CN115508124B - Storage robot working performance testing method, system and terminal - Google Patents
Storage robot working performance testing method, system and terminal Download PDFInfo
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- CN115508124B CN115508124B CN202211463149.4A CN202211463149A CN115508124B CN 115508124 B CN115508124 B CN 115508124B CN 202211463149 A CN202211463149 A CN 202211463149A CN 115508124 B CN115508124 B CN 115508124B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
- G01M99/005—Testing of complete machines, e.g. washing-machines or mobile phones
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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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
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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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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Abstract
The invention relates to the technical field of robot testing, and discloses a storage robot working performance testing method, a system and a terminal. The storage robot working performance testing method comprises the following steps: firstly, acquiring a task target and a preset completion path input by input equipment, and outputting the task target to a warehousing robot; when a test starting signal input by the input equipment is obtained, the storage robot is controlled to start testing so as to drive on a plurality of transportation paths from a transportation starting point according to prestored site map information and a task target, and the target sample is transported to a transportation destination after being taken out from the target storage support; and acquiring the running path information of the warehousing robot and the image information of the transportation end point position, and determining the working performance of the warehousing robot according to the running path information, the image information of the transportation end point position, the task target and the preset completion path. The invention realizes the test of the working performance of the warehousing robot.
Description
Technical Field
The invention relates to the technical field of robot testing, in particular to a storage robot working performance testing method, a storage robot working performance testing system and a storage robot working performance testing terminal.
Background
With the increase of manpower cost, a trend is formed for replacing manpower by a robot. Particularly, in the warehouse storage industry, a plurality of intelligent warehouses are provided with warehousing robots for grabbing target articles from target warehousing supports according to corresponding instructions and then transporting the target articles to a destination. Therefore, it is necessary to make a working test plan of the warehousing robot to evaluate the working performance of the warehousing robot.
Disclosure of Invention
The invention mainly aims to provide a method, a system and a terminal for testing the working performance of a warehousing robot, and aims to test the working performance of the warehousing robot.
In order to achieve the purpose, the invention provides a storage robot working performance testing method which is applied to a storage robot working performance testing system, wherein the storage robot working performance testing system comprises input equipment, a testing terminal and a testing field, a transportation starting point, a transportation terminal point, a plurality of storage supports and a plurality of transportation paths are arranged on the testing field, each storage support is provided with a plurality of placing layers, different types of samples are placed in each placing layer, the input equipment is electrically connected with the testing terminal, and the testing terminal is used for being in communication connection with a storage robot;
the storage robot working performance testing method comprises the following steps:
s10, acquiring a task target and a preset completion path input by the input equipment, and outputting the task target to the warehousing robot;
step S20, when a test starting signal input by the input equipment is obtained, controlling the storage robot to start testing so as to enable the storage robot to drive on a plurality of transportation paths from the transportation starting point according to prestored site map information and the task target, taking out a target sample from a target storage support, and then transporting the target sample to the transportation destination;
and S30, acquiring the running path information of the warehousing robot and the image information of the transportation end point position, and determining the working performance of the warehousing robot according to the running path information, the image information of the transportation end point position, the task target and the preset completion path.
Optionally, the warehouse robot work performance test system further comprises a shooting module, and the shooting module is electrically connected with the test terminal;
the step S30 specifically includes:
s31, acquiring running path information sent by a warehousing robot; and, taking image information of the transportation destination location;
step S32, identifying image information of the transportation destination position, and determining the type of the target sample when the target sample is placed at the transportation destination position; determining a test driving path of the warehousing robot according to the driving path information;
step S33, if the test driving path is consistent with the preset completion path and the type of the target sample is consistent with the type of the sample corresponding to the task target, determining that the working performance of the warehousing robot is qualified;
and if the test driving path is inconsistent with the preset completion path or the target sample type is inconsistent with the sample type corresponding to the task target, determining that the working performance of the warehousing robot is unqualified.
Optionally, the warehouse robot work performance testing system further includes a second shooting module, the second shooting module is used for being arranged on the warehouse robot, and the second shooting module is in communication connection with the testing terminal;
the step S31 further includes:
acquiring working image information of the warehousing robot shot by the second shooting module;
accordingly, step S32 further includes:
identifying the working image information, and determining the type of the target sample which is grabbed and placed in the storage area of the warehousing robot by the warehousing robot;
accordingly, step S33 further includes:
and if the types of the target samples which are grabbed and placed into the storage area by the storage robot are not consistent with the types of the samples corresponding to the task targets, determining that the working performance of the storage robot is unqualified.
Optionally, a plurality of slope assemblies are further disposed on the plurality of transportation paths, and each slope assembly comprises an ascending slope assembly, a flat slope assembly and a descending slope assembly; the periphery of the storage support corresponding to the task target is provided with the ascending assembly or the descending assembly;
step S10 further includes:
acquiring an emergency stop time length and a target slope component input by input equipment;
the step S30 further includes:
step S34, controlling the warehousing robot to be in a stop action state within the scram duration when the warehousing robot is determined to move to an uphill component of the target slope component or a downhill component of the target slope component according to the driving path information;
s35, determining the number of the target samples stored in the storage area of the warehousing robot according to the working image information;
and if the quantity of the target samples stored in the storage area of the warehousing robot is different between the time when the warehousing robot is in the stop action state and the time when the warehousing robot is in the stop action state, determining that the working performance of the warehousing robot is unqualified.
