A method, device, equipment and medium for detecting a robot hatch

Abstract

The application discloses a kind of detection method, device, equipment and medium of robot cabin door, which comprises the following steps: in response to robot cabin door function detection event, obtain the detection parameter of robot cabin door, determine at least two to-be-tested cabin doors needing association test from the candidate cabin door of robot, and control robot to carry out opening and closing linkage function detection on the at least two to-be-tested cabin doors according to the detection parameter. When robot is provided with at least two to-be-tested cabin doors that can be associated, opening and closing linkage detection is carried out, and opening and closing linkage detection can be carried out on the corresponding to-be-tested cabin door, which can improve the reliability of associated use of associated cabin door and reduce the probability of failure.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robots, and in particular to a method and device for detecting a robot hatch, an apparatus and a medium. BACKGROUND

[0002] With the development of robot technology, robots have evolved into various structural forms and are applied in different scenarios. For example, a delivery robot provided with a hatch. In order to avoid frequent hatch failures of the robot, the related functions of the robot hatch need to be detected.

[0003] Therefore, how to detect the related functions of the robot hatch, especially for a multi-hatch robot, how to detect the associated hatches to improve the reliability of the robot hatch, is a problem to be solved at present. SUMMARY

[0004] The present application provides a method and device for detecting a robot hatch, an apparatus and a medium.

[0005] According to an aspect of the present application, a method for detecting a robot hatch is provided, comprising:

[0006] In response to a robot hatch function detection event, obtaining detection parameters of the robot hatch;

[0007] Determining at least two to-be-tested hatches to be associated for testing from candidate hatches of the robot;

[0008] According to the detection parameters, controlling the robot to perform opening and closing linkage function detection on the at least two to-be-tested hatches.

[0009] According to another aspect of the present application, a device for detecting a robot hatch is provided, comprising:

[0010] An obtaining module configured to obtain detection parameters of the robot hatch in response to a robot hatch function detection event;

[0011] A determining module configured to determine at least two to-be-tested hatches to be associated for testing from candidate hatches of the robot;

[0012] A detection module configured to control the robot to perform opening and closing linkage function detection on the at least two to-be-tested hatches according to the detection parameters.

[0013] According to another aspect of the present application, an electronic device is provided, comprising:

[0014] At least one processor; and

[0015] A memory in communication connection with the at least one processor; wherein

[0016] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the detection method of the robot hatch according to any one of the embodiments of the present application.

[0017] According to another aspect of the present application, a computer readable storage medium is provided, which stores computer instructions for enabling a processor to implement the detection method of the robot hatch according to any one of the embodiments of the present application when executed by the processor.

[0018] The technical solution of the embodiments of the present application acquires detection parameters of the robot hatch in response to a robot hatch function detection event, determines at least two to-be-tested hatches to be associated with testing from candidate hatches of the robot, and controls the robot to perform opening and closing linkage function detection on the at least two to-be-tested hatches according to the detection parameters. When the robot is provided with a plurality of hatches that can be associated, opening and closing linkage detection is performed on the corresponding to-be-tested hatches, which can improve the reliability of the associated use of the associated hatches and reduce the probability of failure.

[0019] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0021] Figure 1 A flowchart of a detection method of a robot hatch provided for the first embodiment of the present application;

[0022] Figure 2 A flowchart of a detection method of a robot hatch provided for the second embodiment of the present application;

[0023] Figure 3 A flowchart of a detection method of a robot hatch provided for the third embodiment of the present application;

[0024] Figure 4 A flowchart of a detection method of a robot hatch provided for the fourth embodiment of the present application;

[0025] Figure 5 A structural block diagram of a detection device of a robot hatch provided for the fifth embodiment of the present application;

[0026] Figure 6 A structural schematic diagram of an electronic device provided for the sixth embodiment of the present application. DETAILED DESCRIPTION

[0027] In order to enable persons skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by persons skilled in the art without creative work should fall within the protection scope of the present application.

