TWI785875B - Test system with detection feedback - Google Patents

Abstract

A test system with detection feedback works in conjunction with a robot to which a test object is attached. The test system includes a server and a force sensor disposed to the robot. The server controls the robot to drive the test object so that the test object contacts a test platform while the force sensor detects at least one reaction force on the test object to generate a sensing feedback signal. When the reaction force corresponding to a direction and indicated by the sensing feedback signal does not match a force setting value, the server adjusts the movement of the test object driven by the robot with respect to the test platform so that the reaction force corresponding to the direction can matches the force setting value. Therefore, the resistance acting on the test object moving with respect to the test platform may be automatically maintained at the preset degree.

Description

Test system with perceptual feedback

The invention relates to a test system, in particular to a test system with perceptual feedback.

Most of the existing testing mechanisms for soles use testing machines to test the characteristics of the soles to be tested (such as but not limited to wear resistance, toughness or structural strength, etc.) by directly repeatedly pressing, knocking, pulling or rubbing the soles to be tested. However, this traditional test method is not designed to imitate the real usage conditions of the user, so it is relatively impossible to test the characteristics of the sole to be tested when it is actually used.

In order to test the characteristics of the sole to be tested in actual use, another test method has been proposed in the market, which is to set the sole to be tested in a shoe sample, and let a real person directly put on the shoe sample and perform various actions. To observe the condition of the sole to be tested after a long period of actual use, to analyze the characteristics of the sole to be tested. However, this method of testing with real people not only has high personnel costs, but also takes a long time due to human limitations, and is also prone to interruption or impracticability of the testing process due to other force majeure factors (such as epidemics).

Therefore, the purpose of the present invention is to provide a test system with perceptual feedback to perform high-fidelity test, so that the movement of the object under test relative to the test platform can automatically conform to the preset, save labor costs and improve test efficiency.

According to an embodiment of the present invention, a test system with sensory feedback is provided, which is suitable for operation with a mechanical arm, the mechanical arm is attached to an object to be tested, and the test system includes a force sensor installed on the mechanical arm and a servo electrically connected to the mechanical arm and the force sensor. The force sensor is used to detect at least one reaction force on the object to be tested to generate a sensory feedback signal. The server is used to: control the mechanical arm to drive the object under test to move according to a force setting value corresponding to a direction, so that the object under test can contact a test platform; receive the sensory feedback signal from the force sensor to Comparing the reaction force corresponding to the direction indicated by the sensory feedback signal with the force setting value; and when the reaction force corresponding to the direction does not meet the force setting value, adjusting the mechanical arm in the direction to drive the waiting force The degree of movement of the test object relative to the test platform so that the reaction force corresponding to the direction meets the force setting value.

In some embodiments, the servo controls the movement of the robotic arm according to a sequence of motion parameters, the sequence of motion parameters includes at least one parameter associated with the direction, when the reaction force corresponding to the direction does not meet the force setting value At this time, the servo adjusts the at least one parameter associated with the direction, thereby adjusting the degree to which the mechanical arm drives the object under test to move relative to the test platform. Or, the servo adjusts the moving speed of the mechanical arm, thereby adjusting the degree to which the mechanical arm drives the object under test to move relative to the test platform.

In some embodiments, the movement parameter sequence is used to simulate a human body movement.

In some embodiments, the force sensor is a multi-axis force sensor.

In some embodiments, the force sensor is a 6-axis force sensor.

In some embodiments, the testing system further includes a user interface in communication with the server for presenting information related to the at least one reaction force.

In some embodiments, the test system further includes a photographing device, the photographing device is electrically connected to the server for photographing the object under test to generate a test image to the server, and the server takes the test image displayed on the UI.

In this way, the test system provided by the present invention not only drives the object under test to move relative to a test platform through the mechanical arm, but also judges the current force on the object under test through the feedback signal provided by the force sensor Whether it reaches the expected value, so as to adjust the action of the mechanical arm accordingly, so that the resistance encountered by the object under test on the test platform will not weaken unexpectedly over time, but can continue to meet the preset settings.

