A robot for testing the voice control performance of smart home appliances

Abstract

The present invention discloses a robot for testing the voice control performance of intelligent household appliances, including an AGV mobile platform, a laser radar and a connecting mechanism located above the laser radar are arranged on the top of the AGV mobile platform, the laser radar is located in the middle of the top of the AGV mobile platform, an intelligent testing mechanism is arranged on the top of the connecting mechanism, and a voice mechanism and a protective mechanism located on one side of the voice mechanism are arranged on the intelligent testing mechanism. Through the set AGV mobile platform, the AGV mobile platform can drive the robot to move as a whole, so that the robot can move flexibly and reach any position specified by the tester, thereby meeting the test requirements and solving the problem that the mechanical arm itself cannot move in the prior art; through the voice player in the voice mechanism, the voice player can play functional voice instructions with multiple accents and different decibels.

Description

Technical Field

[0001] The invention relates to the field of intelligent detection, and in particular to a robot used for testing the voice control performance of intelligent household appliances. Background Art

[0002] In the field of smart home appliances that has developed rapidly in recent years, functions such as voice interaction and somatosensory interaction have become the focus of research and competition in the industry. The research on the intelligence of home appliances is in full swing, and the assessment of the intelligence level of various smart home appliances is also imminent. At present, the intelligent functions of various smart home appliances are mainly reflected in voice interaction, that is, the user and the home appliance obtain each other's feedback results through voice. At present, the intelligent level test of home appliances is still completed by manual assistance, that is, a large number of testers with different heights and accents are selected to conduct a large number of different command interaction tests at different locations of home appliances. This manual assisted testing method has many problems: poor standardization, due to the large individual differences of testers, the consistency of test results is difficult to ensure; a lot of human resources are wasted and the testing cost is very high; the results of manual assisted testing are subjective and the records are incomplete; testers are prone to fatigue and the testing efficiency is low.

[0003] The process of evaluating the level of intelligence is complicated, requiring testers to stand at multiple angles, multiple distances, and at different heights from the tested home appliances, and issue dozens or hundreds of functional instructions to the tested home appliances in multiple accents and volumes, and then make a comprehensive evaluation based on the responses of the home appliances to obtain the level of intelligence of the home appliances. The entire testing process is cumbersome and boring. Using manual methods to evaluate the intelligence of home appliances is not only time-consuming and labor-intensive, but also the evaluation results are not standardized. There are currently some commercial product quality inspection robots at home and abroad, such as the "AI quality inspection robot" that uses visual inspection technology to detect product appearance defects, and uses multiple robotic arms, cameras and AI visual algorithms to detect product appearance defects; robots that detect the metal content inside food through Faraday's law of electrical induction.

[0004] The above quality inspection robots and most quality inspection robots on the market perform various performance tests on products through mechanical arms or fixed inspection platforms. However, such quality inspection robots cannot be used in the evaluation of the level of smart home appliances for the following reasons:

[0005] 1. The robot arm itself cannot move. The intelligent assessment of home appliances requires playing functional voice at different angles and distances from the tested home appliance. This test requires the robot to be flexible and movable and to be able to reach any position specified by the tester;

[0006] 2. The robot cannot play voice. The main task of the current intelligent home appliance assessment is to test the home appliance's ability to recognize voice. This test requires the robot to be able to play functional voice commands in multiple accents and different decibels;

[0007] 3. Robot height limit: The intelligent assessment of home appliances requires simulating the heights of various groups of people, including children, adults and the elderly. This task requires the robot to be able to freely adjust the voice playback height. Summary of the invention

[0008] The purpose of the present invention is to overcome the deficiencies in the prior art and to provide a robot for testing the voice control performance of smart home appliances.

[0009] The objective of the present invention is achieved through the following technical solutions:

[0010] A robot for testing the voice control performance of smart home appliances, comprising an AGV mobile platform, a laser radar is arranged in the middle of the top of the AGV mobile platform, a connecting mechanism is arranged above the AGV mobile platform, an intelligent testing mechanism is arranged on the top of the connecting mechanism, a voice mechanism and a protection mechanism located on one side of the voice mechanism are arranged on the intelligent testing mechanism, and an auxiliary mechanism is also arranged on the AGV mobile platform;

[0011] The connecting mechanism includes four columns respectively arranged at the four corners of the top of the AGV mobile platform, the tops of the columns are fixedly connected with connecting columns, the middle parts of the connecting columns are provided with card slots, and the same protective box is placed between the tops of the four columns; the four corners of the bottom of the protective box are provided with through holes, the inner walls on both sides of the through holes are provided with slots, the connecting columns are respectively connected with the corresponding slots, the tops of the connecting columns extend to the interior of the protective box, two baffles are fixedly installed in the protective box, a bidirectional screw is rotatably connected in the protective box through a bearing, one end of the bidirectional screw passes through the side wall of the protective box and is fixedly connected with a handwheel;

[0012] The intelligent testing mechanism comprises a shell installed on the top of the protective box, a slide base and a first lower machine are installed at the bottom of the inner cavity of the shell, a synchronous belt slide is fixedly connected to the top of the slide base, the top of the synchronous belt slide extends out of the top of the shell, and a slide driver for driving the synchronous belt slide is arranged at the bottom of one side of the synchronous belt slide;

[0013] The voice mechanism can move up and down and can be detachably mounted on the slide of the synchronous belt slide;

[0014] The protective mechanism includes two guide grooves opened on the top of the shell, and the two guide grooves are respectively located on both sides of the synchronous belt slide. T-shaped rods are slidably connected in the guide grooves, and the top ends of the two T-shaped rods are fixedly connected with a protective cover located above the shell. The bottom of the protective cover is slidably connected to the top of the shell, and connecting ports are opened on both sides of the protective cover.