Optionally, the step S30 further includes:
s36, acquiring inclination angle information sent by the warehousing robot, and determining the maximum inclination angle of the warehousing robot relative to a vertical plane;
and S37, if the angle of the maximum inclination angle is determined to exceed the preset inclination angle, determining that the working performance of the warehousing robot is unqualified.
Optionally, the warehouse robot work performance testing system further includes at least one obstacle, and a driving assembly is disposed corresponding to each obstacle, the driving assembly is configured to drive the obstacle to move between a hidden position and a testing position, the testing position is located on the transportation path, and the step S30 further includes:
s38, controlling the driving assembly to drive the barrier to move from the hidden position to the test position when the warehouse robot is confirmed to be less than a preset barrier test distance according to the running path information sent by the warehouse robot;
and S39, acquiring obstacle identification information and speed information of the warehousing robot, and determining the working performance of the warehousing robot according to the obstacle identification information and the speed information.
Optionally, the warehouse robot work performance testing system further comprises a charging pile, and the charging pile is arranged at the transportation terminal;
after the step S30, the method for testing the working performance of the warehousing robot further includes:
s40, controlling the warehousing robot to be in butt joint with the charging pile;
and S50, acquiring charging information transmitted by the warehousing robot, and judging that the charging performance of the warehousing robot is qualified when the warehousing robot is determined to be in a normal charging state according to the charging information.
The invention also provides a test terminal, which is characterized by comprising:
a main controller; and
and the warehousing robot working performance test program is stored on and executed by the main controller, and when the warehousing robot working performance test program is executed by the main controller, the warehousing robot working performance test method is realized.
The invention also provides a warehouse robot work performance testing system, which comprises:
the device comprises input equipment, a test terminal, a shooting module, a second shooting module, a plurality of slope assemblies, a charging pile, a test field and the test terminal;
the input device and the shooting module are respectively and electrically connected with the test terminal, and the second shooting module is in communication connection with the test terminal; the test site is provided with a transportation starting point, a transportation terminal point, a plurality of storage supports and a plurality of transportation paths, each storage support is provided with a plurality of placing layers, and different types of samples are placed in each placing layer; the slope component comprises an ascending slope, a flat slope and a descending slope; the periphery of the storage bracket corresponding to the task target is provided with the ascending assembly or the descending assembly; fill electric pile set up in the transportation terminal point.
Optionally, a display screen assembly is further placed in the placement layer, the display screen assembly is placed on the side of the sample, and the display screen assembly is used for displaying a preset picture under the control of the test terminal.
Optionally, the material of different transport paths is different.
According to the technical scheme, a task target input by input equipment and a preset completion path are obtained first, and the task target is output to the storage robot; when a test starting signal input by input equipment is obtained, the storage robot is controlled to start testing through the communication assembly, so that the storage robot can start running on a plurality of transportation paths from a transportation starting point according to prestored site map information and a task target, and the target sample is transported to a transportation destination after being taken out from the target storage support; and acquiring the running path information of the warehousing robot and the image information of the transportation end point position, and determining the working performance of the warehousing robot according to the running path information, the image information of the transportation end point position, the task target and the preset completion path. Therefore, in practical application, research and development personnel can test the working performance of the warehousing robot through the warehousing robot working performance testing method and the warehousing robot working performance testing system so as to assist the research and development personnel in improving and upgrading the warehousing robot in the research and development period. Meanwhile, the test process is simple and convenient, and the test terminal can generate a test result by itself, so that the test convenience and the test efficiency of the mass storage robot are improved for testers.
Drawings
In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings used in the embodiments or technical solutions of 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 method steps of a warehousing robot working performance testing method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a test site in an embodiment of a warehousing robot performance system of the present invention;
FIG. 3 is a schematic diagram of a test site in another embodiment of the warehousing robot work performance testing system of the present invention;
FIG. 4 is a schematic side view of a ramp component in a test field in an embodiment of a warehouse robot performance testing system of the present invention;
FIG. 5 is a schematic circuit diagram of an exemplary embodiment of a warehousing robot performance testing system according to the present invention;
fig. 6 is a flowchart of method steps of another embodiment of the warehousing robot working performance testing method of the invention.
The reference numbers indicate:
| reference numerals | Name(s) | Reference numerals | Name(s) |
| 00 | |
01 | |
| 02 | |
03 | |
| 10 | Test terminal | 20 | |
| 30 | |
40 | |
| 50 | |
60 | |
| 031 | Uphill |
032 | |
| 033 | Downhill assembly |
The implementation, functional features and advantages of the present invention will be further described 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 directional indicators (such as up, down, left, right, front, back \8230;) in the embodiments of the present invention are only used to explain the relative positional relationship between the components, the motion situation, etc. in a specific posture (as shown in the attached drawings), and if the specific posture is changed, the directional indicator is changed accordingly.
It should be noted that step numbers such as S10 and S20 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 S20 first and then S10 in the specific implementation, but these should be within the protection scope of the present application.