In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be understood by one of ordinary skill in the art that the present invention may be practiced without these specific details. In other instances, well-known methods, procedures and/or elements have not been described in detail so as not to obscure the present invention.

Please refer to FIG. 1 to FIG. 3 , a test system 1 with perceptual feedback according to an embodiment of the present invention is suitable for simulating the state of a real person using a test object T, and can also test the test object T at the same time. Perform test tasks. The test system 1 mainly includes a server 10 , a robot arm 20 , at least one force sensor 30 , a user interface 40 , an input unit 50 and a camera 60 . The server 10 is electrically connected to the robot arm 20 , the force sensor 30 , the input unit 50 and the camera 60 , and also communicated with the user interface 40 .

The robot arm 20 can be, for example but not limited to, a single-axis or multi-axis robot arm, and the robot arm 20 is detachably attached to an object T to be tested. The server 10 controls the mechanical arm 20 to adjust the posture of the test object T and drive the test object T to move relative to a test platform 2 . In order to briefly state the operation of the test system 1 of the present invention, the multi-axis robot arm will be used as the robot arm 20 for exemplary description below, and the robot arm 20 has multiple joints and multiple arms, and each arm will not expand and contract. As shown in FIG. 2 ; however, the present invention is not limited thereto, and the design of the robotic arm 20 depends on the requirements of the test task.

The force sensor 30 can be, for example but not limited to, a multi-axis force sensor for detecting the reaction force on the object T to be tested. In this embodiment, one end of the force sensor 30 is connected to the mechanical arm 20 , and the opposite end is connected to the object T to be tested. In order to briefly describe the operation of the test system 1 of the present invention, the following will use a six-axis force sensor as the force sensor 30 to illustrate. The force sensor 30 can detect the force on the X-axis, Y-axis and Z-axis. Translation force Fx, Fy and Fz and torsional force (rotational force or moment) Mx, My and Mz, as shown in Figure 3; Yet, the present invention is not limited to this, the quantity and type of force sensor 30 are selected end view Depends on the needs of the test task.

In order to execute the test task, at least one database can be pre-established in the storage unit of the server 10, which is used to store the program instructions, algorithms and parameters required for operation, so that the processor of the server 10 can perform a test task. use. The information in each database may be, for example but not limited to, determined according to the type of the test object T and the type of the test task. The type of the object T to be tested may be, for example but not limited to, shoes or chairs. The test tasks can be classified according to the type of the test object T, such as but not limited to abrasion resistance test or material strength test. In order to briefly describe the operation of the test system 1 of the present invention, the sole structure of football shoes will be used as the bottom structure of the object T to be tested and the test task will be an abrasion resistance test.

For the wear resistance test of the object T to be tested, the test system 1 provided by the present invention can simulate the state of a real person wearing shoes with this sole structure and performing various body movements, such as but not limited to kicking a straight ball, tackling a ball, running fast , jogging, walking or standing, etc. At the same time, it can also test the wear resistance of the test object T with this sole structure. To this end, the above-mentioned at least one database may pre-store a plurality of movement parameters, a plurality of weight parameters, one or more motion parameter sequences associated with each movement parameter, a plurality of speed parameters, and a plurality of force preset values. The action parameter is a parameter representing a preset simulation action. The weight parameter refers to the weight of a real person who is going to wear the shoe with the above-mentioned sole structure. Each movement parameter sequence is planned according to simulating a human body movement. The motion parameter sequence at least includes the index of each joint of the robotic arm 20 and each coordinate of each joint on a preset path of a preset simulation action. The speed parameter refers to the speed of the mechanical arm 20 when performing a preset simulation action. The preset force value refers to the expected reaction force obtained by the object T to be tested in one direction when the robot arm 20 drives the object T to touch the test platform 2 . Each force preset corresponds to a direction and is associated with a weight parameter, a motion parameter sequence and a speed parameter. The number and types of force presets depend on the force sensor 30 selected and the purpose of the test. Moreover, the corresponding relationship between the motion parameter sequence and the action parameter, and the corresponding relationship between the weight parameter, the motion parameter sequence, the speed parameter and the force preset value can also be pre-stored in at least one of the aforementioned databases. For the convenience of description, the preset value of the force is a preset value corresponding to the direction of the Z axis.