[0015] Furthermore, the outer surface of the bidirectional screw rod is threadedly connected to two transmission plates, and two side grooves are provided on the sides of the two transmission plates that are away from each other. Connecting shafts are fixedly connected in the four side grooves, and the outer surfaces of the connecting shafts are connected to connecting rods through bearings. One end of the connecting rods is fixedly connected to rollers, and the rollers are matched and plugged into the inner walls of the slots. The outer surface of the connecting shaft is provided with two torsion springs located on both sides of the connecting rod, and the ends of the torsion springs are fixedly connected to the connecting rods and the side grooves, respectively.

[0016] Furthermore, the voice mechanism includes a first support plate, a second support plate and a voice player, one side of the first support plate is fixedly connected to the slide of the synchronous belt slide, and the other side is fixedly connected to a connecting plate, a hook is fixedly connected to the middle of the connecting plate, a connecting groove is provided on the side of the second support plate close to the first support plate, the inner wall of the connecting groove is matched with the connecting plate, a plurality of connecting screws are threadedly connected on the side wall of the connecting groove, and the second support plate is connected to the voice player through the connecting screws.

[0017] Furthermore, a groove located between the connecting groove and the voice player is provided inside the second support plate, a sliding groove is provided between the groove and the connecting groove, a limiting plate is slidably connected in the groove, a button is fixedly connected to the top of the limiting plate, the top of the button extends out of the top of the second support plate, a connecting hole corresponding to the hook position is provided on the limiting plate, and a limiting block for cooperating with the hook is fixedly connected to the bottom of the inner cavity of the connecting hole; a third spring is fixedly connected to the bottom of the limiting plate, and the bottom end of the third spring is fixedly connected to the bottom of the inner cavity of the groove.

[0018] Furthermore, a slope is provided on one side of the limit block close to the connecting plate and on one end of the hook away from the connecting plate.

[0019] Furthermore, the auxiliary mechanism includes two first auxiliary plates respectively arranged on both sides of the AGV mobile platform and two positioning holes respectively opened on both sides of the AGV mobile platform. The two first auxiliary plates are fixedly connected with positioning columns on one side close to each other, and the positioning columns are respectively plugged into the positioning holes. The first auxiliary plates are each provided with an inner groove inside, and the second auxiliary plates are slidably connected in the inner groove, and a first spring is installed between the second auxiliary plate and the inner wall of the inner groove.

[0020] Furthermore, the outer end of the second auxiliary plate is fixedly connected to an L-shaped plate, a support tube is placed between the L-shaped plates, two support rods are slidably connected in the support tube, one end of the two support rods away from each other is fixedly connected to the L-shaped plate, and the two support rods are both sleeved with a second spring, and the two ends of the second spring are respectively fixedly connected to the support tube and the support rod.

[0021] Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0022] 1. Through the AGV mobile platform, the AGV mobile platform can drive the robot to move as a whole, so that the robot can move flexibly and reach any position specified by the tester, thereby meeting the test requirements and solving the problem that the robot arm itself cannot move in the prior art;

[0023] 2. Through the voice player in the voice mechanism, the voice player can play functional voice commands with different accents and decibels, thereby meeting the test requirements and solving the problem of being unable to play voice in the prior art;

[0024] 3. Through the intelligent testing mechanism, the intelligent testing mechanism can drive the voice mechanism to rise or fall, so as to simulate the height of various groups of people including children, adults and the elderly according to the assessment requirements, and can realize the free adjustment of the voice playback height, solving the problem of the height limitation of the robot in the prior art;

[0025] 4. This kind of robot fills the gap of intelligent and unmanned work in the intelligent level assessment of home appliances. The test process and results are objective, the test process is efficient and the working time is longer. As for the robot itself, its advantages are strong flexibility, the ability to reach any designated point, adjustable voice playback height, higher accuracy and less noise of the synchronous belt slide, and the use of laser radar scanning and mapping to achieve autonomous navigation and obstacle avoidance functions, which enhances the intelligence of the test robot;

[0026] 5. This kind of test robot has obvious advantages in position control, accent standardization, volume control and height control, ensuring the consistency of the test; the test process is streamlined, and it can effectively overcome the problem of fatigue of manual testers, significantly improving the test efficiency and saving a lot of labor costs;

[0027] 6. Through the roller in the connecting mechanism, when the protective box is located on the top of the column and the roller is inserted into the card slot, the roller can fix the position of the connecting column through the card slot, so that the column and the AGV mobile platform can be connected together, and the roller can be used as a structure to fix the protective box and the AGV mobile platform;

[0028] 7. Through the rollers in the connecting mechanism, when the movement of the AGV mobile platform fails during the test, the two-way screw is rotated to bring the two transmission plates closer to each other, and the roller is driven to separate from the card slot through the transmission plate, and the protection box is pulled upward to separate the protection box from the column, and the two-way screw is rotated in the opposite direction, and the two transmission plates are driven away from each other through the two-way screw, and the connecting rod is driven to move through the transmission plate. When the connecting rod is separated from the protection box, the force of the connecting rod drives the connecting rod to rotate, so that the roller finally extends out of the through hole and is placed on the ground. At this time, the roller can facilitate the staff to manually move the robot to complete the remaining tests;

[0029] 8. Through the first spring in the auxiliary mechanism, when the support tube is hit, the elastic force of the first spring can reduce the transmission of the force generated by the impact to the AGV mobile platform, so that when the auxiliary mechanism is installed on the AGV mobile platform, it can be used as an anti-collision structure when the AGV mobile platform moves, thereby reducing the damage to the AGV mobile platform caused by collision;