The invention has proposed a warehouse robot working property test method, apply to the warehouse robot working property test system, the warehouse robot working property test system includes the input device 20, test terminal 10 and test field 00, there are transport starting point, transport terminal, a plurality of warehouse supports 01 and many transport routes 02 on the test field 00, each warehouse support 01 has a plurality of layers of placing, each places the intraformational sample of different kinds, the input device 20 is electrically connected with test terminal 10, the test terminal 10 is used for communicating with the warehouse robot and connecting;
in this embodiment, the test terminal 10 may use a main controller as a core, such as an MCU, a DSP (Digital Signal processor), an FPGA (programmable Gate Array), a PLC, etc.;
in addition, the test terminal 10 includes a communication component electrically connected to the main controller for communication connection with the warehousing robot. 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 storage robot, so that the storage robot and the test terminal 10 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, for example, a WIFI communication chip, a 4G/5G communication chip, a bluetooth communication chip, or the like, where the wireless communication chip establishes a wireless communication connection with the warehousing robot through a wireless communication network corresponding to the wireless communication chip, so that the warehousing robot and the test terminal 10 can implement data transmission with each other through the wireless communication network;
alternatively, the input device 20 may be a keyboard, a touch screen, or the like, so as to set different parameters and output corresponding signals under the trigger of a developer or a tester. Optionally, the input device 20 may also be an external terminal, such as a mobile phone, a tablet, and the like, and the external terminal may establish a communication connection with the communication component in the above embodiment to realize data transmission with the main controller in the test terminal 10.
Optionally, the communication assembly and the master controller may also be integrated.
In this embodiment, referring to fig. 2, fig. 2 is a schematic top view of a test site 00 according to the present invention, where the test site 00 is provided with a plurality of large and small fences, and the large and small fences define a plurality of transportation paths 02.
Referring to fig. 1, in an embodiment of the present invention, a method for testing a working performance of a warehousing robot includes:
s10, acquiring a task target and a preset completion path input by the input equipment 20, and outputting the task target to the warehousing robot;
it is understood that, before starting the test, the research and development personnel may store the corresponding map information of the test site 00 into the test terminal 10 and the warehousing robot to be tested, with respect to the currently arranged test site 00, and the map information of the test site 00 may include the current distribution maps of the multiple transportation paths 02 and the multiple warehousing supports 01, such as the positions of the respective warehousing supports 01 and the distribution maps of the multiple transportation paths 02 in fig. 2.
Before the test is started, the tester may enter and set a task target currently required to be tested through the input device 20, where the task target may include the type of a sample that needs to be grabbed by the current warehousing robot and the number of the warehousing support 01 where the sample is located. Meanwhile, the tester can also input the shortest walking path from the initial position to the corresponding storage rack 01 and then to the transportation destination of the current storage robot through the input device 20, that is, the preset completion path. In addition, it can be understood that, after receiving the task target entered by the tester through the input device 20, the test terminal 10 can automatically generate a walking path for completing the shortest task according to the pre-stored map information of the test site 00, that is, a preset completion path and store the walking path in a storage module inside the test terminal 10.
It can be understood that the number of samples to be captured in the task object may be multiple, that is, the warehousing robot is required to capture multiple samples of different/same types, and similarly, the numbers of the warehousing supports 01 on which the samples of different types are placed are different.
It can be understood that there may be a plurality of shortest walking paths entered by the tester according to the arrangement of the actual test site 00.
Step S20, when a test starting signal input by the input device 20 is obtained, controlling the storage robot to start testing so as to enable the storage robot to start running on a plurality of transportation paths 02 from a transportation starting point according to site map information and a task target, taking out a target sample from the target storage support 01, and then transporting the target sample to a transportation destination;
it should be understood that, in the process of the storage robot test, after receiving the task target, the storage robot may start to walk to the storage rack 01 corresponding to the task target from the starting point along multiple transportation paths 02 according to the pre-stored map information of the test site 00, and through the camera identification component on the mechanical arm, find a sample corresponding to the task target on the storage rack 01, place the sample in the storage rack 01 in the storage area after taking the sample out through the mechanical arm, then drive to the transportation destination along multiple transportation paths 02, and place the sample in the storage area in the transportation destination.
Specifically, referring to fig. 2 and 5, taking the example that the task is targeting the warehouse rack 01C and sampling a, when the user outputs a test start signal to the test terminal 10 through the input device 20, the test terminal 10 controls the warehouse robot to start executing the test program. At this moment, the warehousing robot walks to the target warehousing support 01 from a starting point along a plurality of transportation paths 02 according to the preset map information of the test site 00, and after the target samples in a certain placement layer on the current target warehousing support 01 are identified through the mechanical arms of the warehousing robot, the warehousing robot is taken out and placed in a warehousing area of the warehousing robot, then the warehousing robot runs to a transportation terminal point along a plurality of transportation paths 02, and the target samples in the storage area are placed in the transportation terminal point. And the warehousing robot generates a corresponding target warehousing support 01 and a target sample according to the received task target.
And S30, acquiring the running path information of the warehousing robot and the image information of the transportation end point position, and determining the working performance of the warehousing robot according to the running path information, the image information of the transportation end point position, the task target and the preset completion path.
In this embodiment, after the test is completed, that is, after the warehousing robot places its target sample at the transportation terminal location, the test terminal 10 will determine the working performance of the warehousing robot.
Specifically, in an embodiment of the present invention, the warehouse robot work performance testing system further includes a shooting module 30, and the shooting module 30 is electrically connected to the testing terminal 10;
step S30 specifically includes:
s31, acquiring running path information sent by a warehousing robot; and shooting image information of the transportation terminal position;
in the present embodiment of the present invention,
s32, identifying image information of a transportation destination position, and determining the type of a target sample when the target sample is placed at the transportation destination position; determining a test driving path of the warehousing robot according to the driving path information;
step S33, if the test driving path is consistent with the preset completion path and the type of the target sample is consistent with the type of the sample corresponding to the task target, determining that the working performance of the warehousing robot is qualified;
and if the test driving path is inconsistent with the preset completion path or the target sample type is inconsistent with the sample type corresponding to the task target, determining that the working performance of the warehousing robot is unqualified.
