the robot comprises the following steps: acquiring a climbing angle input by input equipment, adjusting the slope angle of a slope component into the climbing angle, and controlling the height of the plane of a plane component to be consistent with the height of the slope; acquiring a gap parameter input by input equipment and controlling a driving assembly to drive a plane assembly to move on a guide rail according to the gap parameter so that the gap distance between the plane of the plane assembly and a slope is the distance corresponding to the gap parameter; acquiring robot running parameters input by input equipment and preset running paths on a slope and a plane, and controlling the robot to run on the preset running paths according to the running parameters; the driving state of the robot during driving is detected and driving state information is generated, and the climbing performance of the robot is determined according to the driving state information. The invention improves the integrity and the accuracy of the climbing performance test of the robot.
Description
Technical Field
The invention relates to the technical field of robot testing, in particular to a method and a system for testing climbing performance of a robot and a test controller.
Background
With the increase of manpower cost, a trend is formed for replacing manpower by a robot. Particularly in the catering industry, a plurality of restaurants or hotels adopt robots to replace manpower to serve meals. In the process of sending meals by using the robot, the climbing capability of the robot is closely related to the working reliability of the robot, and if the climbing capability is not enough, the condition that the robot cannot climb or is blocked on a slope is easily caused. Therefore, it is very necessary to formulate a climbing test of the robot to evaluate the climbing performance of the robot.
Disclosure of Invention
The invention mainly aims to provide a method and a system for testing the climbing performance of a robot and a test controller, aiming at improving the integrity and the accuracy of the climbing performance test of the robot.
In order to achieve the purpose, the invention provides a robot climbing performance testing method which is applied to a robot climbing performance testing system, wherein the robot climbing performance testing system comprises input equipment, a testing controller, a driving assembly, a guide rail, a slope assembly, a communication assembly and a plane assembly; the test controller is electrically connected with the input device, the communication assembly, the driving assembly, the slope assembly and the plane assembly respectively; the ramp component is configured to set a ramp angle of a ramp by the test controller, the planar component is configured to set a height of a plane by the test controller; the slope assembly is fixedly arranged at one end of the guide rail, and the plane assembly is driven by the driving assembly to move on the guide rail; the communication component is used for being in communication connection with the robot;
the climbing performance test method of the robot comprises the following steps:
acquiring a climbing angle input by the input equipment, adjusting the slope angle of the slope component into the climbing angle, and controlling the height of the plane component to be consistent with the height of the slope;
acquiring a gap parameter input by the input equipment, and controlling a driving assembly to drive the plane assembly to move on the guide rail according to the gap parameter so as to enable the gap distance between the plane of the plane assembly and the slope to be a distance corresponding to the gap parameter;
acquiring the robot driving parameters input by the input equipment and a preset driving path on the slope and the plane, and controlling the robot to drive on the preset driving path according to the driving parameters;
the method comprises the steps of detecting the driving state of the robot in the driving process, generating driving state information, and determining the climbing performance of the robot according to the driving state information.
Optionally, the driving parameter is a moving speed of the robot.
Optionally, the acquiring the robot driving parameters input by the input device and the preset driving paths on the slope and the plane includes:
and acquiring a preset driving path planned by the input equipment and the moving speed on the preset driving path, wherein the preset driving path is that after climbing up a slope and reaching a plane according to a curve route from an initial position, the preset driving path moves down the slope and returns to the initial position according to the curve route.
Optionally, the robot climbing performance testing system further includes an image sensing and identifying component electrically connected to the test controller;
the method for detecting the driving state of the robot in the driving process, generating driving state information and determining the climbing performance of the robot according to the driving state information comprises the following steps:
shooting image information of robot running in the running process;
identifying the image information, determining a driving route of the robot, and comparing the driving route with the preset driving path;
if the driving route is inconsistent with the preset driving path, determining that the climbing performance of the robot is unqualified;
and if the driving route is consistent with the preset driving path, determining that the climbing performance of the robot is qualified.
Optionally, before detecting a driving state of the robot during driving, generating driving state information, and determining the climbing performance of the robot according to the driving state information, the method for testing the climbing performance of the robot further includes:
acquiring a pause distance and pause time input by the input equipment;
the method comprises the steps that the running distance of the robot is obtained, when the running distance of the robot reaches a pause distance, the robot is controlled to stop moving for a pause time duration, wherein the position where the robot stops moving is located on a slope;
accordingly, the detecting a driving state of the robot during driving, generating driving state information, and determining climbing performance of the robot according to the driving state information includes:
acquiring the inclination information of the robot in a stop moving state;
determining the maximum inclination angle of the robot in a stop moving state according to the inclination information;
and if the maximum inclination angle exceeds the preset dangerous inclination angle, determining that the climbing performance of the robot is unqualified.
Optionally, the detecting a driving state of the robot during driving, generating driving state information, and determining the climbing performance of the robot according to the driving state information further includes:
shooting image information of the robot in the moving stop state;
identifying the image information and determining the landslide distance of the robot;
comparing the landslide distance with a preset landslide distance;
if the landslide distance is greater than or equal to the preset landslide distance, determining that the climbing performance of the robot is unqualified;
and if the landslide distance is smaller than the preset landslide distance, determining that the climbing performance of the robot is qualified.