[0030] 9. Through the second spring in the auxiliary mechanism, when the movement of the AGV mobile platform fails during the test, the two L-shaped plates are pulled to move the two first auxiliary plates away from each other, and then the first auxiliary plates are removed from the AGV mobile platform, and the two first auxiliary plates are placed on both sides of the protective cover. The elastic force of the second spring allows the two positioning columns to be inserted into the two connecting ports respectively. At this time, the auxiliary mechanism can be used as a structure to pull the intelligent test mechanism and the connecting mechanism to move, which is convenient for the staff to use;

[0031] 10. By setting up the protective cover in the protective mechanism, when the voice mechanism descends and contacts the top of the shell, the protective cover is pushed so that the voice mechanism is located inside the protective cover. The protective cover can protect the voice mechanism when it is not in use, and the protective mechanism can be used as a component of the connection auxiliary mechanism and the intelligent testing mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the structure of the robot of the present invention;

[0033] Figure 2 It is a schematic structural diagram of the support tube of the robot of the present invention;

[0034] Figure 3 Schematic diagram of the auxiliary mechanism structure of the robot of the present invention;

[0035] Figure 4 It is a schematic structural diagram of the connecting column of the robot of the present invention;

[0036] Figure 5 is a schematic cross-sectional structural diagram of the shell of the robot of the present invention;

[0037] Figure 6 It is a schematic diagram of a top view of a cutaway structure of a protection box of the robot of the present invention;

[0038] Figure 7 It is a schematic diagram of the structure of the robot after the roller of the robot of the present invention extends out from the through hole;

[0039] Figure 8 It is a structural schematic diagram of a slot of the robot of the present invention;

[0040] Fig. 9 It is a schematic diagram of the structure of the robot of the present invention when the roller is in contact with the ground;

[0041] Fig.10 For the robot of the present invention Figure 6 The enlarged structural diagram at A in the middle;

[0042] Fig.11 For the robot of the present invention Figure 2 The enlarged structural diagram at B in the middle;

[0043] Fig.12 It is a schematic diagram of a side cutaway structure of a first support plate of the robot of the present invention;

[0044] Fig.13 It is a schematic diagram of the structure of the hook and the limit block of the robot of the present invention being separated;

[0045] Fig.14 It is a partial cross-sectional structural schematic diagram of the first auxiliary plate of the robot of the present invention;

[0046] Fig.15 It is a structural schematic diagram of the positioning column of the robot of the present invention;

[0047] Fig.16 This is a flowchart of robot navigation of the present invention.

[0048] Reference numerals:

[0049] 1-AGV mobile platform; 2-LiDAR;

[0050] 3-connecting mechanism; 301-column; 302-connecting column; 303-slot; 304-protection box; 305-through hole; 306-baffle; 307-bidirectional screw rod; 308-transmission plate; 309-side groove; 310-connecting shaft; 311-connecting rod; 312-torsion spring; 313-roller; 314-slot;

[0051] 4-intelligent testing mechanism; 401-housing; 402-slide base; 403-first lower machine; 404-synchronous belt slide; 405-slide driver;

[0052] 5-voice mechanism; 501-first support plate; 502-connecting plate; 503-hook; 504-second support plate; 505-connecting screw; 506-voice player; 507-connecting slot; 508-groove; 509-slide; 510-limiting plate; 511-button; 512-connecting hole; 513-limiting block; 514-third spring;

[0053] 6-protection mechanism; 601-guide groove; 602-T-shaped rod; 603-protection cover; 604-connection port;

[0054] 7- auxiliary mechanism; 701- positioning hole; 702- first auxiliary plate; 703- positioning column; 704- inner groove; 705- second auxiliary plate; 706- first spring; 707- L-shaped plate; 708- support tube; 709- support rod; 710- second spring. DETAILED DESCRIPTION

[0055] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0056] Embodiment 1:

[0057] like Figure 1 As shown, this embodiment proposes a robot for testing the voice control performance of smart home appliances, including an AGV mobile platform 1. Three ultrasonic modules are arranged below the AGV mobile platform 1. When an obstacle is detected within a certain distance in front, the robot stops or changes its motion trajectory. A laser radar 2 and a connecting mechanism 3 located above the laser radar 2 are arranged on the top of the AGV mobile platform 1. The functions of the laser radar 2 include: establishing an indoor environment map, obstacle avoidance and positioning; the laser radar 2 is located in the middle of the top of the AGV mobile platform 1, and an intelligent testing mechanism 4 is arranged on the top of the connecting mechanism 3. The connecting mechanism 3 can be used to connect the AGV mobile platform 1 and the intelligent testing mechanism 4, and can also be used as a structure to assist the movement of the intelligent testing mechanism 4 when the AGV mobile platform 1 fails to move. A voice mechanism 5 and a protective mechanism 6 located on one side of the voice mechanism 5 are arranged on the intelligent testing mechanism 4. An auxiliary mechanism 7 is also arranged on the AGV mobile platform 1.