In this embodiment, the photographing module 30 may be implemented by using a camera. Optionally, the camera may be suspended from the ceiling and face the transportation destination; optionally, the camera may also be erected beside the transportation terminal by a bracket and set towards the transportation terminal. The photographing module 30 may be electrically connected to the test terminal 10 through a wire.
In this embodiment, during the test process of the warehousing robot, the driving path information of the warehousing robot is fed back to the test terminal 10 from time to time, so that the test terminal 10 determines the path that the warehousing robot currently walks. Meanwhile, an image processing and recognition module may be integrated in the main controller of the test terminal 10 or an image processing and recognition chip electrically connected to the main controller may be additionally provided, and the test terminal 10 may determine that the current test is finished when the storage robot places the target sample at the transportation destination position according to the image information of the transportation destination position transmitted by the photographing module 30. And the type of the target sample in the current transportation terminal is identified, and a test driving path for completing the test of the warehousing robot is generated according to the driving path information fed back by the warehousing robot in real time.
It should be understood that, in the normal working process of the warehousing robot, the current shortest path is determined according to preset work site map information, task targets and the conditions of the real work site, and the warehousing robot runs along the shortest path to complete tasks.
According to the content, the tester records the theoretical shortest path which can complete the task, namely, the preset completion path, according to the task target and the information of the test site 00 arranged on the site. Therefore, when the test terminal 10 determines that the test driving path of the warehousing robot in the test process is inconsistent with the preset completion path, it is determined that no fault is caused to bypass the warehousing robot in the working process and the working performance of the warehousing robot is not qualified.
Meanwhile, the test terminal 10 also compares the type of the target sample placed at the transportation end position by the identified storage robot with the type of the sample corresponding to the task target, and if the type of the target sample is inconsistent with the type of the sample corresponding to the task target, it is determined that the target sample grabbed and transported by the current storage robot is wrong. Then the current warehousing robot working performance is judged to be unqualified.
In summary, when the test running path is determined to be consistent with the preset completion path and the type of the target sample is determined to be consistent with the type of the sample corresponding to the task target, that is, when the current sample grabbed by the warehousing robot is determined to be correct and the running path is determined to be the shortest path, the test terminal 10 determines that the working performance of the warehousing robot is qualified; in addition, if the test driving path and the preset completion path are not consistent or the target sample type is not consistent with the sample type corresponding to the task target, the current storage robot is judged to have unqualified working performance.
Specifically, referring to fig. 3 and 5, still taking the task of the warehouse rack 01C sampling a as an example in the above embodiment as an example, when the user outputs the test start signal to the test terminal 10 through the input device 20, the test terminal 10 controls the warehouse robot to start executing the test program. Wherein, the dotted arrow line in fig. 3 is a preset completion path entered by the tester.
According to the testing process of the above embodiment, when the testing terminal 10 confirms that the current test is finished, the image information of the transportation destination position transmitted from the photographing module 30 is recognized to determine the kind of the target sample within the transportation destination, and the kind of the target sample is compared with the kind of the sample corresponding to the task target. And determining a test driving path according to the driving path information transmitted by the warehousing robot, and comparing the test driving path with a preset completion path.
If the current target sample is the sample A and the current test driving path is consistent with the preset completion path in the figure 3, judging that the current warehousing robot is qualified;
and if the current target sample is not the sample A or the current test running path is inconsistent with the preset completion path in the figure 3, judging that the current storage robot is unqualified.
It will be appreciated that the warehouse robot performance testing system may also be provided with a display screen connected to the test terminal 10 so that the test terminal 10 displays the results of the test on the display screen. In addition, the test terminal 10 may upload the test result to a cloud end in communication connection with the test terminal for saving.
In addition, it can be understood that when the test terminal 10 receives the test start signal from the input device 20, timing is also started, and if the preset timeout duration elapses, it is determined that the current warehousing robot still does not place the target sample at the transportation destination according to the image information of the transportation destination position, and it is directly determined that the current warehousing robot has a poor working performance. The preset timeout duration can be recorded and set by a tester or a research and development staff according to requirements.
Therefore, in practical application, research and development personnel can test the working performance of the warehousing robot through the warehousing robot working performance testing method and the warehousing robot working performance testing system so as to assist the research and development personnel in improving and upgrading the warehousing robot in the research and development period. Meanwhile, in the test process, only the tester needs to input corresponding test requirements, the test terminal 10 can control the storage robot to complete all tests, and automatically generate and display test results, so that the test convenience and the test efficiency of the large-batch storage robot are improved for the tester.
In addition, in another embodiment, the warehouse robot work performance testing system further includes at least one obstacle, and a driving assembly is disposed corresponding to each obstacle, the driving assembly is used for driving the obstacle to move between a hidden position and a testing position, the testing position is located on the transportation path 02, and the step S30 further includes:
s38, controlling a driving assembly to move a driving obstacle from a hidden position to a testing position when the distance from the warehousing robot to the testing position is confirmed to be smaller than a preset obstacle testing distance according to the running path information sent by the warehousing robot;
and S39, acquiring obstacle identification information and speed information of the warehousing robot, and determining the working performance of the warehousing robot according to the obstacle identification information and the speed information.
In this embodiment, it is understood that the number of obstacles may be multiple, and at least two different types of obstacles may be present in the multiple obstacles, and the different types of obstacles may have different sizes, shapes, optical characteristics (colors, light reflectivities, etc.).