Optionally, the robot climbing performance testing system further comprises a charging pile, and a pile loading position of the charging pile is arranged at an initial position of the preset driving path;
the acquiring the robot driving parameters input by the input device and the preset driving path on the slope and the plane, and controlling the robot to drive on the preset driving path according to the driving parameters includes:
acquiring a preset driving path planned by the input equipment and a moving speed on the preset driving path, wherein the moving speed comprises a plurality of speed gears, and the preset driving path is formed by climbing up a slope and reaching a plane from an initial position according to a preset route, then moving down the slope and returning to the initial position from the plane according to the preset route;
the control robot drives on a preset driving path according to the plurality of speed gears and each speed gear in sequence, and is in butt joint with the upper pile of the charging pile after driving is completed each time;
and determining the climbing performance of the robot according to the successful times of pile-up butt joint and/or the required time for successful pile-up butt joint.
The invention also provides a test controller, comprising:
a memory;
a processor; and
a robot climbing performance testing program stored on the memory and executed by the processor, the robot climbing performance testing program, when executed by the processor, implementing the robot climbing performance testing method as in any one of the above.
The invention also provides a system for testing the climbing performance of the robot, which comprises:
the device comprises an input device, a charging pile, a communication component, an image sensing and identifying component, a driving component, a guide rail, a slope component, a plane component and the test controller;
the test controller is electrically connected with the communication component, the image sensing and identifying component, the driving component, the slope component and the plane component respectively; the ramp component is configured to set a ramp angle of a ramp by the test controller, the planar component is configured to set a height of a plane by the test controller; the slope assembly is fixedly arranged at one end of the guide rail, and the plane assembly is driven by the driving assembly to move on the guide rail; the communication component is used for being in communication connection with the robot.
Optionally, the slope of the slope component and the plane of the plane component are made of different materials.
In the technical scheme of the invention, a climbing angle input by input equipment is firstly obtained, the slope angle of a slope component is adjusted to be the climbing angle, and the height of the plane of a plane component is controlled to be consistent with the height of the slope; then acquiring a gap parameter input by input equipment, and controlling the driving assembly to drive the plane assembly to move on the guide rail according to the gap parameter so as to enable the gap distance between the plane of the plane assembly and the slope to be a distance corresponding to the gap parameter; acquiring the robot driving parameters input by the input equipment and preset driving paths on a slope and a plane, and controlling the robot to drive on the preset driving paths according to the driving parameters; and finally, detecting the driving state of the robot in the driving process, generating driving state information, and determining the climbing performance of the robot according to the driving state information. Therefore, in practical application, research personnel and testers can simulate the scene that the robot needs to work according to actual requirements, and the climbing performance of the robot is tested, so that the integrity and the accuracy of the climbing performance test of the robot are effectively improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a flowchart illustrating steps of a method for testing climbing performance of a robot according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating steps of a method for testing climbing performance of a robot according to another embodiment of the present invention;
FIG. 3 is a flowchart illustrating steps of a method for testing climbing performance of a robot according to another embodiment of the present invention;
FIG. 4 is a flowchart of method steps of a method for testing climbing performance of a robot according to yet another embodiment of the present invention;
FIG. 5 is a flowchart illustrating steps of a method for testing climbing performance of a robot according to another embodiment of the present invention;
FIG. 6 is a flowchart illustrating steps of a method for testing climbing performance of a robot according to another embodiment of the present invention;
FIG. 7 is a schematic circuit diagram of an embodiment of a climbing performance testing system of a robot according to the present invention;
FIG. 8 is a schematic structural diagram of an embodiment of a climbing performance testing system of a robot according to the present invention;
fig. 9 is a schematic structural diagram of another embodiment of the climbing performance testing system of the robot according to the present invention.
The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name (R) |
| 10 | |
11 | |
| 12 | Processor with a memory having a plurality of |
20 | |
| 30 | |
40 | Guide rail |
| 50 | |
60 | |
| 70 | Image |
80 | |
| 90 | Input device |
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. 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 invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
It should be noted that, step numbers such as S100 and S200 are used herein for the purpose of more clearly and briefly describing the corresponding contents, and do not constitute a substantial limitation on the sequence, and those skilled in the art may perform S200 first and then S100 in the specific implementation, but these should be within the protection scope of the present application.
The invention provides a robot climbing performance testing method, which is applied to a robot climbing performance testing system, wherein the robot climbing performance testing system comprises a testing controller, a driving assembly, a guide rail, a slope assembly, a communication assembly and a plane assembly; the test controller is electrically connected with the communication assembly, the driving assembly, the slope assembly and the plane assembly respectively; the slope component is configured to set a slope angle of the slope by the test controller, and the plane component is configured to set a height of the plane by the test controller; a slope component is fixedly arranged at one end of the guide rail, and the plane component is driven by the driving component to move on the guide rail; the communication component is used for being in communication connection with the robot.