[0058] The AGV mobile platform 1 includes a chassis shell, a driving wheel, a driven wheel, an encoder, a motor, a second lower computer, an ultrasonic sensor, an industrial computer, a microphone and a gyroscope. There are two driving wheels and six driven wheels. The two driving wheels are arranged in the middle of the chassis shell, and the four driven wheels are located at the four corners of the chassis shell. The driving wheel is a differential drive wheel, and the driven wheel is a universal wheel. The minimum turning radius can be achieved by using a universal wheel to assist a pair of differential drive wheels. The microphone, encoder, motor, second lower computer, industrial computer and gyroscope are all arranged inside the chassis shell. The robot controls the movement of the robot through a dual-wheel differential mode. At the same time, in order to achieve a smaller turning radius, the flexibility of the robot is ensured. The encoder functions include: speed feedback, adjusting the machine People move, calculate odometers, and determine the robot's moving distance; the functions of the gyroscope include: ensuring the accuracy of the robot's posture and assisting the laser radar in map positioning; the control system composed of the industrial computer and the second lower computer receives the task point, and according to the feedback information of the sensor, the closed-loop control drive system is used to move the robot to the test point. The AGV mobile platform 1 adopts an aluminum alloy body frame that can not only meet its own rigidity requirements but also effectively reduce its own weight. The laser radar 2 uses the first-line rplidar-A2, which is cheap, has high accuracy, and a large effective distance to meet the map navigation positioning in indoor environments; the ultrasonic sensor can achieve close-range obstacle avoidance for the robot and is often used as a supplementary means for laser radar detection blind spots;

[0059] This type of robot also includes a cruise playback system, which is the software control system of this robot. The system obtains test tasks of multiple points, multiple heights, and multiple voice commands through the communication between the industrial computer and the external server. The ROS system is used as the main program framework. The currently popular navigation system is used to autonomously navigate and locate in an indoor environment that has been mapped by the gmapping program. When the robot reaches the specified target point, the intelligent test mechanism 4 raises the voice mechanism 5 to the specified simulated height, and the voice mechanism 5 plays the voice command, which means that a test is completed. Then, the next voice is played or the height is raised or moved to the next point until the entire test task process is completed;

[0060] After receiving the play command, the tested home appliance will make corresponding feedback actions and voices. This information needs to be recorded and saved by devices such as cameras and microphones to facilitate subsequent voice and video autonomous recognition work. Since the robot is always in a mobile state during work and the video data is too large, the test requires a lot of recorded videos. If the camera is directly fixed on the test robot, it will cause problems such as inaccurate focus and ghosting of the collected video / image, and will also cause problems such as inconsistent loudness and fuzzy sound quality for the collected audio. Therefore, the present invention adopts a design in which the network camera is separated from the robot body, and the network camera is set up at a position facing the tested home appliance, and connected to the PC end through a network cable, so as to facilitate the PC end to perform operations such as autonomous video image recognition and processing after the task is completed;

[0061] The PC is the main component that aggregates and stores the feedback information of the tested home appliances. The PC communicates with the industrial computer, which is the core of the robot control, through the TCP / IP protocol in the form of a local wireless network, and receives the task progress feedback from the industrial computer. The PC and the above-mentioned network camera are connected by a network cable interface. The PC sends start and stop signals to the camera and stores the video and audio information collected by the camera.

[0062] The mobile platform of the test robot is the point information execution part of the entire home appliance intelligent level test system. Taking into account the indoor test environment and the convenience of point setting by testers, the mobile platform adopts an autonomous navigation and positioning system. It establishes an indoor environment map through LiDAR 2, and the gyroscope and odometer record the points specified by the testers. The point information includes the robot's location and the robot's orientation and posture, realizing multi-point cruising in the intelligent level test environment to meet the test requirements. Point changes are convenient and fast without the assistance of other hardware equipment.

[0063] Embodiment 2:

[0064] The solution in Example 1 is further introduced below in combination with a specific working method, as described below:

[0065] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, as a preferred embodiment, on the basis of the above method, further, the connecting mechanism 3 includes four columns 301 respectively arranged at the four corners of the top of the AGV mobile platform 1, the tops of the four columns 301 are fixedly connected with connecting columns 302, the middle parts of the four connecting columns 302 are provided with card slots 303, and the same protective box 304 is placed between the tops of the four columns 301, and the bottom of the protective box 304 is in contact with the tops of the columns 301, and the protective box 304 can be supported by the four columns 301.

[0066] like Figure 1 , Figure 2 , Figure 3 , Figure 6 , Figure 7 and Figure 8 As shown, as a preferred embodiment, on the basis of the above-mentioned method, further, through holes 305 are opened at the four corners of the bottom of the protective box 304, and slots 314 are opened on the inner walls on both sides of the four through holes 305. By setting the slots 314, the position of the connecting column 302 can be limited. After the connecting column 302 is inserted into the slots 314, the stability can be improved. The two sides of the four connecting columns 302 are respectively connected with the eight slots 314, and the top of the connecting column 302 extends to the interior of the protective box 304. Two baffles 306 are fixedly installed in the protective box 304. A bidirectional screw rod 307 is rotatably connected to the protective box 304 through a bearing. One end of the bidirectional screw rod 307 passes through the protective box 304 and extends to the outside of one side of the protective box 304 and is fixedly connected to a handwheel.