[0028] It should be noted that the terms “first”, “second”, “target”, “candidate” and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms “include” and “have” and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to only those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0029] Embodiment One

[0030] Figure 1 A flowchart of a robot hatch detection method provided for the first embodiment of the present application. The present embodiment is applicable to the detection of robots equipped with hatches, and is particularly applicable to the functional detection of hatch linkage opening and closing of robots equipped with at least two hatches. The method can be executed by a robot hatch detection device, which can be implemented in software and / or hardware and can be integrated into an electronic device with a robot hatch detection function. The electronic device can be a robot, such as a delivery robot. Figure 1 As shown, the robot hatch detection method provided by the present embodiment specifically includes:

[0031] S101, in response to a robot hatch function detection event, obtaining detection parameters of the robot hatch.

[0032] The robot refers to a robot configured with at least two cabin doors. The robot cabin door function detection event refers to an event of detecting the function of the robot cabin door, which can be triggered in various ways such as clicking the display screen of the robot, automatically triggering according to a timing task, triggering by remote instruction, etc. The detection parameter refers to a parameter preset to represent the detection strategy of the robot cabin door, which can be preconfigured by relevant personnel. The detection parameter can include the cabin door number of the target test cabin door, the number of switch detection, and the switch interval time, and can also include the number of fault alarm. The number of switch detection refers to the number of times of controlling the cabin door to perform the opening and closing operation. The switch interval time refers to the interval time of performing the closing or opening operation after controlling the cabin door to open or close. The number of fault alarm refers to the preset number of alarms when detecting that the cabin door has a fault. For example, if the alarm mode is indicator light flashing, the number of fault alarm can be the number of indicator light flashes.

[0033] Optionally, in order to avoid frequent cabin door failures of the robot after leaving the factory, the detection method of the robot cabin door provided by the application can be performed before leaving the factory to detect the robot cabin door; the detection method of the robot cabin door provided by the application can also be automatically performed during boot detection to detect the robot cabin door; the detection method of the robot cabin door provided by the application can also be performed to detect the robot cabin door when it is detected that relevant personnel (such as a customer) issue an instruction through a preset interface during use. The application does not limit this.

[0034] Optionally, when it is detected that the robot is booted (such as the first boot or each boot), it can be considered that the robot cabin door function detection event is triggered, and further in response to the robot cabin door function detection event, the detection parameters corresponding to the functions associated with each robot cabin door are acquired, such as the first detection parameter for detecting the switch linkage function and the second detection parameter for detecting the switch to position function, and the detection parameters of the corresponding robot cabin door are determined according to the preset test strategy. For example, if only the switch to position function is detected, the second detection parameter for detecting the switch to position function is acquired; if the switch to position function is detected first and then the switch linkage function is detected, the first detection parameter for detecting the switch linkage function and the second detection parameter for detecting the switch to position function are acquired, that is, the detection parameters of the robot cabin door are acquired. It can be understood that the specific detection parameters can be different according to different triggering reasons of the robot cabin door function detection event. For example, the detection items and the number of each detection of the first boot of the robot (before leaving the factory) are more than the detection items and the number of each detection of the second boot and the subsequent boot of the robot. That is, the reliability is ensured by comprehensive detection before leaving the factory, and the influence of detection on use is reduced by daily maintenance detection after leaving the factory.

[0035] Optionally, the robot cabin door function detection event can be considered to be detected when a detection instruction issued by a related person (such as a customer) through a pre-configured interface is detected, and further in response to the robot cabin door function detection event, information extraction is performed on the test instruction to determine at least one of the functions associated with the target test robot cabin door, i.e., the opening and closing linkage function, the opening and closing to position function, and the partition detection function, and the detection parameters corresponding to the functions associated with the target test robot cabin door, i.e., the detection parameters of the robot cabin door are obtained.

[0036] S102, at least two to-be-tested cabin doors to be associated with testing are determined from the candidate cabin doors of the robot.

[0037] Optionally, the candidate cabin door refers to a cabin door that needs to be tested for robot cabin door function detection. The to-be-tested cabin door refers to a cabin door in the candidate cabin door that needs to be tested for opening and closing linkage function. The cabin door to be associated with testing refers to a cabin door that can have an association relationship and needs to be tested for opening and closing linkage.

[0038] Optionally, the cabin door corresponding to the cabin door number in the detection parameter can be determined as the candidate cabin door according to the cabin door number in the detection parameter; or all cabin doors of the robot can be directly determined as the candidate cabin door.

[0039] Optionally, after the candidate cabin door is determined, all candidate cabin doors can be determined as the cabin door to be associated with testing, i.e., at least two to-be-tested cabin doors to be associated with testing are determined; or at least two candidate cabin doors that can have simultaneous opening and closing requirements in an actual application scenario can be determined as at least two to-be-tested cabin doors to be associated with testing based on a pre-set rule, such as the positional relationship between the candidate cabin doors of the robot.