In this embodiment, the driving component may be implemented by using a driving motor, and when the test terminal 10 determines that the distance from the warehouse robot to the test position is smaller than the preset obstacle test distance according to the driving path information of the warehouse robot acquired in the above embodiment process, that is, when the warehouse robot approaches the test position of the obstacle, the driving motor may be controlled to move the obstacle from the hidden position to the test position, it can be understood that the hidden position is not on the transportation path 02. It can be understood that an obstacle may appear in the advancing direction of the warehousing robot to block a portion of the transportation path 02 that the warehousing robot needs to pass through, and another portion of the transportation path 02 may or may not be accessible to the warehousing robot.
In practical application, the warehousing robot can identify the obstacles in front by itself and send out corresponding obstacle identification information to the outside. The obstacle identification information includes identification of the type of the current obstacle by the warehousing robot, and judgment of whether the current obstacle can bypass the obstacle. The test terminal 10 may compare the obstacle identification information with the obstacle information preset by the research and development staff, and if the judgment of the warehousing robot is consistent with the obstacle information preset by the research and development staff, it is determined that the working performance of the current warehousing robot is normal. Specifically, taking the example that the current obstacle is a human-shaped standing card and the warehousing robot can detour as the preset obstacle information, the test terminal 10 may confirm the identification of the current warehousing robot for the obstacle in front and judge whether the current warehousing robot can detour according to the obstacle identification information sent by the warehousing robot, and determine that the current warehousing robot has normal working performance if the current identification result is a human-shaped obstacle and the judgment can detour.
Meanwhile, it can be understood that when the warehousing robot recognizes that an obstacle exists in front of itself, the warehousing robot decelerates to prevent itself from colliding with the obstacle because of keeping the previous speed. Therefore, the test terminal 10 may further determine whether the warehousing robot starts to decelerate when the driving assembly is controlled to move the obstacle to the test position according to the speed information of the warehousing robot, and if the speed is reduced, it may be determined that the current working performance of the warehousing robot is normal, and if the speed is not reduced, it may be determined that the current working performance of the warehousing robot is not qualified.
It should be understood that the warehousing robot searches for and identifies the target sample through the camera module on the robot arm, and during the actual testing process, the warehousing robot may capture the correct sample while inadvertently recognizing other samples nearby as the same sample type and capturing and placing them in the storage area, or the robot arm may malfunction, resulting in capturing and placing other smaller samples in close proximity in the storage area. Although the sample that was last taken out and placed at the destination may be correct, the sample that was incorrectly grabbed may still be in the storage area of the warehousing robot.
For this reason, in order to test the accuracy of the warehousing robot for identifying and grabbing the sample, in an embodiment of the present invention, the warehousing robot work performance test system further includes a second shooting module 40, the second shooting module 40 is configured to be disposed on the warehousing robot, and the second shooting module 40 is in communication connection with the test terminal 10;
step S31 further includes:
acquiring working image information of the warehousing robot shot by the second shooting module 40;
in this embodiment, the second photographing module 40 may be implemented by a plurality of camera modules and a wireless communication module electrically connected to the camera modules, and the camera modules are respectively disposed at different positions of the warehousing robot, so as to photograph image information (working image information) of a mechanical arm and a storage area of the warehousing robot and send the image information to the test terminal 10 through the wireless communication module.
Accordingly, step S32 further includes:
identifying the information of the working image, and determining the type of a target sample which is grabbed and placed into a storage area of the warehousing robot by the warehousing robot;
accordingly, step S33 further includes:
and if the types of the target samples which are grabbed and placed into the storage area by the storage robot are not consistent with the types of the samples corresponding to the task targets, determining that the working performance of the storage robot is unqualified.
In this embodiment, after receiving the working image information, the testing terminal 10 identifies the working image information according to the image processing process in the above embodiment, so as to determine the type of the target sample currently captured by the mechanical arm of the warehousing robot and placed in the storage area of the warehousing robot. If the test terminal 10 finds that the types of the target samples which are grabbed by the mechanical arm of the current warehousing robot and put into the storage area of the current warehousing robot are not matched with the types of the samples corresponding to the task targets, it is determined that the grabbing of the mechanical arm of the current warehousing robot is abnormal, and the working performance of the current warehousing robot is determined to be unqualified.
Specifically, referring to fig. 2 and 5, taking an example that a task is targeted to grab a sample a and a sample B on a warehouse rack 01C, in the testing process, if the testing terminal 10 finds that the mechanical arm of the warehouse robot grabs the sample a, the sample B and the sample D from the warehouse rack 01C and places all three samples in the storage area according to the working image information, it is determined that the mechanical arm grabbing of the warehouse robot is abnormal at present, and the working performance is determined to be unqualified.
Therefore, through the arrangement, in the actual test process, the working performance test method of the warehousing robot can also detect the accuracy of the current warehousing robot mechanical arm for identifying and grabbing samples, further improves the integrity and comprehensiveness of the working performance test method of the warehousing robot, and further improves the reliability and accuracy of the working performance test result of the warehousing robot.
It is understood that in an actual working environment of the warehousing robot, the road surface may be uneven and have a certain gradient, which puts requirements on the slope-crossing capability of the warehousing robot. Therefore, in the process of testing the working performance of the warehousing robot, the grade-crossing performance of the warehousing robot needs to be tested.