[0067] like Figure 3 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 and Fig.10As shown, as a preferred embodiment, on the basis of the above method, further, the outer surface of the bidirectional screw rod 307 is threadedly connected to two transmission plates 308, and the two transmission plates 308 are provided with two side grooves 309 on the sides away from each other, and the four side grooves 309 are fixedly connected with connecting shafts 310, and the outer surfaces of the four connecting shafts 310 are connected with connecting rods 311 through bearings, and one end of the four connecting rods 311 is fixedly connected with rollers 313, and the rollers 313 are matched and plugged with the inner wall of the slot 303. The baffle 306 is located above the bidirectional screw rod 307 and the transmission plate 308. When the roller 313 is inserted into the slot 303, the top of the connecting rod 311 contacts the baffle 306, and the bottom of the connecting rod 311 contacts the protective box 304, which can limit the connecting rod 311 and improve the stability of the connecting rod 311. 0 is provided with two torsion springs 312 respectively located on both sides of the connecting rod 311, and the ends of the torsion spring 312 are fixedly connected to the connecting rod 311 and the side groove 309 respectively. Since the bottom of the connecting rod 311 is slidably connected to the protection box 304, after the connecting column 302 is separated from the slot 314, during the process of the two transmission plates 308 moving away from each other, the protection box 304 can limit the connecting rod 311, so that the connecting rod 311 moves horizontally under the drive of the transmission plate 308. When the connecting rod 311 is separated from the protection box 304 and is completely located above the through hole 305, it will rotate along the connecting shaft 310 under the action of the torsion spring 312, so that the roller 313 extends out of the through hole 305, and the connecting rod 311 is inclined, and the top of the connecting rod 311 contacts the bottom of the protection box 304. At this time, the state of the connecting rod 311 and the roller 313 is Figure 3 as well as Fig. 9 As shown;

[0068] When it is necessary to connect the AGV mobile platform 1 with the intelligent testing mechanism 4, first rotate the bidirectional screw rod 307 to make the two transmission plates 308 approach each other, and drive the four connecting rods 311 along the four through holes 305 through the two transmission plates 308 to enter the protective box 304, then place the protective box 304 on the top of the four columns 301, and insert the connecting column 302 into the protective box 304 from the slot 314, and rotate the bidirectional screw rod 307 in the opposite direction to insert the roller 313 and the connecting rod 311 into the slot 303.

[0069] like Figure 1 , Figure 2 , Figure 3 and Figure 5As shown, as a preferred embodiment, on the basis of the above method, further, the intelligent testing mechanism 4 includes a shell 401 installed on the top of the protective box 304, a slide base 402 and a first lower machine 403 located on one side of the slide base 402 are installed at the bottom of the inner cavity of the shell 401, and the slide base 402 can drive the synchronous belt slide 404 to rise and fall, so that the height of the synchronous belt slide 404 can be adjusted to improve the scope of application, and the slide base 402 is specifically an electric telescopic rod, and the top of the slide base 402 is fixedly connected to the synchronous belt slide 404, and the top of the synchronous belt slide 404 passes through the shell 401 and extends to the shell On the outside of the top of the body 401, a slide driver 405 for driving the synchronous belt slide 404 is arranged at the bottom of one side of the synchronous belt slide 404. The main part of the intelligent testing mechanism 4 is the synchronous belt slide 404. The height control of the synchronous belt slide 404 is realized by pulses. The synchronous belt slide 404 is stable and reliable during the lifting process with low noise. Limit switches are fixed on the outside, corresponding to the upper and lower limits and the initial position respectively. The upper and lower limits limit the ultimate lifting height. After each task process is completed, the first lower machine 403 performs a soft reset to initialize the synchronous belt slide 404, that is, the slider finds the initial position limit switch and stops, and the initial posture is calibrated.

[0070] like Figure 1 , Figure 2 , Figure 3 , Fig.11 , Fig.12 and Fig.13 As shown, as a preferred embodiment, on the basis of the above-mentioned method, further, the voice mechanism 5 includes a first support plate 501 installed on the slide of the synchronous belt slide 404 and located above the shell 401, and a second support plate 504 arranged on one side of the first support plate 501, the first support plate 501 is fixedly connected with a connecting plate 502 on the side away from the synchronous belt slide 404, and the connecting plate 502 is fixedly connected with a hook 503 in the middle of the side away from the first support plate 501, and the second support plate 504 is provided with a connecting groove 507 on the side close to the first support plate 501, and the inner wall of the connecting groove 507 is matched with the connecting plate 502, and the connecting groove 507 and the connecting plate 502 are matched with each other. The combination can improve the contact stability between the first support plate 501 and the second support plate 504. A plurality of connecting screws 505 are threadedly connected on the side wall of the connecting groove 507. A voice player 506 is connected to the side of the second support plate 504 away from the first support plate 501 through a plurality of connecting screws 505. The voice player 506 can be installed on the second support plate 504 through the connecting screws 505. The voice player 506 can be removed after unscrewing the connecting screws 505. The voice player 506 in the voice mechanism 5 can play functional voice commands with a variety of accents and different decibels, thereby meeting the test requirements and solving the problem that voice cannot be played in the prior art.

[0071] like Figure 1 , Figure 2 , Figure 3 , Fig.11 , Fig.12 and Fig.13 As shown, as a preferred embodiment, on the basis of the above-mentioned method, further, a groove 508 located between the connecting groove 507 and the voice player 506 is provided inside the second support plate 504, a sliding groove 509 is provided between the groove 508 and the connecting groove 507, a limiting plate 510 is slidably connected in the groove 508, a button 511 is fixedly connected to the top of the limiting plate 510, the top of the button 511 passes through the second support plate 504 and extends to the outside of the top of the second support plate 504, and a connecting groove 508 corresponding to the position of the hook 503 is provided on the limiting plate 510 The bottom of the inner cavity of the connecting hole 512 is fixedly connected to the limiting block 513, and the end of the limiting block 513 away from the connecting plate 502 passes through the connecting groove 507 and the sliding groove 509 in sequence and extends into the connecting hole 512 and contacts with the limiting block 513. The side of the limiting block 513 close to the connecting plate 502 and the end of the hook 503 away from the connecting plate 502 are both provided with a slope. The bottom of the limiting plate 510 is fixedly connected to the third spring 514, and the bottom end of the third spring 514 is fixedly connected to the bottom of the inner cavity of the groove 508. By pressing the button 511, the limiting plate 510 can be driven to move. The positioning plate 510 descends, and the limiting block 513 can be driven to separate from the hook 503 through the limiting plate 510. At this time, the second supporting plate 504 can be pulled outward to separate the second supporting plate 504 from the first supporting plate 501, that is, the voice player 506 is removed, which is convenient for maintenance of the voice player 506. When the separated second supporting plate 504 needs to be connected to the first supporting plate 501, the button 511 is pressed and the connecting groove 507 is sleeved on the outer surface of the connecting plate 502. At this time, the hook 503 is inserted into the connecting hole 512, and the button 511 is released. At this time, the force of the third spring 514 causes the limit plate 510 to rise. At this time, the limit block 513 is connected with the hook 503, and the limit block 513 limits the hook 503. The voice player 506 is mainly used for voice interaction during the intelligent level test of home appliances. It is fixed on the slider of the synchronous belt slide 404 and connected to the industrial computer via wireless Bluetooth, eliminating the trouble caused by external lines. During the test, the voice player 506 receives control instructions and voice content to be broadcast from the industrial computer, and then completes the corresponding voice playback task.

