Method, device and storage medium for performing pile-pushing tests with multiple robots simultaneously

Abstract

The present application discloses a method, device and storage medium for simultaneously performing a charging pile test on multiple robots. The method comprises the following steps: dividing a test area into a waiting position for inspection, a charging pile position and a test machine position; controlling multiple robots to move to the test machine position in sequence, obtaining the identity feature information of each robot through the test machine, and initializing the test data of the robot; controlling the robot to move to the charging pile position, docking the robot's power receiving mechanism and the charging pile, and charging the robot; controlling the robot to automatically stop charging and separate from the charging pile, and then moving to the test machine position, obtaining the test data of the robot through the test machine, until the test data of all robots are obtained, forming the first cyclic test cycle; performing multiple cyclic test cycles to generate test summary data; judging whether the charging pile test of each robot is qualified based on predetermined test rules and test summary data. The method can greatly improve the efficiency of the robot charging pile test.

Description

Technical Field

[0001] The present invention relates to the technical field of robot pile driving testing, and in particular to a method, device and storage medium for simultaneously performing pile driving testing on multiple robots. Background Art

[0002] Before the robot automatically charges, it will generally identify the charging pile based on the laser radar or laser sensor, and then dock with the charging pile for charging. Therefore, before leaving the factory, the robot will undergo a large number of charging pile tests to ensure that the robot has better stability and reliability in the later application process.

[0003] At present, the method of robot pile testing is: Figure 1 As shown in the figure, in a fixed test area, one robot corresponds to one charging pile and occupies one test machine. When testing multiple robots, multiple test areas are set up accordingly, and charging piles and test machines are set up in each test area. In this way, not only the test efficiency is low, the equipment cost is high, but also a large area is occupied. Summary of the invention

[0004] One advantage of the present invention is that it provides a method, device and storage medium for simultaneously performing a pile-driving test on multiple robots. By adjusting the test time interval of the robots, multiple robots can be tested simultaneously in a test area, effectively improving the test efficiency. Test summary data is formed based on tests of multiple cyclic test cycles, and based on predetermined test rules, it can quickly determine whether the robot's pile-driving test is qualified, thereby ensuring the quality of the pile-driving test.

[0005] One advantage of the present invention is that it provides a method, device and storage medium for simultaneously performing pile testing on multiple robots. When a robot that has completed the test is removed, a new robot to be tested is controlled to participate in the test of the cyclic test cycle, which can form an orderly and seamless test of a large number of robots, further improving the test efficiency.

[0006] One advantage of the present invention is that it provides a method, device and storage medium for performing pile-impeding tests on multiple robots at the same time. When unqualified robots are confirmed in the early stage of multiple cyclic test cycles, these robots are removed in time to ensure that testing space is freed up for new robots to ensure test efficiency.

[0007] One advantage of the present invention is that it provides a method, device and storage medium for simultaneously performing charging pile tests on multiple robots. Whether the robot's charging pile test is qualified is determined based on the average docking time between the power receiving mechanism and the charging pile in the test summary data and the actual attenuation curve of the torque value of the motor of the robot during each docking and separation. This can effectively ensure the robot's charging pile quality and thus ensure the robot's factory quality.

[0008] One advantage of the present invention is that it provides a method, device and storage medium for simultaneously performing charging pile testing on multiple robots. By setting the closed-loop test path of at least one robot in the closed-loop test paths of multiple robots in the same batch to be different from the closed-loop test paths of other robots, the power receiving mechanisms on robots with different closed-loop test paths can be docked with the charging pile at different angles. This can provide more sample data based on the production batches of the robots, improve the accuracy and reliability of the test data, and also facilitate the production traceability and after-sales tracking of the robot manufacturers, and provide data support for subsequent production research and development.

[0009] One advantage of the present invention is that it provides a method, device and storage medium for multiple robots to perform charging pile tests at the same time, by dividing the waiting positions to be inspected into undetected waiting positions and detected waiting positions. At the same time, the number of detected waiting positions corresponds to the number of robots that perform charging pile tests at the same time, that is, by extending the time for the robot to move from the charging pile position to the test machine position in the closed-loop test path, that is, additionally setting a test time interval, it can effectively ensure that a larger number of robots perform charging pile tests at the same time.