The user interface 40 can be displayed on a display (not shown) connected to the server 10 to present one or more parameter input fields for the tester to input parameters through the input unit 50 and present one or more sensing results The window is for the tester to watch and analyze the sensing results of the sensor. The input device may be, for example but not limited to, a keyboard, a mouse, or a touchpad integrated in a display. The manner of presenting the sensing results may be implemented, for example but not limited to, in the form of graphs or numerical values. In this embodiment or other embodiments, the user interface 40 may further present one or more test result windows for the tester to observe and judge the test results. The test result can be obtained, for example but not limited to, by using the photographing device 60 to photograph the object T to be tested to obtain a test image including the state of the sole. The test image generated by the photographing device 60 is sent to the processor of the server 10 , so that the test image is displayed in the test result window of the user interface 40 through the processor.

For the example of testing the abrasion resistance of the sole by kicking a straight ball, the tester can set kicking a straight ball as a preset simulation action (that is, set the action parameters) through the above-mentioned user interface 40 and input unit 50, set The weight of the human body (that is, the set weight parameter), the speed (that is, the set speed parameter) and the time (that is, the set test time length) for performing the preset simulation action and the force value in the Z-axis direction are set as a force set value. At this time, the processor of the server 10 can know the action parameter corresponding to the preset simulation action and a force preset value corresponding to the force setting value, and search a motion parameter sequence corresponding to the above setting from the storage unit 40 .

Then, the processor of the server 10 can control the mechanical arm 20 to adjust the posture of the object T to be tested according to the set speed parameter, the test time length and the searched motion parameter sequence, and drive the object T to be tested relative to the test platform 2 Movement, let the bottom structure of the object under test T rub against the surface of the test platform 2 . At the same time, the processor of the server 10 also controls the force sensor 30 to detect six kinds of reaction forces on the object T to be tested, namely the translational force Fx in the X-axis direction, the translational force Fy in the Y-axis direction, and the translational force Fy in the Z-axis direction. The translational force Fz in the direction, the torque Mx rotating around the X axis, the torque My rotating around the Y axis, and the torque Mz rotating around the Z axis, so as to generate a sensory feedback signal.

When the processor of the server 10 receives the sensory feedback signal provided by the force sensor 30, it will compare the translational force Fz indicated by the sensory feedback signal with the previously searched force preset value to adjust the motion parameter sequence associated with At least one parameter in the Z-axis direction or the speed parameter is adjusted, so as to adjust the degree to which the mechanical arm 20 drives the object T to be tested to move relative to the test platform 2 . For example, since the wear resistance of the studs on the sole structure of the object under test T is tested under the same preset simulation action, the studs on the object under test T will gradually wear out over time, so that the object T under test The resistance in the direction also gradually decreases, causing the translational force Fz in the Z-axis direction to be lower than the force preset value corresponding to the Z-axis direction; this means that under the current motion parameter sequence, the mechanical arm 20 drives the object T to be tested in the Z-axis direction. It is not enough to press the test platform 2 downward on the axis, so the processor of the server 10 can increase the mechanical arm 20 to drive the object T to be tested downward in the direction of the Z axis by adjusting the coordinates associated with the Z axis in the motion parameter sequence. Extent to which pressure was applied to test platform 2.

To sum up, the test system 1 of the present invention can obtain feedback signals through the force sensor 30, thereby updating the parameters used to control the mechanical arm 20, so that the movement of the object T to be tested relative to the test platform 2 evolves with time It can still automatically comply with the preset setting, and will not undesirably weaken the resistance encountered by the object under test T on the test platform 2 over time.

The motion parameter sequence adopted by the test system 1 of the present invention is planned by simulating a human body movement, so the movement of the mechanical arm 20 can be close to the body movement of a real person, and the test system 1 can simulate the use of a product using the test object T by a real person Condition. Through such a realistic test, the characteristics of the test object T can be more truly reflected.