In this embodiment, referring to fig. 7 and 8, the test controller may use a main control chip as a core, such as an MCU, a DSP (Digital Signal processing), an FPGA (Field Programmable Gate Array), a PLC, and the like;
optionally, the driving assembly includes a driving member and a driving motor (not shown in the figure), the driving member may be a roller, the driving motor may adopt a direct current motor or a servo motor, etc., the driving member is fixedly connected to the planar assembly, and the driving motor may drive the roller to move on the guide rail under the control of the test controller, so that the planar assembly moves on the guide rail;
optionally, the slope assembly is fixed at one end of the guide rail, the slope assembly includes a slope, a slope bottom surface and a rotating motor in driving connection with the slope, the slope bottom surface is fixed on the guide rail and is parallel to the upper surface of the guide rail, the rotating motor is fixed on the slope bottom surface, a controlled end of the rotating motor is electrically connected with the test controller, and the rotating motor can drive the slope to rotate and move under the control of the test controller, so as to change a slope angle α of the slope (i.e., a slope angle α formed by the slope and the slope bottom surface);
optionally, the planar assembly includes a plane, a bottom surface and a stepping motor, a fixed end of the stepping motor is fixed on the bottom surface, the bottom surface is fixedly connected with the transmission member, the bottom surface and the bottom surface of the slope are in the same horizontal plane, a transmission end of the stepping motor is fixedly connected with one side of the plane, a controlled end of the stepping motor is electrically connected with the test controller, and the rotary motor can move up and down under the control of the test controller, so as to drive the plane to move up and down, so as to change the height H of the plane (i.e. the height H between the plane and the bottom surface);
optionally, the communication component may be formed by a wired communication chip, such as a CAN communication chip, an RS232 communication chip, an optical fiber communication chip, and the like, and a corresponding wired communication line electrically connected to the wired communication chip, and another end of the wired communication line is connected to the robot, so that the robot and the test controller CAN realize mutual data transmission through the wired communication line and the wired communication chip;
optionally, the communication component may also be implemented by using a wireless communication chip, such as a WIFI communication chip, a 4G/5G communication chip, a bluetooth communication chip, and the like, where the wireless communication chip establishes a wireless communication connection with the robot through a wireless communication network corresponding to the wireless communication chip, so that the robot and the test controller can implement mutual data transmission through the wireless communication network;
alternatively, the input device may be a keyboard, a touch screen, or other input devices, so that different parameters are set under the trigger of a developer or a tester, and corresponding signals are output.
Referring to fig. 1, 7, and 8, in the present embodiment, the robot climbing performance testing method includes:
s100, acquiring a climbing angle input by input equipment, adjusting the slope angle of a slope component into the climbing angle, and controlling the height of a plane component to be consistent with the height of the slope;
s200, acquiring a gap parameter input by input equipment, and controlling a driving assembly to drive a plane assembly to move on a guide rail according to the gap parameter so that the gap distance between the plane of the plane assembly and a slope is the distance corresponding to the gap parameter;
in this embodiment, a research and development staff can set a climbing angle by triggering the input device according to a requirement of an actual test, for example, a requirement of a conventional practical scene, so that the test controller controls the rotating motor in the slope component to work according to the input climbing angle, the rotating motor can feed back the angle of driving the slope to rotate, and when the angle of driving the slope to rotate reaches the climbing angle, the test controller stops controlling the rotating motor to act and keep the angle of the slope to be the climbing angle;
in this embodiment, since the length of the slope is a known amount, the test controller may determine the height H of the highest point of the slope to the upper surface of the guide rail, i.e., to the bottom surface of the slope, according to the set climbing angle. At the moment, the test controller can determine the length of the stepping motor which needs to extend out, namely the distance of the plane which needs to be lifted according to the height H obtained by calculation and the fixed height of the stepping motor, the stepping motor can feed back the length of the extending transmission end of the stepping motor, when the test controller calculates that the height from the plane to the bottom surface reaches the height from the highest point of the slope to the bottom surface of the slope, the stepping motor is stopped immediately and kept, and at the moment, the position of the highest point of the slope is consistent with the height of the plane.
In this embodiment, because in an actual scene, there is often a certain gap between the plane after climbing the slope, therefore, research and development personnel can set a gap parameter, that is, a gap distance between the plane and the highest point of the slope, by triggering the input device according to the requirement of an actual test. As can be seen from the above, the intersection point of the bottom surface of the slope component and the slope is located at one end of the guide rail, so that the test controller can calculate the distance a of the highest point of the slope on the vertical plane; the distance between the transmission piece and one end, facing the slope, of the plane can be tested in advance by research personnel and preset in the test controller, and the test controller can determine the distance J, on the horizontal plane, between one end, facing the slope, of the plane and the highest point of the slope through the known parameters and the position information fed back by the position sensor. When the test controller obtains the clearance parameters input by the input equipment, the test controller can control the driving motor to drive the transmission part to act so as to drive the flat slope component to act, so that the distance J is equal to the distance corresponding to the clearance parameters. Therefore, the climbing performance of the robot under different clearance conditions can be tested, and the integrity and the accuracy of the climbing performance test of the robot are improved.
Step S300, acquiring the robot driving parameters input by the input equipment and a preset driving path on the slope and the plane, and controlling the robot to drive on the preset driving path according to the driving parameters;
in this embodiment, the driving parameter is optionally the moving speed of the robot.
In this embodiment, optionally, with reference to fig. 2, the acquiring the robot driving parameters input by the input device and the preset driving path on the slope and the plane includes:
the method comprises the steps of obtaining a preset driving path planned by input equipment and the moving speed on the preset driving path, wherein the preset driving path is that the slope is climbed to the plane from the starting position according to a curve route, then the slope is moved downwards from the plane according to the curve route, and the slope returns to the starting position.