[0010] In order to achieve at least one of the above advantages of the present invention, in a first aspect, the present invention provides a method for simultaneously performing a pile-pushing test with multiple robots, comprising the following steps:

[0011] S1, demarcate a test area, and divide the demarcated test area into waiting positions for inspection, charging pile positions, and test positions, wherein the waiting positions for inspection are used to place multiple robots;

[0012] S2, controlling the multiple robots to move to the test machine position along the first test path at predetermined intervals in sequence, obtaining the identity feature information of each robot in sequence through the test machine at the test machine position, and initializing the test data of the robot;

[0013] S3, controlling the robot after the test data is initialized to move to the charging pile position, connecting the power receiving mechanism of the robot with the charging pile at the charging pile position, and charging the robot;

[0014] S4, controlling the robot that has completed charging to automatically stop charging and separate from the charging pile, and then controlling the robot to move to the test machine position along the second test path, and obtaining the test data of the robot through the test machine based on the identity feature information of the robot, until the test data of all robots are obtained, forming a first cyclic test cycle, wherein the first test path and the second test path form a closed-loop test path, and the closed-loop test path is waiting position for inspection-test machine position-charging pile position-waiting position for inspection-test machine position;

[0015] S5, performing a predetermined number of cyclic test cycles on the multiple robots with reference to steps S1 to S4, and generating test summary data of the multiple robots;

[0016] S6, determining whether each robot has passed the pile-pushing test based on the predetermined test rules and the test summary data.

[0017] According to one embodiment of the present invention, the method of the pile test also includes step S7, controlling the robots judged to be qualified to move out of the test area to the qualified area, controlling the robots judged to be unqualified to move out of the test area to the unqualified area, and based on the number of robots that have completed the test, controlling the corresponding number of robots to be tested to enter the waiting position for inspection, and controlling the robots newly added to the waiting position for inspection to participate in the cyclic test cycle.

[0018] According to one embodiment of the present invention, within a predetermined first time range, if the power receiving mechanism of the robot fails to successfully dock with the charging pile, and fails to successfully dock for two or three test cycles, the robot test is determined to be completed, and the robot is controlled to move out of the test area to the unqualified area.

[0019] According to one embodiment of the present invention, if the robot does not charge after the power receiving mechanism of the robot is successfully docked with the charging pile, and does not charge for two or three test cycles, it is determined that the robot test is completed, and the robot is controlled to move out of the test area to the unqualified area.

[0020] According to one embodiment of the present invention, the identity feature information is the MAC address information of the robot, and the test data includes the docking time between the robot's power receiving mechanism and the charging pile, and the torque value of the motor on the robot when the power receiving mechanism and the charging pile are docked and separated.

[0021] According to one embodiment of the present invention, the test rules include whether the difference between the average docking time and the standard docking time between the power receiving mechanism and the charging pile in the test summary data is within a first threshold range, and whether the similarity between the actual attenuation curve of the torque value of the motor of the robot during each docking and separation and the theoretical attenuation curve is within a second threshold range. If both are met, the robot is judged to be qualified; if any one of them is not met, the robot is judged to be unqualified.

[0022] According to one embodiment of the present invention, among the closed-loop test paths of multiple robots in the same batch, the closed-loop test path of at least one robot is different from the closed-loop test paths of other robots, so that the power receiving mechanisms on robots with different closed-loop test paths dock with charging piles at different angles.

[0023] According to one embodiment of the present invention, when the number of robots that are simultaneously performing the charging pile test is greater than or equal to six, the waiting position to be inspected is divided into an undetected waiting position and a detected waiting position, wherein there is one undetected waiting position and it is close to the test machine position in the closed-loop test path, the detected waiting position is between the charging pile position and the undetected waiting position, and the number of the detected waiting positions corresponds to the number of robots that are simultaneously performing the charging pile test, and by extending the time from the charging pile position to the test machine position in the closed-loop test path, it is ensured that six or more robots can simultaneously perform the charging pile test.