To this end, referring to fig. 2, 4 and 5, a plurality of ramp assemblies 03 are also provided on the plurality of transport paths 02, the ramp assemblies 03 including an uphill assembly 031, a flat-hill assembly 032 and a downhill assembly 033; wherein, an uphill component 031 or a downhill component 033 is arranged on the periphery side of the storage bracket 01 corresponding to the task target;
in this embodiment, the slope component 03 is disposed on the transportation path 02, and in combination with the test process of the above embodiment, not only the current grade-crossing capability of the warehousing robot can be tested (i.e., whether the test work in the above embodiment can be normally completed in a sloping work environment or not). Meanwhile, the uphill assemblies 031 or the downhill assemblies 033 arranged on the peripheral sides of the warehousing supports 01 corresponding to the task targets can also test whether the warehousing robot can grab samples on normal slopes, so that the integrity and comprehensiveness of the method for testing the working performance of the warehousing robot are further improved.
Meanwhile, step S10 further includes:
acquiring an emergency stop duration and a target slope component 03 input by the input device 20;
in this embodiment, before the test is started, the tester can set the scram duration according to the actual requirement, and select the target slope component 03 that the warehousing robot wants to start scram. Preferably, the target slope assembly 03 is selected from target slope assemblies 03 that the warehousing robot must pass through in advancing to the transportation terminal after grasping the target sample, such as the slope assembly 03A and the slope assembly 03D in fig. 2.
Step S30 further includes:
step S34, controlling the warehousing robot to be in a stop action state within the scram duration when the warehousing robot is determined to move to an uphill component 031 of the target slope component 03 or a downhill component 033 of the target slope component 03 according to the driving path information;
s35, determining the number of target samples stored in a storage area of the warehousing robot according to the working image information;
and if the quantity of the target samples stored in the storage area of the warehousing robot is different before the warehousing robot is in the stop action state and when the warehousing robot is in the stop action state, determining that the working performance of the warehousing robot is unqualified.
In this embodiment, when the test terminal 10 determines that the warehousing robot moves to the uphill component 031 of the target slope component 03 or the downhill component 033 of the target slope component 03 according to the traveling path information, the warehousing robot is controlled to stop abruptly so as to stop on the slope of the target slope component 03.
It can be understood from the above description that the test terminal 10 can determine the number of the target samples stored in the storage area of the warehousing robot according to the working image information provided by the second photographing module 40.
Specifically, referring to fig. 2, 4 and 5, the task of targeting the grasping of samples a and B at the warehouse rack 01C, and targeting the ramp component 03 as the ramp component 03A or the ramp component 033 in ramp component 03B, will be described as an example.
After the warehousing robot finishes the operation of grabbing and storing the target sample at the warehousing support 01C, the warehousing robot reaches a transportation terminal through the slope component 03A or the slope component 03B, and at this time, when the test terminal 10 determines that the warehousing robot walks to the downhill component 033 of the slope component 03A or the slope component 03B according to the driving path information of the testing terminal, the warehousing robot is controlled to be in a stop action state within an emergency stop period. At this time, the warehousing robot may cause the stored samples in the storage area to fly out due to inertia. Therefore, the test terminal 10 determines the change of the number of the target samples in the storage area before and after the warehouse robot stops suddenly according to the working image information transmitted from the second photographing module 40 from time to time, and if the number of the target samples stored in the storage area of the warehouse robot is different between before the warehouse robot is in the stop action state and when the warehouse robot is in the stop action state, it is determined that the warehouse robot throws away the articles in the storage area when stopping suddenly, and it is determined that the working performance of the warehouse robot is not qualified.
It will be appreciated from the above embodiments that the warehouse robot may cause the fuselage to wobble during the test due to ground flatness, slope and vibration, and the weight of the stored samples. Particularly, in the process of the sudden stop test on the slope in the above embodiment, if the robot is stopped suddenly on the downhill, the body of the warehousing robot tilts forward due to the downhill and tilts forward by a larger angle under the action of inertia, which easily causes the robot to overturn. Therefore, it is also necessary to detect the inclination of the body during the test.
It is understood that, in another embodiment, the step S30 further includes:
s36, acquiring inclination angle information sent by the warehousing robot, and determining the maximum inclination angle of the warehousing robot relative to a vertical plane;
and S37, if the angle of the maximum inclination angle is determined to exceed the preset inclination angle, determining that the working performance of the warehousing robot is unqualified.
In this embodiment, an inclination angle detecting device, such as a gyroscope, for detecting an inclination angle of the body of the warehousing robot relative to a vertical plane is further disposed inside the warehousing robot. During the test, the warehousing robot also transmits the inclination angle information output by the gyroscope of the warehousing robot to the test terminal 10.
In this embodiment, in the testing process of the warehousing robot, the testing terminal 10 may obtain the inclination angle of the current warehousing robot relative to the vertical plane in real time according to the inclination angle information sent by the warehousing robot, and obtain the maximum inclination angle therein. And if the current maximum inclination angle exceeds a preset inclination angle, for example, the current preset inclination angle is 10 degrees, and the maximum inclination angle of the warehousing robot is 15 degrees forward compared with the vertical plane, determining that the working performance of the current warehousing robot is not qualified.
Therefore, through the arrangement, in the actual test process, the working performance test method of the warehousing robot can also detect the shaking inclination condition of the current warehousing robot during working, further improves the integrity and comprehensiveness of the working performance test method of the warehousing robot, and further improves the reliability and accuracy of the working performance test result of the warehousing robot.