[0072] like Figure 1 , Figure 2 , Figure 3 and Figure 5As shown, as a preferred embodiment, on the basis of the above-mentioned method, further, the protective mechanism 6 includes two guide grooves 601 opened on the top of the shell 401, the two guide grooves 601 are respectively located on both sides of the synchronous belt slide 404, and T-shaped rods 602 are slidably connected in the two guide grooves 601 respectively, and the tops of the two T-shaped rods 602 are fixedly connected with the same protective cover 603 located above the shell 401, and the bottom of the protective cover 603 is slidably connected to the top of the shell 401, and connecting ports 604 are opened on both sides of the protective cover 603. When the voice mechanism 5 descends and contacts with the top of the shell 401, the protective cover 603 is pushed to make the voice mechanism 5 located in the protective cover 603. The protective cover 603 is set to protect the voice mechanism 5 when it is not in use. The protective cover 603 can be limited by setting the T-shaped rod 602 to avoid the protective cover 603 from being separated from the top of the shell 401.

[0073] like Figure 1 , Figure 2 , Figure 3 , Fig.14 and Fig.15 As shown, as a preferred embodiment, on the basis of the above-mentioned method, further, the auxiliary mechanism 7 includes two first auxiliary plates 702 respectively arranged on both sides of the AGV mobile platform 1 and two positioning holes 701 respectively opened on both sides of the AGV mobile platform 1, the two first auxiliary plates 702 are fixedly connected with positioning columns 703 on the sides close to each other, and the two positioning columns 703 are respectively plugged into the inner walls of the two positioning holes 701, and the interiors of the two first auxiliary plates 702 are provided with inner grooves 704, and the two inner grooves 704 are slidably connected with second auxiliary plates 705, and the ends of the two second auxiliary plates 705 close to the positioning columns 703 are fixedly connected with first springs 706, and the ends of the two first springs 706 away from the second auxiliary plates 705 are respectively fixedly connected with the inner walls of the two inner grooves 704. When the support tube 708 is hit, the elastic force of the first spring 706 can reduce the transmission of the force generated during the collision to the AGV mobile platform 1, so that the auxiliary mechanism 7 can be used as an anti-collision structure when the AGV mobile platform 1 moves when it is installed on the AGV mobile platform 1.

[0074] like Figure 1 , Figure 2 , Figure 3 , Fig.14 and Fig.15As shown, as a preferred embodiment, on the basis of the above method, further, one end of the two second auxiliary plates 705 away from the positioning column 703 passes through the two first auxiliary plates 702 respectively and extends to the outside of the first auxiliary plate 702 and is fixedly connected with an L-shaped plate 707 respectively, a support tube 708 is placed between the two L-shaped plates 707, and two support rods 709 are slidably connected in the support tube 708, and the ends of the two support rods 709 away from each other pass through the support tube 708 and extend to the outside of the two ends of the support tube 708 and are fixedly connected to the two L-shaped plates 707 respectively, and the outer surfaces of the two support rods 709 are provided with second springs 710 located inside the support tube 708, and the two ends of the second springs 710 are fixedly connected to the support tube 708 and the support rods 709 respectively. When the movement of the AGV mobile platform 1 fails during the test, the two L-shaped plates 707 are pulled to make the two first auxiliary plates 702 move smoothly. After the auxiliary plates 702 move away from each other, the first auxiliary plate 702 is removed from the AGV mobile platform 1, and the two first auxiliary plates 702 are placed on both sides of the protective cover 603. The elastic force of the second spring 710 enables the two positioning columns 703 to be respectively inserted into the two connecting ports 604. At this time, the auxiliary mechanism 7 can be used as a structure to pull the intelligent testing mechanism 4 and the connecting mechanism 3 to move, which is convenient for the staff to use. When the first auxiliary plate 702 contacts the AGV mobile platform 1, the force of the second spring 710 can clamp the two first auxiliary plates 702 on both sides of the AGV mobile platform 1. When the positioning column 703 is inserted into the connecting port 604, due to the limitation of the support tube 708, a gap is left between the first auxiliary plate 702 and the protective cover 603, so that the positioning column 703 can be rotated after being inserted into the connecting port 604, which is convenient for the tester to pull the auxiliary mechanism 7.

[0075] Embodiment 3:

[0076] The schemes in Example 1 and Example 2 are further introduced below in combination with specific working methods, as described below for details:

[0077] Specifically, when the robot used for testing the voice control performance of smart home appliances is working / in use: the robot is a home appliance detection robot, which is mainly used for home appliance intelligent assessment testing, replacing manual labor and liberating manpower, simulating various real-life scenarios, and in a smooth and non-rugged indoor environment, the robot can complete test tasks at any point, in any posture, simulating required height, and playing voice commands, meeting the needs of standardization of home appliance intelligent assessment, and can perform any combination of tests.