It should be understood that, in the actual use process, the situation that the robot needs to avoid the obstacle may occur, and the robot needs to walk a curve when avoiding the obstacle, so that when a preset driving path is set, the route can be directly set as the curve, and the operation of testing whether the robot can complete obstacle avoidance on a slope can be realized. In addition, in practical situations, not only climbing but also descending can occur, so that the preset driving path can be a curve, namely, the preset driving path climbs up the slope to the plane, then descends to the slope according to the curve and returns to the starting position. Therefore, the downhill capability of the robot in the running test process can be tested, and the pivot steering capability of the robot on a plane can be tested. In the driving process, the comparison between the actual walking route of the robot and the preset walking route can be tested, whether the robot can normally pass through the simulated environment of the gradient and the gap is further confirmed, and whether the climbing performance of the robot is qualified or not is judged according to the test result.
In this embodiment, a research and development person or a testing person may input a required preset driving path and a movement speed of the robot through the input device, so that the test controller wirelessly transmits the acquired preset driving path and the acquired movement speed of the robot, which are input by the input device, to the robot through the communication component. And when the test is started, controlling the robot to run on a preset running path according to the moving speed input by the input equipment.
Optionally, referring to fig. 3 and 8, in an embodiment of the present invention, the system for testing climbing performance of a robot further includes an image sensing and recognizing component electrically connected to the test controller, detects a driving state of the robot during driving, generates driving state information, and determines climbing performance of the robot according to the driving state information, including:
step S410, shooting image information of robot running in the running process;
step S420, identifying image information, determining a driving route of the robot, and comparing the driving route with a preset driving path; if the driving route is inconsistent with the preset driving route, determining that the climbing performance of the robot is unqualified; and if the driving route is consistent with the preset driving route, determining that the climbing performance of the robot is qualified.
In this embodiment, the image sensing and identifying component may include an image sensor and an image identifying chip, optionally, the image sensor may be implemented by using a camera, and referring to fig. 8, in practical applications, the image sensing and identifying component may be hung on a ceiling, and is configured to capture image information of robot driving in a driving process, and identify image information of the current day to obtain a driving route of the robot. And the test controller compares the driving route of the robot acquired by the image sensing and identifying component with a preset driving route.
Meanwhile, the robot climbing performance testing system can be further provided with a display device (not shown in the figure) electrically connected with the testing controller, and the testing controller can display a comparison result of the current running route of the comparison robot and the preset route on the display device, so that research and development or testing personnel can obtain the current testing result.
Through the setting, whether can test the robot and can go forward on slope steadily to and the reply action of test the robot if take place to slide or sideslip, can confirm the climbing performance of robot through the biggest inclination of scram on the test robot slope, further improvement the integrality and the accuracy of robot climbing performance test.
It can be understood that, due to the detection deviation and the error of the internal circuit and the mechanical structure of the robot, when comparing the driving route with the preset driving path, the test controller may also confirm that the climbing performance is acceptable if the deviation of the driving route from the preset driving path is within the deviation range of the preset route, for example, within 10cm of the left and right deviation of the preset driving path.
In the technical scheme of the invention, a climbing angle input by input equipment is firstly obtained, the slope angle of a slope component is adjusted to be the climbing angle, and the height of the plane of a plane component is controlled to be consistent with the height of the slope; then acquiring a gap parameter input by input equipment, and controlling the driving assembly to drive the plane assembly to move on the guide rail according to the gap parameter so as to enable the gap distance between the plane of the plane assembly and the slope to be a distance corresponding to the gap parameter; acquiring the robot driving parameters input by the input equipment and preset driving paths on a slope and a plane, and controlling the robot to drive on the preset driving paths according to the driving parameters; and finally, detecting the driving state of the robot in the driving process, generating driving state information, and determining the climbing performance of the robot according to the driving state information. Therefore, in practical application, research personnel and testers can simulate the scene that the robot needs to work according to actual requirements, and the climbing performance of the robot is tested, so that the integrity and the accuracy of the climbing performance test of the robot are effectively improved.
It should be understood that, in practical applications, in a scene of robot work, especially a meal delivery scene, not only the robot but also guests or other service personnel walk, so that passers-by often appear on the walking path of the robot, and the robot needs to be stopped urgently, but if the robot stops on an incline, the robot may incline forwards or backwards due to inertia, and if the inclination angle is too large, the whole robot may fall over. Therefore, the stability of sudden stop on the slope is also an important test loop of the climbing performance of the robot.
For this reason, referring to fig. 4 and 8, in an embodiment of the present invention, before performing step S400, the method for testing climbing performance of a robot further includes:
s500, obtaining a pause distance and pause time input by input equipment;
s600, acquiring the running distance of the robot, and controlling the robot to stop moving for a pause time duration when the running distance of the robot reaches a pause distance, wherein the position where the robot stops moving is on a slope;
in this embodiment, the developer may trigger the pause distance and the pause time input by the input device, so that the test controller obtains the pause distance and the pause time input by the input device. When the robot starts to run and test according to the preset running path under the control of the test controller, the running distance is determined through an internal encoder which is coaxially connected with the motor, the running distance is transmitted to the test controller through the communication assembly, and the test controller controls the robot to stop moving and keeps the time length of the pause time of the stop moving when the transmitted running distance is confirmed to reach the pause distance. It should be understood that, when setting the pause distance, the developer may set the pause distance according to the preset driving path input by the trigger input device, so as to ensure that the robot stops on the slope when the robot stops moving. Alternatively, the pause distance may be two, so that the robot is abruptly stopped during uphill slopes, and abruptly stopped during downhill slopes.