[0040] S103, the robot is controlled to perform opening and closing linkage function detection on the at least two to-be-tested cabin doors according to the detection parameters.

[0041] It can be understood that for the cabin doors that can be associated with work, when two or more cabin doors are associated with work, the linkage function, i.e., whether they can be simultaneously opened to position / closed to position, has a great influence on user experience. Therefore, the opening and closing linkage function test is crucial for the subsequent user experience and safety during the use of the robot.

[0042] Optionally, the determined at least two to-be-tested cabin doors can be taken as a group, the opening and closing detection times and the opening and closing interval time in the detection parameters are used to simultaneously perform opening and closing door operations on the determined at least two to-be-tested cabin doors, and the opening and closing linkage function detection is performed on the at least two to-be-tested cabin doors, i.e., the robot is controlled to perform opening and closing linkage function detection on the at least two to-be-tested cabin doors; or the determined at least two to-be-tested cabin doors can be further divided into at least two groups according to the positional relationship of the at least two to-be-tested cabin doors, and the opening and closing door operations are simultaneously controlled to be performed on each group of to-be-tested cabin doors for opening and closing linkage function detection.

[0043] The technical scheme of the embodiment of the application responds to a robot hatch function detection event, acquires detection parameters of a robot hatch, determines at least two to-be-tested hatches that need to be associated for testing from candidate hatches of the robot, and controls the robot to perform opening and closing linkage function detection on the at least two to-be-tested hatches according to the detection parameters. The application provides a new scheme for automatically and efficiently detecting the opening and closing linkage functions of multiple hatches of a robot. When the robot is provided with multiple hatches that can be associated, the corresponding to-be-tested hatches are detected for opening and closing linkage, which can improve the reliability of the associated hatches when they are used in association and reduce the probability of failure. The linkage detection of the robot with a single hatch is avoided, and the efficiency and flexibility of the robot hatch detection are improved. The robot is controlled for opening and closing linkage function testing based on the preset detection parameters, which can realize accurate control of the robot, improve the accuracy of the robot hatch detection, and improve the qualification rate of products.

[0044] Optionally, in response to a robot hatch function detection event, the detection parameters of the robot hatch can be acquired when it is determined that the robot is provided with a hatch and the connection is normal. Specifically, the detection parameters of the robot hatch are acquired, including: if it is determined according to the robot model that the robot is configured with a hatch and the robot hatch circuit connection is normal, then the number of hatches of the robot and the hatch structure relationship are determined according to the robot model, and visual display is performed to acquire the detection parameters configured by the detection personnel. Optionally, if the robot hatch circuit connection is abnormal, a circuit abnormality prompt can be directly performed.

[0045] Optionally, the robot can be determined to be a robot configured with a hatch according to the robot model and based on the pre-stored robot attribute information corresponding to the model. If so, the control motor signal of the robot corresponding to the hatch can be detected according to the hatch control component. If the motor signal can be detected, it is considered that the robot hatch circuit connection is normal.

[0046] Optionally, after the robot model is acquired, the number of hatches of the robot and the hatch structure relationship and other attribute information can be determined based on the one-to-one correspondence between the pre-stored model and the corresponding robot attribute information, and visual display can be performed based on a preset display rule, so that the detection personnel can select the detection parameters such as the candidate hatches to be detected and the hatch functions to be detected, thereby acquiring the detection parameters configured by the detection personnel, i.e., the detection parameters of the robot hatch, to perform the detection process of the functions related to the robot hatch according to the detection parameters as described in any embodiment of the application.

[0047] It should be noted that by first determining that the robot is configured with a hatch and the hatch circuit connection is normal, and then performing related function detection, the detection efficiency of the candidate hatches can be effectively improved under the condition that the robot is normal.

[0048] Embodiment Two

[0049] Figure 2 A flowchart of a robot cabin door detection method provided for Embodiment Two of the present application, which further explains in detail the step of “determining at least two to-be-tested cabin doors to be associated with testing from the candidate cabin doors of the robot” on the basis of the above-mentioned embodiment, as shown in the figure, the robot cabin door detection method provided by the present embodiment specifically comprises the following steps: Figure 2

[0050] S201. In response to a robot cabin door function detection event, obtain detection parameters of the robot cabin door.