In an embodiment of the present invention, referring to fig. 2 and 5, the warehouse robot work performance testing system further includes a charging pile 50, and the charging pile 50 is disposed at a transportation terminal;
after step S30, the method for testing the work performance of the warehousing robot further includes:
s40, controlling the warehousing robot to be in butt joint with the charging pile 50;
and S50, acquiring charging information transmitted by the warehousing robot, and judging that the charging performance of the warehousing robot is qualified when the warehousing robot is determined to be in a normal charging state according to the charging information.
In this embodiment, after controlling the warehousing robot to complete the above test and generate the test result, the test terminal 10 also controls the warehousing robot to dock with the charging pile 50 and obtain the charging information transmitted from the warehousing robot. Optionally, the charging information includes a charging current, a current electric quantity, a charging voltage, and the like. If the warehousing robot is determined to be in a normal charging state according to the charging information, for example, the charging current is matched with the current electric quantity (the closer the electric quantity is to the full electric quantity, the smaller the charging current is, and when the electric quantity is lower, the charging current is generally a preset constant current). Judging that the charging performance of the warehousing robot is qualified; if the charging abnormality of the warehousing robot is determined according to the charging information, for example, the charging current, the charging voltage and the charging current are not available, the charging performance of the warehousing robot is judged to be qualified, and the test result can be uploaded to a cloud end or directly displayed on a display screen.
Therefore, through the arrangement, in the actual test process, the storage robot working performance test method can also detect the charging performance of the current storage robot, further improves the integrity and comprehensiveness of the storage robot working performance test method, and further improves the reliability and accuracy of the storage robot working performance test result.
Referring to fig. 5, the present invention also proposes a test terminal 10 comprising:
a main controller; and
and the warehousing robot working performance test program is stored on and executed by the main controller, and when the warehousing robot working performance test program is executed by the main controller, the warehousing robot working performance test method can be realized.
It should be noted that, because the test terminal 10 of the present invention is based on the method for testing the working performance of the warehousing robot, the embodiment of the test terminal 10 of the present invention includes all technical solutions of all embodiments of the method for testing the working performance of the warehousing robot, and the achieved technical effects are also completely the same, and are not described herein again.
Referring to fig. 2 to 5, the present invention further provides a warehouse robot work performance testing system, which includes:
the system comprises an input device 20, a test terminal 10, a shooting module 30, a second shooting module 40, a plurality of slope components 03, a charging pile 50, a test field 00 and the test terminal 10;
the input device 20 and the shooting module 30 are respectively electrically connected with the test terminal 10, and the second shooting module 40 is in communication connection with the test terminal 10; a transportation starting point, a transportation destination, a plurality of storage supports 01 and a plurality of transportation paths 02 are arranged on the test site 00, each storage support 01 is provided with a plurality of placing layers, and different types of samples are placed in each placing layer; the ramp component 03 includes an uphill slope, a flat slope, and a downhill slope; wherein, an ascending component 031 or a descending component 033 is arranged on the periphery of the storage bracket 01 corresponding to the task target; fill electric pile 50 and set up in the transportation terminal.
It is understood that in actual working scenes, the working ground of each scene may be different in material.
For this reason, in the present embodiment, the material is different for different transport paths 02. Alternatively, the material of the transportation path 02 may be wood, metal or cement, and the plane may be marble, etc.; optionally, a carpet or the like may be further disposed on the transportation path 02. Therefore, research personnel or testing personnel can simulate the material environment of the transportation path 02 according to actual use scene requirements, and accordingly the working performance of the warehousing robot on the transportation path 02 made of different materials is tested.
It should be noted that, since the warehousing robot working performance testing system of the present invention is based on the testing terminal 10 and the warehousing robot working performance testing method, embodiments of the warehousing robot working performance testing system of the present invention include all technical solutions of all embodiments of the testing terminal 10 and the warehousing robot working performance testing method, and the achieved technical effects are also completely the same, and are not described herein again.
In an embodiment of the present invention, a display screen assembly 60 is further disposed in the placement layer, the display screen assembly 60 is disposed at a side of the sample, and the display screen assembly 60 is configured to display a preset picture under the control of the test terminal 10.
It should be understood that the warehousing robot recognizes the target sample through the camera disposed on the robot arm, and therefore, at the beginning of the test, the test terminal 10 may control the display screen assembly 60 to display a preset picture, thereby interfering with the robot arm recognition of the warehousing robot. If it is determined that the target sample grabbed by the warehousing robot is consistent with the sample type corresponding to the task target according to the test method in the above embodiment, the test terminal 10 may determine that the current warehousing robot has a normal recognition and grabbing function. Therefore, the anti-interference capability of the warehousing robot when the mechanical arm is grabbed can be tested, the integrity and the comprehensiveness of the method for testing the working performance of the warehousing robot are further improved, and the reliability and the accuracy of the working performance test result of the warehousing robot are further improved.