[0024] In a second aspect, the present invention also provides an electronic device for multiple robots to perform pile testing simultaneously, comprising a memory and a processor, wherein the memory is coupled to the processor, and an operation program is stored on the memory, and when the operation program is executed by the processor, the electronic device can perform the aforementioned pile testing method.

[0025] In a third aspect, the present invention also provides a storage medium for multiple robots to perform pile-driving tests simultaneously, wherein a computer program is stored on the storage medium, and when the computer program is executed by a computer or a processor, the aforementioned pile-driving test method can be implemented.

[0026] These and other objects, features and advantages of the present invention will be fully reflected in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A schematic diagram showing a plurality of robots performing a pile-impacting test in the prior art is shown.

[0028] Figure 2 A schematic diagram showing the principle of the method of the present application for multiple robots to perform pile-impinging tests simultaneously.

[0029] Figure 3 A schematic diagram of the process of five robots performing pile-pushing tests simultaneously in this application is shown.

[0030] Figure 4 A schematic diagram of a closed-loop test path in which five robots perform pile-pushing tests simultaneously in this application is shown.

[0031] Figure 5 A schematic diagram of the process of five robots performing pile-pushing tests simultaneously in this application is shown.

[0032] Figure 6 A schematic diagram of a closed-loop test path in which five robots perform pile-pushing tests simultaneously in this application is shown.

[0033] Figure 7A schematic diagram of the structure of an electronic device for performing a pile-pushing test simultaneously by multiple robots in the present application is shown. DETAILED DESCRIPTION

[0034] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art can think of other obvious variations. The basic principles of the present invention defined in the following description can be applied to other embodiments, variations, improvements, equivalents, and other technical solutions that do not deviate from the spirit and scope of the present invention.

[0035] Those skilled in the art should understand that, in the disclosure of the specification, the orientation or position relationship indicated by the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. are based on the orientation or position relationship shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the above terms should not be understood as limiting the present invention.

[0036] It is to be understood that the term "one" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element may be one, while in another embodiment, the number of the element may be multiple, and the term "one" should not be understood as a limitation on the quantity.

[0037] Based on the existing technical solution of robot charging pile testing, one robot corresponds to one charging pile and occupies one test machine and one test area, which has problems such as low work efficiency, high testing cost, and large occupied site area. On the one hand, combined with Figures 2 to 7 The present application proposes a method for performing a pile test with multiple robots at the same time, which will be described in detail below. The method for performing a pile test with multiple robots at the same time mainly includes the following steps:

[0038] S1, demarcate the test area, and divide the designated test area into waiting positions for inspection, charging pile positions, and test machine positions, wherein the waiting positions for inspection are used to place multiple robots. Generally, the charging pile position and the test machine position are both equipped with a charging pile and a test machine, which are used to test multiple robots at the same time, so as to improve the test efficiency, reduce the test cost, and reduce the area occupied by the test site. In addition, in some cases, two charging piles and two test machines can be placed at the charging pile position and the test machine position respectively, one of which is used as a spare to prevent the robot's charging pile test from being interrupted in special circumstances, such as problems with the charging pile or the test machine, or when additional tests need to be performed on the spare machine for verification tests, thereby ensuring the efficiency of multiple robots performing charging pile tests at the same time;

[0039] S2, controlling the multiple robots to move to the test machine position along the first test path in sequence at a predetermined interval, obtaining the identity feature information of each robot in sequence through the test machine at the test machine position, such as the MAC address information of the robot, and initializing the test data of the robot, wherein the predetermined interval time is an adjustable fixed value;

[0040] S3, controlling the robot after the test data is initialized to move to the charging pile position, connecting the power receiving mechanism of the robot with the charging pile at the charging pile position, and charging the robot;

[0041] S4, controlling the robot that has completed charging to automatically stop charging and separate from the charging pile, and then controlling the robot to move to the test machine position along the second test path, and obtaining the test data of the robot through the test machine based on the identity feature information of the robot, until the test data of all robots are obtained, forming a first cyclic test cycle, wherein the first test path and the second test path form a closed-loop test path, and the closed-loop test path is waiting position for inspection-test machine position-charging pile position-waiting position for inspection-test machine position;

[0042] S5, performing a predetermined number of cyclic test cycles on the multiple robots with reference to steps S1 to S4, and generating test summary data of the multiple robots;

[0043] S6, determining whether each robot has passed the pile-pushing test based on the predetermined test rules and the test summary data.