[0051] S202. Determine the positional relationship between the candidate cabin doors according to the model of the robot.

[0052] The model refers to an identification number that can represent the relevant attribute information of the robot, such as W3, T2, etc. The positional relationship refers to the relative positional relationship that can represent the opening mode between the cabin doors. The positional relationship can include opposite opening or same-direction opening.

[0053] Optionally, the positional relationship between the candidate cabin doors can be determined according to the model of the robot based on a preset one-to-one correspondence relationship between the model of the robot and the position structure of the cabin door; or the model of the robot can be input into a pre-trained model to output the positional relationship between the candidate cabin doors corresponding to the model.

[0054] S203. Take two candidate cabin doors with opposite opening and located at the same height as a group to determine at least two to-be-tested cabin doors to be associated with testing.

[0055] Optionally, the height of each candidate cabin door from the ground, i.e., the floor number of the robot, can be determined according to the model of the robot, and the candidate cabin doors with the same height can be taken as the candidate cabin doors located at the same floor of the robot. In the candidate cabin doors of each floor, the candidate cabin doors with opposite opening can be taken as a group, thereby at least one group of candidate cabin doors can be determined.

[0056] Optionally, each group of determined candidate cabin doors can be simultaneously determined as at least two to-be-tested cabin doors to be associated with testing, and the subsequent operation S204 can be performed; or each group of determined candidate cabin doors can be respectively taken as at least two to-be-tested cabin doors to be associated with testing, and the subsequent operation S204 can be performed respectively. For example, if the model of the robot is W3, it can be determined that the robot has two floors of cabin doors, the number of cabin doors of each floor is 2, and the positional relationship of the cabin doors of each floor is opposite opening. Then, the two cabin doors of the upper floor of the robot can be taken as a group of to-be-tested cabin doors to be associated with testing for opening and closing linkage testing, and the two cabin doors of the lower floor of the robot can be taken as a group of to-be-tested cabin doors to be associated with testing for opening and closing linkage testing. Alternatively, the two groups of candidate cabin doors of the upper and lower floors can be directly taken as to-be-tested cabin doors to be associated with testing for opening and closing linkage testing.​

[0057] S204, according to the detection parameter, control the robot to perform opening and closing linkage function detection on the at least two to-be-tested cabin doors.

[0058] The technical scheme of the embodiment of the application responds to a robot cabin door function detection event, acquires detection parameters of a robot cabin door, determines a position relationship between candidate cabin doors according to a model of the robot, regards two candidate cabin doors with a position relationship of opposite doors and located at the same height as a group, determines at least two to-be-tested cabin doors to be associated for testing, and according to the detection parameters, controls the robot to perform opening and closing linkage function detection on the at least two to-be-tested cabin doors. The to-be-tested cabin doors to be associated for testing are determined according to the position relationship between the candidate cabin doors and the height of each candidate cabin door, that is, the candidate cabin doors are determined to be the cabin doors to be associated for testing in the case that the position relationship and the height of the candidate cabin doors meet the conditions, and the subsequent opening and closing linkage test is accurately performed, which can avoid performing opening and closing linkage detection on all candidate cabin doors and improve detection efficiency.

[0059] It should be noted that a partition plate can be arranged between the cabin doors of the robot, for example, a W3 model robot, and a partition plate can be arranged between the cabin doors on the same layer. When the partition plate is arranged, the left and right cabin doors can work respectively and correspond to two cabin rooms. When the partition plate is not arranged, the left and right cabin doors can work in linkage, and the cabin rooms corresponding to the two cabin doors are combined into one cabin room.

[0060] Optionally, during the execution of the opening and closing linkage detection, the function of robot partition plate detection can also be combined. Specifically, it can be determined that a partition plate detection sensor is arranged between the to-be-tested cabin doors, and accordingly, according to the detection parameter, the robot is controlled to perform opening and closing linkage function detection on the at least two to-be-tested cabin doors, including: if the partition plate detection sensor detection result is that there is no partition plate, the robot is controlled to perform opening and closing linkage function detection on the at least two to-be-tested cabin doors; if the partition plate detection sensor detection result is that there is a partition plate, it is prompted to remove the partition plate to perform opening and closing linkage function detection; according to the partition plate detection sensor detection result and the opening and closing linkage function detection result, visual display is performed through a man-machine interaction interface, and the man-machine interaction interface includes actual cabin room distribution and test result.