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 (7)
1. A storage robot working performance test method is applied to a storage robot working performance test system and is characterized in that the storage robot working performance test system comprises input equipment, a test terminal and a test field, wherein a transportation starting point, a transportation destination, a plurality of storage supports and a plurality of transportation paths are arranged on the test field, a plurality of placing layers are arranged on each storage support, different samples are placed in each placing layer, the input equipment is electrically connected with the test terminal, and the test terminal is used for being in communication connection with a storage robot;
the storage robot working performance testing method comprises the following steps:
s10, acquiring a task target and a preset completion path input by the input equipment, and outputting the task target to the warehousing robot;
step S20, when a test starting signal input by the input equipment is obtained, controlling the storage robot to start testing so as to enable the storage robot to drive on a plurality of transportation paths from the transportation starting point according to prestored site map information and the task target, taking out a target sample from a target storage support, and then transporting the target sample to the transportation destination;
s30, acquiring the running path information of the warehousing robot and the image information of the position of the transportation terminal, and determining the working performance of the warehousing robot according to the running path information, the image information of the position of the transportation terminal, the task target and the preset completion path;
the warehouse robot work performance test system also comprises a shooting module, and the shooting module is electrically connected with the test terminal;
the step S30 specifically includes:
s31, acquiring running path information sent by a warehousing robot; and capturing image information of the position of the transportation destination;
step S32, identifying image information of the position of the transportation terminal, and determining the type of the target sample when the target sample is placed at the position of the transportation terminal; determining a test driving path of the warehousing robot according to the driving path information;
step S33, if the test driving path is consistent with the preset completion path and the types of the target samples are consistent with the types of the samples corresponding to the task targets, determining that the working performance of the warehousing robot is qualified;
if the test driving path is inconsistent with the preset completion path or the type of the target sample is inconsistent with the type of the sample corresponding to the task target, determining that the working performance of the warehousing robot is unqualified;
the warehousing robot work performance testing system also comprises a second shooting module, the second shooting module is arranged on the warehousing robot, and the second shooting module is in communication connection with the testing terminal;
the step S31 further includes:
acquiring working image information of the warehousing robot shot by the second shooting module;
accordingly, step S32 further includes:
identifying the working image information, and determining the type of the target sample which is grabbed and placed in the storage area of the warehousing robot by the warehousing robot;
accordingly, step S33 further includes:
if the types of the target samples which are grabbed and placed into the storage area of the warehousing robot are not consistent with the types of the samples corresponding to the task targets, determining that the working performance of the warehousing robot is unqualified;
a plurality of slope assemblies are arranged on the plurality of transportation paths, and each slope assembly comprises an ascending slope assembly, a flat slope assembly and a descending slope assembly; the periphery of the storage support corresponding to the task target is provided with the ascending assembly or the descending assembly;
step S10 further includes:
acquiring an emergency stop time length and a target slope component input by input equipment;
the step S30 further includes:
step S34, controlling the warehousing robot to be in a stop action state within the scram duration when the warehousing robot is determined to move to an uphill component of the target slope component or a downhill component of the target slope component according to the running path information;
s35, determining the number of the target samples stored in the storage area of the warehousing robot according to the working image information;
and if the quantity of the target samples stored in the storage area of the warehousing robot is different between the time when the warehousing robot is in the stop action state and the time when the warehousing robot is in the stop action state, determining that the working performance of the warehousing robot is unqualified.
2. The warehouse robot working performance testing method of claim 1, wherein the step S30 further comprises:
s36, acquiring inclination angle information sent by the warehousing robot, and determining the maximum inclination angle of the warehousing robot relative to a vertical plane;
and S37, if the angle of the maximum inclination angle is determined to exceed the preset inclination angle, determining that the working performance of the warehousing robot is unqualified.
3. The method according to claim 2, wherein the warehouse robot performance testing system further comprises at least one obstacle, and a driving assembly is disposed corresponding to each obstacle, the driving assembly is used for driving the obstacle to move between a hidden position and a testing position, the testing position is located on the transportation path, and the step S30 further comprises:
step S38, controlling the driving assembly to drive the barrier to move from the hidden position to the test position when the distance from the warehousing robot to the test position is confirmed to be smaller than a preset barrier test distance according to the driving path information sent by the warehousing robot;
and S39, acquiring obstacle identification information and speed information of the warehousing robot, and determining the working performance of the warehousing robot according to the obstacle identification information and the speed information.
4. The method for testing the working performance of the warehousing robot as claimed in claim 1, wherein the warehousing robot working performance testing system further comprises a charging pile, the charging pile is arranged at the transportation terminal;
after the step S30, the method for testing the working performance of the warehousing robot further includes:
s40, controlling the warehousing robot to be in butt joint with the charging pile;
and S50, acquiring charging information transmitted by the warehousing robot, and judging that the charging performance of the warehousing robot is qualified when the warehousing robot is determined to be in a normal charging state according to the charging information.
5. A test terminal, characterized in that the test terminal comprises:
a main controller; and
a warehousing robot work performance test program stored on and executed by the main controller, the warehousing robot work performance test program, when executed by the main controller, implementing the warehousing robot work performance test method of any one of claims 1-4.
6. The utility model provides a warehouse robot work capability test system which characterized in that, warehouse robot work capability test system includes:
an input device, a capture module, a second capture module, a plurality of ramp components, at least one obstacle, a charging post and a test site and a test terminal of claim 5;
the input device and the shooting module are respectively and electrically connected with the test terminal, and the second shooting module is in communication connection with the test terminal; the test field is provided with a transportation starting point, a transportation terminal point, a plurality of storage supports and a plurality of transportation paths, each storage support is provided with a plurality of placing layers, and different types of samples are placed in each placing layer; the slope assembly comprises an ascending slope assembly, a flat slope assembly and a descending slope assembly; the periphery of the storage bracket corresponding to the task target is provided with the uphill assembly or the downhill assembly; a driving assembly is arranged corresponding to each obstacle and used for driving the obstacles to move between a hiding position and a testing position, and the testing position is positioned on the transportation path; fill electric pile set up in the transportation terminal point.
7. The warehouse robot work performance testing system of claim 6, wherein a display screen assembly is further placed in the placement layer, the display screen assembly is placed on the side of the sample, and the display screen assembly is used for displaying a preset picture under the control of the testing terminal.
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