Accordingly, detecting a driving state of the robot during driving, generating driving state information, and determining climbing performance of the robot according to the driving state information, includes:
step S430, acquiring the inclination information of the robot in a stop moving state;
in the present embodiment, an acceleration sensor or a gyroscope for measuring the tilt angle is generally provided inside the robot. The test controller controls the robot to stop moving when the running distance of the robot reaches the pause distance, and after receiving the stop moving instruction, the robot uploads the inclination information (namely the inclination angle) output by the gyroscope within the pause time duration to the test controller through the communication component. Optionally, the robot may also upload the tilt information output by the gyroscope to the test controller through the communication component all the time.
It is understood that in the present embodiment, the tilt angle is an angle between the robot and a vertical line perpendicular to the horizontal plane, and referring to fig. 8, when the robot normally travels on a slope, the tilt angle is β, which is equal to the slope angle α of the slope. Referring to fig. 9, when the robot is abruptly stopped on a slope, the maximum angle at which the robot is inclined is β 1.
Step S440, determining the maximum inclination angle of the robot in the stop moving state according to the inclination information;
and if the maximum inclination angle exceeds the preset dangerous inclination angle, determining that the climbing performance of the robot is unqualified.
It will be appreciated that when the robot comes to a sudden stop, its angle of inclination changes due to inertia, and on an uphill slope it will first tilt backwards and then back forwards to a normal standing position at 90 ° to the slope. Similarly, when going downhill, the slope will incline forward and then return backward to a normal standing state at 90 ° to the slope.
In this embodiment, the test controller may determine whether the robot is in an uphill state or a downhill state according to a pause distance preset by a user, and determine the maximum inclination angle according to the inclination information transmitted from the robot. If the robot is in an uphill state, the maximum inclination angle is the maximum retroversion angle; if the robot is in a downhill state, the maximum inclination angle is the maximum forward inclination angle;
at the moment, if the maximum inclination angle is smaller than or equal to the preset dangerous inclination angle, the climbing performance of the robot is determined to be qualified; and if the maximum inclination angle is larger than the preset dangerous inclination angle, determining that the climbing performance of the robot is unqualified.
In this embodiment, the preset dangerous inclination angle may be set by a developer according to actual requirements, and when the test controller determines that the current maximum inclination angle is smaller than or equal to the preset dangerous inclination angle, the climbing performance of the robot under current test is displayed to be qualified through a display device (not shown in the figure) electrically connected to the test controller;
similarly, when the test controller determines that the current maximum inclination angle is larger than the dangerous inclination angle, it will display that the climbing performance of the currently tested robot is not qualified through a display device (not shown in the figure) electrically connected with the test controller.
Through the setting, the climbing performance of the robot can be determined by testing the sudden stop maximum inclination angle on the slope of the robot, and the integrity and the accuracy of the climbing performance test of the robot are further improved.
In another embodiment, the preset dangerous inclination angle may also be a climbing angle input by the acquired input device, that is, a slope angle of a slope of the current slope component. According to the above, when the robot suddenly stops moving, the test controller can acquire the inclination information transmitted by the robot, and if the maximum inclination angle obtained according to the current inclination information is equal to the preset dangerous inclination angle, namely equal to the current climbing angle, the climbing performance of the robot is qualified, and the robot can stably stand on a slope when being suddenly stopped on the slope. And if the maximum inclination angle obtained according to the current inclination information is larger than the preset dangerous inclination angle, determining that the current climbing performance of the robot is unqualified. Therefore, in the actual test, the factory yield of the robot can be further improved, and the reliability of the climbing performance of the robot is ensured.
It can be understood that, in order to prevent the robot from being damaged by dumping due to the fact that the inclination angle of the robot is far larger than the preset dangerous inclination angle in the test process, a rope with a proper length can be fixedly arranged on the ceiling, one end of the rope is fixed on the ceiling, and the other end of the rope is fixed on the robot, so that the robot can be pulled by the rope to prevent the robot from being damaged when being dumped.
It should be understood that, in practical applications, when the robot is stopped suddenly on a slope, a section of landslide distance is generated on the slope, and if the landslide distance is too large, the robot may slide down the slope to cause the robot to overturn or collide with a coming crowd, so that the landslide distance when the robot is stopped suddenly is also an important part for determining the grade of the climbing performance of the robot.
For this reason, referring to fig. 5 and 8, in an embodiment of the present invention, step S400 further includes:
step S450, shooting the image information of the robot in the stop moving state;
step S460, identifying image information and determining the landslide distance of the robot;
in this embodiment, the image information captured by the image sensing and recognizing component in the above embodiments may be adopted, and when the robot is in a stopped state, the image information thereof is recognized to determine the landslide distance thereof, i.e., the distance from the position at which the robot just started to stop moving to the position at which the robot completely stops on the slope.
Step S470, comparing the landslide distance with a preset landslide distance;
if the landslide distance is greater than or equal to the preset landslide distance, determining that the climbing performance of the robot is unqualified;
and if the landslide distance is smaller than the preset landslide distance, determining that the climbing performance of the robot is qualified.