[0061] The partition plate detection sensor refers to a sensor preset for detecting whether there is a partition plate between the cabin doors. The partition plate detection sensor detection result refers to a detection result of whether there is a partition plate between the two cabin doors of each layer of the robot. The opening and closing linkage function detection result can include a result of whether the opening and closing linkage detection of each to-be-tested cabin door is successful. The test result can include at least one of the number of times of opening and closing linkage detection, the number of successful times, the number of failed times, and the failure reason. The actual cabin room distribution refers to the number and structure distribution of the cabin rooms of the robot, such as one cabin room on the first layer and two cabin rooms on the second layer.

[0062] Optionally, if the partition detection sensor detects that there is no partition between the two cabin doors to be tested, the robot can be directly controlled to perform the opening and closing linkage function detection on the at least two cabin doors to be tested; if the partition detection sensor detects that there is a partition, a prompt information can be sent based on the preset rules to prompt the relevant personnel to remove the partition for the opening and closing linkage function detection.

[0063] Optionally, the number and position of the partitions in the robot can be determined according to the detection result of the partition detection sensor, so as to analyze the actual cabin distribution of the robot; after the opening and closing linkage function detection, the number of times of the opening and closing linkage detection, the number of successful times, the number of failed times and the failure causes can be counted to generate the test result; finally, the actual cabin distribution of the robot and the test result can be visually displayed through the man-machine interaction interface based on the preset display rules.

[0064] In this embodiment, the partition detection sensor can be used to detect whether there is a partition between the cabin doors to be tested and visually display the detection result, so as to test the partition detection function of the robot and facilitate the relevant personnel to verify whether the partition is placed accurately; in addition, the opening and closing linkage detection can be performed after detecting that there is no partition, so as to improve the efficiency of the opening and closing linkage test; finally, the partition detection sensor detection result and the opening and closing linkage function detection result can be visually displayed, which is helpful for the relevant personnel to verify and maintain the cabin door.

[0065] Preferably, the detection of the cabin door disinfection function can be performed synchronously during the opening and closing linkage function detection or the opening and closing in-place function detection, specifically, in response to a disinfection function detection event, the disinfection detection cabin door and the disinfection time of each disinfection detection cabin door are obtained; the disinfection detection cabin door is controlled to be opened and closed, and the disinfection device in each disinfection detection cabin door is turned on for disinfection according to the disinfection time; the detection result of the door-closed disinfection function is determined according to the opening and closing data of the disinfection detection cabin door and the operation data of the disinfection device.

[0066] The disinfection time refers to the time length of turning on the disinfection device after the cabin door is closed. The opening and closing data can include the opening and closing state data of the disinfection detection cabin door at different test times. The operation data can include the opening and closing state of the disinfection device and the opening or closing time length. The disinfection device can include an ultraviolet disinfection lamp in the cabin door. The detection result refers to the inspection result of whether the cabin door disinfection function is normal or faulty. The cabin door disinfection function being normal means that the cabin door can turn on the disinfection device for disinfection in the closed state, and turn off the disinfection device in the open state to ensure safety.

[0067] Optionally, the sterilization duration can be set to be less than the door opening and closing interval. During the detection of the door opening and closing linkage function or the door opening and closing to position function, when it is detected that the door closing operation is completed, the sterilization device is controlled to perform sterilization. According to the opening and closing data of the sterilization detection cabin door and the operation data of the sterilization device, it is determined whether the operation state of the sterilization device is opened and the opening duration is equal to the preset sterilization duration under the condition of the door closing. After the preset door opening and closing interval time, the door opening operation is performed. According to the opening and closing data of the sterilization detection cabin door and the operation data of the sterilization device, it is determined whether the operation state of the sterilization device is closed under the condition of the door opening.

[0068] Optionally, if the operation state of the sterilization device is opened and the opening duration is equal to the preset sterilization duration under the condition of the door closing to position, and the operation state of the sterilization device is closed under the condition of the door opening to position, it can be determined that the cabin sterilization function is normal.