[0044] Considering the actual situation of the robot during the pile test:

[0045] 1. The difference in the time required for the test machine to initialize the test data on each robot is small and can be basically ignored;

[0046] 2. The difference in the time it takes for the test machine to obtain the test data on each charged robot is small and can be basically ignored;

[0047] 3. Most of the time consumed by each robot in a complete cycle test period is the time for the power receiving mechanism and the charging pile to connect, the charging time and the walking time.

[0048] Therefore, in a closed-loop test path, the robot's movement time at each workstation, such as the test machine position or the charging pile position, as well as the movement time between two adjacent workstations can be preset, making it possible for multiple robots to perform charging pile tests simultaneously in the same closed-loop test path.

[0049] In addition, it is also taken into account that there may be a certain error between the actual and theoretical time of the robot. For example, the theoretical process takes 5 seconds, but in actual testing it may take 6 or 8 seconds to successfully hold the pole.

[0050] In addition, it is also taken into consideration that the time it takes for robots of different models, functions or types to hit the pile may also be different.

[0051] Therefore, in the method of performing pile driving tests with multiple robots at the same time, it is necessary to set a fixed residence time of the robot at each workstation.

[0052] For example, combining Figure 3 and Figure 4For the first type of robot, when five robots are tested against a charging pile at the same time, the scheduled time of the movement intervals of the five robots, the walking time of the robots between two adjacent workstations, and the stay time of the robots at each workstation are all set to 20s. That is, the walking time of the first robot from the waiting position to be inspected to the test position is set to 20s, the time consumed by the test machine to initialize the robot's test data, or first obtain the robot's charging pile test data and then initialize the robot's test data is set to 20s, the walking time from the test position to the charging pile position is set to 20s, the time to dock the charging pile and charge is 20s, and then the walking time from the charging pile position to the waiting position to be inspected is 20s, which is a walking cycle. After the robot completes a walking cycle, it arrives at the test position from the waiting position to be inspected, first obtains the robot's charging pile test data through the test machine, and then initializes the robot's test data, and then performs the next walking cycle. After the test machine obtains the robot's charging pile test data, it is considered to have completed a cycle test. During this period, at any workstation, such as the test station or charging station, if the working time is less than 20 seconds, it will automatically stop until the stop time reaches 20 seconds, and then automatically continue to move along the test path. For example, when the robot's charging time is 6 seconds and the charging time is 10 seconds, the robot stays at the charging station for 4 seconds and then automatically leaves the charging station; for another example, when the robot is at the test station, the test machine uses 15 seconds to obtain the charging test data and initialize the test data, and then it needs to continue to stay for 5 seconds before walking to the charging station.

[0053] Preferably, the method for the pile test also includes step S7, controlling the qualified robots to move out of the test area to the qualified area, and controlling the unqualified robots to move out of the test area to the unqualified area, and at the same time, based on the number of robots that have completed the test, controlling the corresponding number of robots to be tested to enter the waiting position for testing, and controlling the robots newly added to the waiting position for testing to participate in the cyclic test cycle. In this way, it is possible to form an orderly and seamless pile test for a large number of robots in the same batch of robots produced, making full use of limited space, equipment and time for pile testing, and further improving the efficiency of robot pile testing.

[0054] As a preferred embodiment, within a predetermined first time range, if the power receiving mechanism of the robot fails to dock with the charging pile successfully, and fails to dock successfully for two or three consecutive test cycles, the robot test is determined to be completed, and the robot is controlled to move out of the test area to the unqualified area to quickly move out the unqualified robot, thereby freeing up space for untested robots to perform charging pile testing, so as to ensure the efficiency of the robot's charging pile testing.