In this embodiment, the image sensing and recognizing component outputs the landslide distance obtained according to the image recognition to the test controller, and the test controller compares the landslide distance with the preset landslide distance. The preset landslide distance is preset in the test controller according to actual requirements by research and development personnel. It can be understood that the research and development personnel can correspondingly preset a plurality of preset landslide distances corresponding to different slope angle angles. The test controller can select and call the corresponding preset landslide distance to be compared with the landslide distance output by the image sensing and identifying component according to the current slope angle.
If the landslide distance is greater than or equal to the preset landslide distance, determining that the climbing performance of the robot is unqualified, and displaying that the climbing performance of the robot currently tested is unqualified by the test controller through a display device (not shown in the figure) electrically connected with the test controller;
if the landslide distance is smaller than the preset landslide distance, the climbing performance of the robot is determined to be qualified, and the test controller can display that the climbing performance of the currently tested robot is qualified through a display device (not shown in the figure) electrically connected with the test controller, so that a user is prompted that the climbing performance of the current robot is qualified. Therefore, the climbing performance of the robot can be determined by testing the sudden stop and landslide distance on the slope of the robot, and the integrity and the accuracy of the climbing performance test of the robot are further improved.
It can be understood that, as can be seen from the above description of the embodiments, the climbing test of the robot may include a walking path test, an emergency stop inclination angle test and an emergency stop landslide test, if the test results of the three tests are all qualified, then the test controller may finally determine that the climbing performance of the currently tested robot is qualified, and if one of the three tests is unqualified, then the climbing performance of the currently tested robot may be finally determined to be unqualified, thereby further improving the accuracy of the climbing performance test of the robot.
It needs to be understood that, in the process of robot work, when the battery power of the robot enters into a low power state, the robot can actively go to the area where the charging pile is placed and automatically align the charging pile for carrying out the upper assembling butt joint, and after the upper assembling butt joint is successful, the robot starts to charge. In an actual application scenario, the robot can take different postures after driving on a preset path at different speeds, so that the times of successful pile-loading and butt-joint and/or the required duration of successful pile-loading and butt-joint are different, if the pile-loading and butt-joint times are too many before successful pile-loading, certain damage may be caused to the charging pile, and the overlong time for successful pile-loading and butt-joint also affects the normal use of a user.
For this reason, referring to fig. 6 and 8, in an embodiment of the present invention, the robot climbing performance testing system further includes a charging pile, and a pile-loading position of the charging pile is set at an initial position of the preset driving path;
the method includes the steps of obtaining robot running parameters input by input equipment and preset running paths on a slope and a plane, and controlling the robot to run on the preset running paths according to the running parameters, and includes the following steps:
step S700, acquiring a preset driving path planned by input equipment and a moving speed on the preset driving path, wherein the moving speed comprises a plurality of speed gears, and the preset driving path is that after climbing up a slope and reaching a plane according to a preset path from an initial position, the preset driving path moves down the slope and returns to the initial position from the plane according to the preset path;
step S800, controlling the robot to sequentially drive on a preset driving path according to a plurality of speed gears and each speed gear, and after driving is finished each time, butting the robot with a pile on a charging pile;
in this embodiment, the developer may input the required preset driving path by triggering the input device as in the process of the above embodiment.
Meanwhile, in order to test the climbing performance of the robot with different speeds in the current test environment, optionally, a developer may input a plurality of speed gears, for example, a four-gear speed of "V1/V2/V3/V4" through an input device, so that the test controller controls the robot to travel on a preset travel path according to the four gear speeds in sequence during the pile-loading test of each round of the robot; optionally, the developer may also output a speed range via the input device and set the speed increase value for each test run, for example, "speed range set to 0.5m/S to 1m/S, and test run increase 0.1 m/S".
In this embodiment, the system for testing climbing performance of a robot may further include the image sensing and recognizing component in the above embodiment, to capture image information of the robot and transmit the image information to the test controller, where the test controller outputs a pile charging instruction to control the robot to start pile charging operation through the communication component when determining that the robot returns to the initial position according to the image information, and controls the robot to repeat the above test at the speed of the next gear after the charging is completed for the preset charging duration.
And S900, determining the climbing performance of the robot according to the pile-loading butting times before pile-loading butting is successful and/or the required time for successful pile-loading butting.
In this embodiment, when receiving a pile-loading start charging instruction from the test controller, the robot starts to record the pile-loading docking times by itself, and after the pile loading is successful, the robot outputs the pile-loading docking times before the pile-loading is successful to the test controller through the communication component. Meanwhile, the test controller starts timing when outputting a pile feeding starting charging instruction, and stops timing when the number of pile feeding butt joints before the robot successfully performs pile feeding butt joint is output to the test controller through the communication component, so as to obtain the required time for successful pile feeding butt joint.
After the speed tests of the multiple gears are completed, the test controller can determine the climbing performance of the robot under different speed gears according to the pile feeding butting times corresponding to each speed gear and/or the required time for successful pile feeding butting, and selects the corresponding speed gear with better climbing performance and displays the speed gear through the display device. For example, if the pile feeding speed of V1 is 3 times, the time required for pile feeding and docking success is 1min, the pile feeding speed of V2 is 4 times, the time required for pile feeding and docking success is 1.5min, the time required for pile feeding and docking 2 times is V3, and the time required for pile feeding and docking success is 0.6min, the climbing performance of the robot with the speed of V3 is the best for the climbing angle and the clearance parameters in the current environment. Meanwhile, if the current pile feeding times are larger than the preset unqualified pile feeding times and/or the pile feeding success time reaches the preset unqualified pile feeding duration, determining that the climbing performance of the robot in the current speed gear is unqualified.