Moreover, the test system 1 of the present invention can display the six reaction forces indicated by the sensory feedback signal on the user interface 40, so that the tester can judge the change in the same predictive force by observing the changes of these sensing results over time. Under the simulation action and force setting value, the change of the force on the object T to be tested is used to analyze the material properties of the sole structure.

In addition, the test system 1 of the present invention can also display the test images taken by the shooting device 60 on the user interface 40, so that the tester can observe the wear condition of the sole structure in the test image, or use the image analysis technology to automatically analyze the wear of the sole structure. wear condition.

Although the present invention is disclosed above with the aforementioned embodiments, these embodiments are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, all changes, modifications and combinations of implementations are within the scope of patent protection of the present invention. For the scope of protection defined by the present invention, please refer to the appended scope of patent application.

1: Test system 10:Server 20: Mechanical arm 30: Force sensor 40: User Interface 50: input unit 60: Shooting device 2: Test platform T: The object to be tested Fx, Fy, Fz: translation force Mx,My,Mz: torque

Other aspects of the invention and its advantages will be discovered after studying the detailed description in conjunction with the following drawings: 1 is a functional block diagram of a test system with sensory feedback according to an embodiment of the present invention; 2 is a schematic diagram of a test system with sensory feedback combined with a force sensor and a test object according to an embodiment of the present invention; and FIG. 3 is a schematic diagram of force sensing by a force sensor on an object under test according to an embodiment of the present invention.

1: Test system

10:Server

20: Mechanical arm

30: Force sensor

40: User Interface

50: input unit

60: Shooting device

Claims (8)

A test system with sensory feedback, suitable for operation with a mechanical arm, the mechanical arm is attached to a test object, the bottom of the test object is a sole structure, the test system includes: a force sensor configured to Installed on the mechanical arm to detect at least one reaction force on the object to be tested, so as to generate a sensory feedback signal; and a server, electrically connected to the mechanical arm and the force sensor, for: according to the corresponding A force setting value in one direction controls the mechanical arm to repeatedly drive the object under test to move, so that the object under test can repeatedly touch a test platform; receive the sensory feedback signal from the force sensor to compare the sensory feedback The reaction force corresponding to the direction indicated by the signal and the force setting value; and when the reaction force corresponding to the direction does not meet the force setting value, adjust the mechanical arm in the direction to drive the object under test relative to the testing the degree of motion of the platform so that the reaction force corresponding to the direction complies with the set value of the force; wherein the servo controls the motion of the mechanical arm according to a motion parameter sequence, and the motion parameter sequence includes at least one motion parameter associated with the direction parameter, when the reaction force corresponding to the direction does not meet the force setting value, the servo adjusts the at least one parameter associated with the direction, thereby adjusting the mechanical arm to drive the object under test to move relative to the test platform degree; and the motion parameter sequence is used to simulate a human body action, the body action is kicking a straight ball, tackling a ball, running fast, jogging, walking or standing. According to the test system with sensory feedback described in claim 1, wherein the servo adjusts the speed of the movement of the mechanical arm, thereby adjusting the direction in which the mechanical arm drives The degree of movement of the test object relative to the test platform. According to the test system with sensory feedback as claimed in Claim 1, wherein the force sensor is a multi-axis force sensor. According to the test system with sensory feedback according to Claim 1, wherein the force sensor is a 6-axis force sensor. The test system with sensory feedback according to Claim 1 further includes: a user interface communicating with the server for presenting information related to the at least one reaction force. According to the test system with sensory feedback described in claim 5, it further includes: a photographing device, electrically connected to the server, for photographing the object under test to generate a test image to the server, and the server will The test image is displayed on the user interface. The test system with sensory feedback according to claim 1, wherein the force setting value and the motion parameter sequence correspond to a weight parameter, and the weight parameter is the weight of a real person. According to the test system with sensory feedback described in claim 3, wherein the multi-axis force sensor detects the translational force and moment of the object under test in the X-axis direction, the Y-axis direction and the Z-axis direction, thereby generating the Sensing feedback signals, the X-axis direction, the Y-axis direction and the Z-axis direction are perpendicular to each other; and the servo provides the translational forces and the moments in the X-axis direction, the Y-axis direction and the Z-axis direction with Time-varying information to display in a user interface.

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