[0055] As another preferred embodiment, if the robot does not charge after the power receiving mechanism of the robot is successfully docked with the charging pile, and does not charge for two or three cycles of testing, it is determined that the robot test is completed, and the robot is controlled to move out of the test area to the unqualified area to quickly move out the unqualified robot, thereby freeing up space for untested robots to perform charging pile testing, so as to ensure the efficiency of the robot's charging pile testing.

[0056] Further preferably, the identity feature information is the robot's MAC address information, which serves as an identity verification code to identify the robot, ensuring the quality of the charging pile test, and the test data includes the docking time between the robot's power receiving mechanism and the charging pile, and the torque value of the robot's motor when the power receiving mechanism and the charging pile are docked and separated. Through the docking time test, it can be ensured that the robot can be effectively and quickly docked and charged after leaving the factory, and that the robot has better docking quality, thereby improving the user experience and providing the core competitiveness of the robot company; and the test of the robot's torque value, including the torque value during docking and the torque value during separation, can effectively ensure the life of the robot's power receiving mechanism in terms of effective docking, thereby ensuring the service life of the robot.

[0057] To monitor the docking time between the robot's power receiving mechanism and the charging pile, an RFID card can be set near the charging pile. When the robot moves near the charging pile, it will identify the RFID card, determine the time when the robot identifies the RFID card and start timing through the timer. Then the robot starts the docking test to determine the time when the robot docks and starts charging. The difference between the time when charging starts and the time when the RFID card is identified is the actual time when the robot docks with the charging pile. The charging pile will automatically stop charging after charging the robot for 10 seconds. The robot stops charging as a trigger signal and separates from the charging pile. If the timer time does not reach 20 seconds at this time, the robot stays in the charging area until the timer time reaches 20 seconds, and the robot leaves the charging area.

[0058] Further preferably, the test rules include whether the difference between the average docking time and the standard docking time between the power receiving mechanism and the charging pile in the test summary data is within a first threshold range, and whether the similarity between the actual attenuation curve of the torque value of the motor of the robot during each docking and separation and the theoretical attenuation curve is within a second threshold range. If all of the above are met, the robot is judged to be qualified; if any one of the above is not met, the robot is judged to be unqualified.

[0059] It is further preferred that among the closed-loop test paths of multiple robots in the same batch, the closed-loop test path of at least one robot is different from the closed-loop test paths of other robots, so that the power receiving mechanisms on robots with different closed-loop test paths dock with the charging pile at different angles. In this way, among the robots produced in the same batch, there will be at least one, or 1 / 3 of the number of robots, whose docking angles with other robots and charging piles are inconsistent, which can provide more sample data for the robots in this batch to ensure the accuracy and reliability of the robot charging pile test data. At the same time, it is also convenient for the robot manufacturer's production traceability and after-sales tracking, and provide data support for subsequent production and research and development.

[0060] It should be noted that the closed-loop test paths between robots with different docking angles can be completely different or partially different, as long as the docking angles are not consistent when docking with the charging pile. When the docking angles are partially different, the same section of the closed-loop test path can be controlled by using the time difference of passing, that is, not passing the same section at the same time, so as to avoid interference in the movement paths between multiple robots performing charging pile tests at the same time.

[0061] As a preferred embodiment, Figure 5 and Figure 6 , when the number of robots that are simultaneously performing the charging pile test is greater than or equal to six, the waiting position to be inspected is divided into an undetected waiting position and a detected waiting position, wherein the undetected waiting position has one and is close to the test machine position in the closed-loop test path, wherein the detected waiting position is between the charging pile position and the undetected waiting position, and the number of the detected waiting positions corresponds to the number of robots that are simultaneously performing the charging pile test, thereby ensuring that six or more robots can simultaneously perform the charging pile test by extending the time from the charging pile position to the test machine position in the closed-loop test path. In other words, when six robots are simultaneously performing the charging pile test, the number of the detected waiting positions is one, and when seven robots are simultaneously performing the charging pile test, the number of the detected waiting positions is two, and when eight robots are simultaneously performing the charging pile test, the number of the detected waiting positions is three, wherein the detected waiting positions are set sequentially in the closed-loop test path.