When the robot needs to put the pile for charging, the robot firstly searches the charging pile, and finally realizes the butt joint after adjusting the relative pose between the robot and the charging pile. However, after the robot performs the test on the uphill slope and the downhill slope each time, the position of the robot is different from the position of the robot in the previous test, so that the time spent by the robot in the processes of searching for the charging pile and adjusting the pose of the robot is different, and the times required for successful docking are different. After the robot has docked, if no charging voltage is detected, it is necessary to re-dock again.
It is understood that, in another embodiment, the test controller can also simultaneously test the walking path test, the sudden stop inclination angle test and the sudden stop landslide test of the robot at different gear speeds as in the above embodiment when controlling the robot to perform the tests in the above embodiment at different gear speeds.
After receiving data of each round of test and completing all rounds of tests, the test controller selects the data, firstly excludes corresponding speed at which each group of test results have unqualified results, and selects more stable parameters from the test results corresponding to the remaining speed gears, such as ' the slope angle is 6 degrees ', when the speed is V1, the landslide distance is 5cm, the maximum angle of backward tilting of the uphill is 10 degrees, the maximum angle of forward tilting of the downhill is 10 degrees ', the pile is installed for 3 times, and the required time for successful pile installation is 1 min. V2 is staked 4 times, at V2, the distance of landslide is 3cm, the maximum angle of back-tilting on the uphill is 9 °, the maximum angle of forward-tilting on the downhill is 9 °, the staked 2 times, and the required time for successful staking is 0.6min ", then the test controller will select V2 as the optimum speed under the current circumstances, and display the optimum speed V2 through a display device (not shown) electrically connected thereto. Simultaneously, according to the test result, timing robot parameter, so that the robot climbing performance is better, so, in practical application, research and development personnel alright in order to build test platform according to the demand of actual scene, and after setting up the speed range, control robot accomplishes many rounds of tests automatically, and after many rounds of tests, select the speed that is most suitable for current scene automatically, thereby need not research and development personnel own manual test and manual processing data content once and for all, the efficiency of research and development is improved, the research and development cycle of shortening. Meanwhile, research personnel can preset the tested optimal speed in the main control of the robot, so that when the slope angle of the slope is detected to be a specific climbing angle inside the robot, the current speed of the robot can be switched to a speed gear corresponding to the preset current slope angle, and the stability and reliability of the robot can be guaranteed under different slope scene environments.
Referring to fig. 7, the present invention also proposes a test controller 10, comprising:
a memory 11;
a processor 12;
a robot climbing performance test program stored on the memory 11 and executed by the processor 12, the robot climbing performance test program, when executed by the processor 12, implementing the robot climbing performance test method as any one of the above.
It should be noted that, because the test controller of the present invention is based on the above-mentioned method for testing the climbing performance of the robot, the embodiment of the test controller of the present invention includes all technical solutions of all embodiments of the above-mentioned method for testing the climbing performance of the robot, and the achieved technical effects are also completely the same, and are not described herein again.
Referring to fig. 7-8, the present invention further provides a climbing performance testing system for a robot, including:
the charging pile 80, the communication component 60, the image sensing and identifying component 70, the driving component 50, the guide rail 40, the slope component 20 and the plane component 30, and the test controller 10;
wherein, the test controller 10 is electrically connected with the communication component 60, the image sensing identification component 70, the driving component 50, the slope component 20 and the plane component 30 respectively; the slope component 20 is configured to the test controller 10 to set the slope angle of the slope, and the plane component 30 is configured to the test controller 10 to set the height of the plane; the slope component 20 is fixedly arranged at one end of the guide rail 40, and the plane component 30 is driven by the driving component 50 to move on the guide rail 40; the communication component 60 is used for communication connection with the robot.
It should be understood that in practical applications, the material of the slope and the plane, or the covering on the slope and the plane are not the same.
For this reason, in the present embodiment, the slope of the slope component 20 and the plane of the plane component 30 are made of different materials; optionally, the slope may be made of wood, metal or cement, and the plane may be marble or the like; optionally, a carpet or the like may be disposed on the plane. Therefore, research personnel or testing personnel can simulate the ground material environment according to actual use scene requirements, so that the climbing performance of the robot on the driving interface made of different materials is tested, and the integrity and the accuracy of the climbing performance test of the robot are further improved.
It should be noted that, because the robot climbing performance testing system of the present invention is based on the testing controller 10 and the robot climbing performance testing method, embodiments of the robot climbing performance testing system of the present invention include all technical solutions of all embodiments of the testing controller 10 and the robot climbing performance testing method, and the achieved technical effects are also completely the same, and are not described herein again.