[0078] Before conducting intelligent detection and evaluation of home appliances, the robot first constructs a map of the indoor environment where the test is conducted through the cooperation between the laser radar 2 and various sensors, and determines the test points and test postures. The point and posture data can be reset as required after the map is constructed. The test cruise task is issued by the tester, and the cruise task includes the following information: 1. Point information, the task can include multiple points; 2. Height information, the task can include multiple simulated heights; 3. Voice information, the task can include multiple voice commands; 4. Delay information, that is, the delay time between each voice playback;

[0079] During the intelligent testing of home appliances, the robot as a whole uses an industrial computer as the control core. First, the server program with TCP / IP protocol remotely receives the cruise task message from the PC, and sends the entire cruise information as a ROS topic message to the cruise execution node. At the execution node, the point information, height information, voice information, and delay information are separated. First, the point information is sent to the autonomous navigation module in the order of task inclusion. The module combines the point information with its own position through an algorithm to obtain the speed information, and sends the speed information to the second lower computer in the form of a topic. The second lower computer converts the speed information into a PWM wave to control the motor movement. At the same time, the posture information obtained by the gyroscope and the odometer information obtained by the encoder are collected and sent to the industrial computer to combine with the laser radar 2 point cloud data to realize closed-loop motion control. After reaching the specified point, the execution node transmits the height information to the first lower computer 403 in serial port mode. , the first lower computer 403 compares the height information with the current recorded height to obtain pulse data and sends it to the slide driver 405 to control the synchronous belt slide 404 to move and drive the voice player 506 to reach the specified height. After reaching the specified height, the execution node performs the playback operation of the voice information with the system program, finds the corresponding audio file in the folder and plays it through the voice player 506. This ends as one test, and the next test is performed in a flashback manner, that is, the next voice is played until all the voices in the task flow are played, and the height of the synchronous belt slide 404 is adjusted. Continue to play all audio files according to the above operation until all the height information of the task flow is completed, the robot moves to the next specified point, and continues the above operation until all the point information of the task flow is completed. At this point, a complete test of the intelligent level assessment of home appliances is completed, and all points, heights, voice data and home appliance response videos are recorded and saved through the network camera and the PC end;

[0080] Voice interaction testing is mainly divided into two steps:

[0081] 1. The test robot sends voice commands to the tested home appliance. Based on the prepared test command text, the speech synthesis algorithm synthesizes the corresponding standard Mandarin version of the voice command. If a dialect version of the test command is required, the corresponding test voice in the dialect version of the test command library needs to be called. Finally, the test robot broadcasts the test voice command to the tested home appliance;

[0082] 2. The test robot receives the feedback voice from the home appliance. The robot microphone is always monitoring the voice signal, and the voice wake-up module is also monitoring the input, but the other parts of the voice function are in a dormant state. When a voice signal input is monitored, the detected audio signal is compared with the wake-up word model. Only when the voice match is successful, the wake-up part will send the voice to the voice recognition module for text recognition and proceed to the next step. Otherwise, the voice module will not respond.

[0083] After the test robot sends the test command to the tested appliance and receives the voice feedback from the appliance, it collects the feedback information in time and uploads it to the voice recognition algorithm to identify the feedback information content of the appliance. Finally, it compares the identified content with the corresponding test command answer to determine whether the feedback voice of the tested appliance is correct.

[0084] The navigation process is as follows:

[0085] Reference Fig.16 , use the data scanned by LiDAR 2 + mileage odom data to build a map, use the map as global_costmap input, and send the target location and the direction when the robot stops moving to the global_planner global planner. In the global planning process, A* or dijkstra can be used to implement path planning; local real-time planning local planner, based on the given path planning and costmap, generates speed commands and sends them to the chassis control node of the robot. The planner uses the map to create a motion trajectory for the robot from a starting point to a target position. In this process, the planner creates at least one evaluation function around the robot, and uses this function to determine the dx, dy, and dtheta speeds to be sent to the robot. The local planner uses trajectory expansion and dynamic window method DWA for navigation;

[0086] The positioning scheme is as follows:

[0087] Local positioning: Given the robot's starting position, use Kalman filtering to fuse the odometer and imu information, and then perform inference to determine the robot's position;

[0088] Global positioning: Monte Carlo positioning AMCL. When the map is known, the robot needs to be able to locate its own position in the map. This requires the use of the ROS acml package to achieve this. At the same time, the target position is published through move_base for path planning to bypass obstacles to reach the destination. If the robot is placed in any position, amcl will not locate it. The initial position needs to be specified. The origin of the map is the starting point when the map is constructed using gmapping / hector, so the initial position needs to be set in the launch file. The value of the robot's starting position is set to (0, 0).

[0089] The present invention is not limited to the embodiments described above. The above description of the specific embodiments is intended to describe and illustrate the technical solution of the present invention. The above specific embodiments are merely illustrative and not restrictive. Without departing from the scope of the present invention and the scope of protection of the claims, a person of ordinary skill in the art can also make many forms of specific changes under the guidance of the present invention, which all fall within the scope of protection of the present invention.