[0062] It is worth mentioning that, for extending the time from the charging pile position to the testing machine position in the closed-loop test path, it can be achieved by setting a longer moving path, so that the space of the test site can be increased to allow more robots to perform the charging pile test at the same time. In this case, the robot moves at a fixed speed in the entire closed-loop test path, so that by waiting for a time interval, it is ensured that multiple robots can perform the charging pile test at the same time; in addition, it can also be achieved by changing the moving speed of the robot between the charging pile position and the testing machine position in the same path, which can save the space area of ​​the test site, and form a waiting time interval by reducing the moving speed, thereby ensuring that multiple robots can perform the charging pile test at the same time.

[0063] On the second aspect, based on the same principle, an embodiment of the present application also provides an electronic device for multiple robots to perform pile testing simultaneously, including a memory and a processor, wherein the memory is coupled to the processor, and an operation program is stored on the memory, and when the operation program is executed by the processor, the electronic device can perform any of the aforementioned pile testing methods.

[0064] On the third aspect, based on the same principle, an embodiment of the present application also provides a storage medium for multiple robots to perform pile testing simultaneously, wherein a computer program is stored on the storage medium, and when the computer program is executed by a computer or a processor, it can implement any of the aforementioned pile testing methods.

[0065] In the embodiments of the smart terminal and computer-readable storage medium provided in the present application, all technical features of any of the above-mentioned operation method embodiments may be included, and the expanded and explained contents of the specification are basically the same as those of the embodiments of the above-mentioned methods, and will not be repeated here.

[0066] An embodiment of the present application further provides a computer program product, wherein the computer program product includes a computer program code, and when the computer program code runs on a computer, the computer is enabled to execute the methods in the various possible implementation modes described above.

[0067] An embodiment of the present application also provides a chip, including a memory and a processor, wherein the memory is used to store computer programs, and the processor is used to call and run computer programs from the memory, so that a device equipped with the chip can execute the methods in various possible implementation modes as described above.

[0068] It is understood that the above scenarios are only examples and do not constitute a limitation on the application scenarios of the technical solutions provided in the embodiments of the present application. The technical solutions of the present application can also be applied to other scenarios. For example, it is known to those skilled in the art that with the evolution of the system architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0069] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0070] The steps in the method of the embodiment of the present application can be adjusted in order, combined and deleted according to actual needs.

[0071] The units in the device of the embodiment of the present application can be merged, divided and deleted according to actual needs.

[0072] In the present application, the same or similar terminology concepts, technical solutions and / or application scenario descriptions are generally described in detail only the first time they appear. When they appear again later, they are generally not repeated for the sake of brevity. When understanding the technical solutions and other contents of the present application, for the same or similar terminology concepts, technical solutions and / or application scenario descriptions that are not described in detail later, reference can be made to the previous related detailed descriptions.

[0073] In the present application, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0074] The various technical features of the technical solution of the present application can be arbitrarily combined. In order to make the description concise, not all possible combinations of the various technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of the present application.

[0075] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, disk, CD) as above, including a number of instructions for a terminal device (which can be a mobile phone, iPad, computer, server, controlled terminal, or network device, etc.) to execute the method of each embodiment of the present application.

[0076] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loading and executing computer program instructions on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server, a data center, etc. that contains one or more available media integrated. The available medium can be a magnetic medium, (e.g., a floppy disk, a storage disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state storage disk Solid State Disk (SSD)), etc.

[0077] It should be understood by those skilled in the art that the embodiments of the present invention described above and shown in the accompanying drawings are only examples and do not limit the present invention. The advantages of the present invention have been fully and effectively achieved. The functional and structural principles of the present invention have been demonstrated and explained in the embodiments, and the embodiments of the present invention may be deformed or modified in any way without departing from the principles.