The above description is only an alternative embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A climbing performance test method of a robot is applied to a climbing performance test system of the robot and is characterized in that the climbing performance test system of the robot comprises input equipment, a test controller, a driving assembly, a guide rail, a slope assembly, a communication assembly and a plane assembly; the test controller is electrically connected with the input device, the communication assembly, the driving assembly, the slope assembly and the plane assembly respectively; the ramp component is configured to set a ramp angle of a ramp by the test controller, the plane component is configured to set a height of a plane by the test controller; the slope assembly is fixedly arranged at one end of the guide rail, and the plane assembly is driven by the driving assembly to move on the guide rail; the communication component is used for being in communication connection with the robot;
the climbing performance test method of the robot comprises the following steps:
acquiring a climbing angle input by the input equipment, adjusting the slope angle of the slope component into the climbing angle, and controlling the height of the plane component to be consistent with the height of the slope;
acquiring a gap parameter input by the input equipment, and controlling a driving assembly to drive the plane assembly to move on the guide rail according to the gap parameter so as to enable the gap distance between the plane of the plane assembly and the slope to be a distance corresponding to the gap parameter;
acquiring the robot driving parameters input by the input equipment and a preset driving path on the slope and the plane, and controlling the robot to drive on the preset driving path according to the driving parameters;
the method comprises the steps of detecting the driving state of the robot in the driving process, generating driving state information, and determining the climbing performance of the robot according to the driving state information.
2. The robot climbing performance test method according to claim 1, wherein the travel parameter is a moving speed of the robot.
3. The robot climbing performance testing method according to claim 1, wherein the acquiring of the robot travel parameters input by the input device and the preset travel paths on the slope and the plane includes:
acquiring a preset driving path planned by the input equipment and the moving speed on the preset driving path; the preset driving path is that after climbing up a slope from an initial position according to a curve route and reaching a plane, the preset driving path moves downwards from the plane to the slope according to the curve route and returns to the initial position.
4. The robot climbing performance testing method according to claim 3, wherein the robot climbing performance testing system further includes an image sensing recognition component electrically connected to the test controller;
the method for detecting the driving state of the robot in the driving process, generating driving state information and determining the climbing performance of the robot according to the driving state information comprises the following steps:
shooting image information of robot running in the running process;
identifying the image information, determining a driving route of the robot, and comparing the driving route with the preset driving path;
if the driving route is inconsistent with the preset driving path, determining that the climbing performance of the robot is unqualified;
and if the driving route is consistent with the preset driving path, determining that the climbing performance of the robot is qualified.
5. The robot climbing performance testing method according to claim 1, wherein before the detecting a driving state of the robot during driving, generating driving state information, and determining climbing performance of the robot based on the driving state information, the robot climbing performance testing method further comprises:
acquiring a pause distance and pause time input by the input equipment;
the method comprises the steps that the running distance of the robot is obtained, when the running distance of the robot reaches a pause distance, the robot is controlled to stop moving for a pause time duration, wherein the position where the robot stops moving is located on a slope;
accordingly, the detecting a driving state of the robot during driving, generating driving state information, and determining climbing performance of the robot according to the driving state information includes:
acquiring the inclination information of the robot in a stop moving state;
determining the maximum inclination angle of the robot in a stop moving state according to the inclination information;
and if the maximum inclination angle exceeds the preset dangerous inclination angle, determining that the climbing performance of the robot is unqualified.
6. The robot climbing performance testing method according to claim 5, wherein the detecting a driving state of the robot during driving and generating driving state information, and determining the climbing performance of the robot based on the driving state information, further comprises:
shooting image information of the robot in a moving stop state;
identifying the image information and determining the landslide distance of the robot;
comparing the landslide distance with a preset landslide distance;
if the landslide distance is greater than or equal to the preset landslide distance, determining that the climbing performance of the robot is unqualified;
and if the landslide distance is smaller than the preset landslide distance, determining that the climbing performance of the robot is qualified.
7. The robot climbing performance testing method according to claim 1, wherein the robot climbing performance testing system further comprises a charging pile, and a pile-loading position of the charging pile is set at a starting position of the preset traveling path;
the acquiring the robot driving parameters input by the input device and the preset driving path on the slope and the plane, and controlling the robot to drive on the preset driving path according to the driving parameters includes:
acquiring a preset driving path planned by the input equipment and a moving speed on the preset driving path, wherein the moving speed comprises a plurality of speed gears, and the preset driving path is formed by climbing up a slope and reaching a plane from an initial position according to a preset route, then moving down the slope and returning to the initial position from the plane according to the preset route;
the control robot drives on a preset driving path according to the plurality of speed gears and each speed gear in sequence, and is in butt joint with the upper pile of the charging pile after driving is completed each time;
and determining the climbing performance of the robot according to the pile-loading butting times before the pile-loading butting is successful and/or the required time for successful pile-loading butting.
8. A test controller, characterized in that the test controller comprises:
a memory;
a processor; and
a robot climbing performance testing program stored on the memory and executed by the processor, the robot climbing performance testing program, when executed by the processor, implementing the robot climbing performance testing method according to any one of claims 1 to 7.
9. The utility model provides a climbing capability test system of robot which characterized in that, climbing capability test system of robot includes:
an input device, a charging post, a communication assembly, an image sensing identification assembly, a drive assembly, a guide rail, a ramp assembly, and a planar assembly and a test controller according to claim 8;
the test controller is electrically connected with the communication component, the image sensing and identifying component, the driving component, the slope component and the plane component respectively; the ramp component is configured to set a ramp angle of a ramp by the test controller, the planar component is configured to set a height of a plane by the test controller; the slope assembly is fixedly arranged at one end of the guide rail, and the plane assembly is driven by the driving assembly to move on the guide rail; the communication component is used for being in communication connection with the robot.
10. The robotic hill climbing capability test system according to claim 9 wherein the slope of the slope component and the plane of the planar component are of different materials.
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