Claims

1. A robot for testing the voice control performance of smart home appliances, comprising an AGV mobile platform (1), characterized in that: A laser radar (2) is provided in the middle of the top of the AGV mobile platform (1); a connecting mechanism (3) is provided above the AGV mobile platform (1); an intelligent testing mechanism (4) is provided on the top of the connecting mechanism (3); a voice mechanism (5) and a protection mechanism (6) located on one side of the voice mechanism (5) are provided on the intelligent testing mechanism (4); and an auxiliary mechanism (7) is also provided on the AGV mobile platform (1); The connecting mechanism (3) comprises four columns (301) respectively arranged at the four corners of the top of the AGV mobile platform (1); the tops of the columns (301) are fixedly connected with connecting columns (302); the middles of the connecting columns (302) are provided with card slots (303); a same protective box (304) is placed between the tops of the four columns (301); the four corners of the bottom of the protective box (304) are provided with through holes (305); the through holes (305) on both sides of the through holes (305) are provided with through holes (305). Slots (314) are provided on the inner wall, and the connecting columns (302) are respectively connected to the corresponding slots (314). The top ends of the connecting columns (302) extend to the inside of the protection box (304). Two baffles (306) are fixedly installed in the protection box (304). A bidirectional screw rod (307) is rotatably connected to the protection box (304) through a bearing. One end of the bidirectional screw rod (307) passes through the side wall of the protection box (304) and is fixedly connected to a hand wheel. The intelligent testing mechanism (4) comprises a shell (401) installed on the top of the protective box (304), a slide base (402) and a first lower machine (403) are installed at the bottom of the inner cavity of the shell (401), a synchronous belt slide (404) is fixedly connected to the top of the slide base (402), the top of the synchronous belt slide (404) extends out of the top of the shell (401), and a slide driver (405) for driving the synchronous belt slide (404) is arranged at the bottom of one side of the synchronous belt slide (404); The voice mechanism (5) can move up and down and can be detachably mounted on the slide of the synchronous belt slide (404); The protection mechanism (6) comprises two guide grooves (601) provided at the top of the housing (401), the two guide grooves (601) being respectively located at two sides of the synchronous belt slide (404), T-shaped rods (602) being slidably connected in the guide grooves (601), the top ends of the two T-shaped rods (602) being fixedly connected with a protection cover (603) located above the housing (401), the bottom of the protection cover (603) being slidably connected to the top of the housing (401), and connection ports (604) being provided on both sides of the protection cover (603); The voice mechanism (5) comprises a first support plate (501), a second support plate (504) and a voice player (506); one side of the first support plate (501) is fixedly connected to the slide of the synchronous belt slide (404); the other side is fixedly connected to a connecting plate (502); a hook (503) is fixedly connected to the middle of the connecting plate (502); a connecting groove (507) is provided on the side of the second support plate (504) close to the first support plate (501); the inner wall of the connecting groove (507) is matched with the connecting plate (502); a plurality of connecting screws (505) are threadedly connected to the side wall of the connecting groove (507); and the second support plate (504) is connected to the voice player (506) via the connecting screws (505); The interior of the second support plate (504) is provided with a groove (508) located between the connecting groove (507) and the voice player (506); a sliding groove (509) is provided between the groove (508) and the connecting groove (507); a limiting plate (510) is slidably connected in the groove (508); a button (511) is fixedly connected to the top of the limiting plate (510); the top of the button (511) extends out of the top of the second support plate (504); a connecting hole (512) corresponding to the position of the hook (503) is provided on the limiting plate (510); a limiting block (513) for cooperating with the hook (503) is fixedly connected to the bottom of the inner cavity of the connecting hole (512); a third spring (514) is fixedly connected to the bottom of the limiting plate (510); the bottom end of the third spring (514) is fixedly connected to the bottom of the inner cavity of the groove (508).

2. A robot for testing the voice control performance of smart home appliances according to claim 1, characterized in that: The outer surface of the bidirectional screw rod (307) is threadedly connected to two transmission plates (308), and two side grooves (309) are provided on the sides of the two transmission plates (308) that are away from each other. A connecting shaft (310) is fixedly connected in each of the four side grooves (309). The outer surface of the connecting shaft (310) is connected to a connecting rod (311) through a bearing, and one end of the connecting rod (311) is fixedly connected to a roller (313). The roller (313) is plugged into the inner wall of the slot (303). The outer surface of the connecting shaft (310) is provided with two torsion springs (312) respectively located on both sides of the connecting rod (311), and the ends of the torsion spring (312) are respectively fixedly connected to the connecting rod (311) and the side groove (309).

3. A robot for testing the voice control performance of smart home appliances according to claim 1, characterized in that: A side of the limit block (513) close to the connecting plate (502) and an end of the hook (503) away from the connecting plate (502) are both provided with slopes.

4. A robot for testing the voice control performance of smart home appliances according to claim 1, characterized in that: The auxiliary mechanism (7) comprises two first auxiliary plates (702) respectively arranged on both sides of the AGV mobile platform (1) and two positioning holes (701) respectively opened on both sides of the AGV mobile platform (1); the two first auxiliary plates (702) are fixedly connected with positioning columns (703) on the sides close to each other; the positioning columns (703) are respectively plugged into the positioning holes (701); the first auxiliary plates (702) are each provided with an inner groove (704); the inner groove (704) is slidably connected with a second auxiliary plate (705); a first spring (706) is installed between the second auxiliary plate (705) and the inner wall of the inner groove (704).

5. A robot for testing the voice control performance of smart home appliances according to claim 4, characterized in that: The outer end of the second auxiliary plate (705) is fixedly connected to an L-shaped plate (707), a support tube (708) is placed between the L-shaped plates (707), two support rods (709) are slidably connected inside the support tube (708), the ends of the two support rods (709) that are away from each other are fixedly connected to the L-shaped plate (707), and the two support rods (709) are both sleeved with a second spring (710), and the two ends of the second spring (710) are respectively fixedly connected to the support tube (708) and the support rod (709).

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