Claims

1. A method for performing pile-pushing tests with multiple robots simultaneously, characterized in that: The following steps are involved: S1, demarcate a test area, and divide the demarcated test area into waiting positions for inspection, charging pile positions, and test positions, wherein the waiting positions for inspection are used to place multiple robots; S2, controlling multiple robots to move to a test machine position along a first test path at predetermined intervals in sequence, obtaining identity feature information of each robot in sequence through a test machine at the test machine position, and initializing test data of the robot, wherein the test data includes a docking time between a power receiving mechanism of the robot and a charging pile, and a torque value of a motor on the robot when the power receiving mechanism and the charging pile are docked and separated; S3, controlling the robot after the test data is initialized to move to the charging pile position, connecting the power receiving mechanism of the robot with the charging pile at the charging pile position, and charging the robot; S4, controlling the robot that has completed charging to automatically stop charging and separate from the charging pile, and then controlling the robot to move to the test machine position along the second test path, and obtaining the test data of the robot through the test machine based on the identity feature information of the robot, until the test data of all robots are obtained, forming a first cyclic test cycle, wherein the first test path and the second test path form a closed-loop test path, and the closed-loop test path is waiting position for inspection-test machine position-charging pile position-waiting position for inspection-test machine position; S5, performing a predetermined number of cyclic test cycles on the multiple robots with reference to steps S1 to S4, and generating test summary data of the multiple robots; S6, determining whether the pile-pushing test of each robot is qualified based on the predetermined test rules and the test summary data; The test rule includes whether the difference between the average docking time and the standard docking time between the power receiving mechanism and the charging pile in the test summary data is within a first threshold range, and whether the similarity between the actual attenuation curve of the torque value of the motor of the robot at each docking and separation is within a second threshold range. If both are met, the robot is judged to be qualified; if any one of them is not met, the robot is judged to be unqualified; Among the closed-loop test paths of multiple robots in the same batch, the closed-loop test path of at least one robot is different from the closed-loop test paths of other robots, so that the power receiving mechanisms on robots with different closed-loop test paths dock with the charging pile at different angles.

2. The method for performing a pile-pushing test with multiple robots simultaneously as claimed in claim 1, characterized in that: It also includes step S7, controlling the robots judged to be qualified to move out of the test area to the qualified area, controlling the robots judged to be unqualified to move out of the test area to the unqualified area, and based on the number of robots that have completed the test, controlling the corresponding number of robots to be tested to enter the waiting position for inspection, and controlling the robots newly added to the waiting position for inspection to participate in the cyclic test cycle.

3. The method for performing a pile-pushing test with multiple robots simultaneously as claimed in claim 2, characterized in that: Within a predetermined first time range, if the power receiving mechanism of the robot fails to dock with the charging pile successfully, and fails to dock successfully for two or three test cycles, the robot test is determined to be completed, and the robot is controlled to move out of the test area to the unqualified area.

4. The method for performing a pile-pushing test with multiple robots simultaneously as claimed in claim 2, characterized in that: If the robot does not charge after the power receiving mechanism of the robot is successfully docked with the charging pile, and does not charge for two or three test cycles, it is determined that the robot test is completed, and the robot is controlled to move out of the test area to the unqualified area.

5. The method for performing pile-pushing tests with multiple robots simultaneously as claimed in claim 2, characterized in that: The identity feature information is the robot's MAC address information.

6. The method for performing a pile-pushing test with multiple robots simultaneously as claimed in any one of claims 1 to 5, characterized in that: When the number of robots that are simultaneously performing the charging pile test is greater than or equal to six, the waiting position to be inspected is divided into an undetected waiting position and a detected waiting position, wherein there is one undetected waiting position and it is close to the test machine position in the closed-loop test path, the detected waiting position is between the charging pile position and the undetected waiting position, and the number of the detected waiting positions corresponds to the number of robots that are simultaneously performing the charging pile test, and by extending the time from the charging pile position to the test machine position in the closed-loop test path, it is ensured that six or more robots can simultaneously perform the charging pile test.

7. An electronic device for performing pile-pushing tests with multiple robots simultaneously, characterized in that: It comprises a memory and a processor, wherein the memory is coupled to the processor and an operation program is stored in the memory, and when the operation program is executed by the processor, the electronic device is able to perform the method for pile testing as described in any one of claims 1 to 6.

8. A storage medium for multiple robots to perform pile-pushing tests simultaneously, characterized in that: A computer program is stored on the storage medium, and when the computer program is executed by a computer or a processor, it can implement the method for pile testing as described in any one of claims 1 to 6.

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