[0069] Optionally, the current value and / or voltage value of the sterilization device detected by the lower computer can be obtained. If the operation state of the sterilization device fails to be opened under the condition of the door closing, or the sterilization device is opened but the current value and / or voltage value of the sterilization device does not belong to the preset normal value range, it is determined that the cabin door sterilization function is faulty.

[0070] It should be noted that the present embodiment can detect the sterilization function of the robot cabin door synchronously during the detection of the door opening linkage function or the door opening to position function, which can effectively improve the efficiency of the robot cabin door function detection, increase the richness of the detection, avoid the incompleteness of single test, and improve the product qualification rate.

[0071] Preferably, the detection of the cabin door lighting function can also be performed synchronously during the detection of the door opening and closing linkage function or the door opening and closing to position function. Specifically, in response to a lighting function detection event, the preconfigured lighting detection cabin door and the cabin opening lighting detection number are obtained. The lighting detection cabin door is controlled to be opened and closed, and the lighting function detection result is determined according to the opening and closing data of the lighting detection cabin door and the lighting data.

[0072] The lighting detection cabin door refers to the cabin door that needs to perform the lighting function detection in the cabin when the cabin door is opened. The cabin opening lighting detection number refers to the preset number of lighting detections during the opening and closing of the cabin door. The opening and closing data refers to the actual opening and closing state data of the lighting detection cabin door during the test. The lighting data refers to the state data of whether the light in the lighting detection cabin door is on during the test.

[0073] Optionally, the number of hatch opening illumination detection times can be less than the first switch detection times or the second switch detection times in the detection parameters, and in the process of performing the switch linkage function detection or the switch to position function detection, the hatch detection door is detected for the illumination function in a preset order, that is, after the door closing operation is performed, whether the light is on in the hatch in the door opening to position condition is determined according to the switch data and the illumination data of the hatch detection door, and if yes, it is determined that the hatch door opening illumination function is normal.

[0074] For example, if the number of switch to position detection times (i.e. the first switch detection times) is 100 times, the illumination function of the hatch detection door can be detected according to the preset interval order, such as when the switch to position function detection door is opened for the 10th time, the 20th time and the 30th time, the illumination function detection is performed synchronously.

[0075] It should be noted that because the number of switch door times is large and the interval is short, the illumination function test is performed in part of the rounds, which can avoid the abnormality of the light caused by frequent switching. In addition, the illumination function of the robot hatch door can be detected synchronously in the process of performing the door opening linkage function or the door opening to position function detection, which can effectively improve the efficiency of the robot hatch door function detection and avoid the incompleteness of single test, thereby improving the product qualification rate.

[0076] Optionally, the hatch door closing ventilation function detection can also be performed synchronously in the process of performing the switch linkage function detection or the switch to position function detection, and specifically, whether the hatch door closing ventilation function is normal can be determined based on the rotation state of the fan in the hatch in the hatch door closing to position condition.

[0077] Embodiment three

[0078] Figure 3 A flowchart of a robot hatch door detection method provided in Embodiment Three of the present application is provided, and the present embodiment further explains in detail the “controlling the robot to perform linkage function detection on at least two to-be-tested hatch doors according to the detection parameters” based on the above-mentioned embodiments, such as Figure 3 As shown in the figure, the robot hatch door detection method provided in the present embodiment specifically includes:

[0079] S301, in response to a robot hatch door function detection event, obtaining detection parameters of a robot hatch door.

[0080] S302, determining at least two to-be-tested hatch doors to be associated with testing from candidate hatch doors of the robot.

[0081] S303, extracting the first switch detection times and the first switch interval time of the to-be-tested hatch door in the linkage function detection process from the detection parameters, generating a first control instruction for the to-be-tested hatch door according to the first switch detection times and the first switch interval time, and determining a detection start time for the to-be-tested hatch door.

[0082] The linkage function detection refers to the opening and closing linkage function detection of at least two to-be-tested cabin doors. The first opening and closing detection number refers to a preset detection number when the linkage function detection is performed. The first opening and closing interval time refers to a preset opening and closing interval time when the linkage function detection is performed. The first control instruction refers to an instruction for controlling the to-be-tested cabin door to perform the opening and closing linkage test. The detection start time refers to a time for starting the to-be-tested cabin door to perform the opening and closing operation. The detection start time can include an opening linkage detection start time and a closing linkage detection time. The detection start times of the candidate cabin doors are the same.

[0083] Optionally, the first opening and closing detection number and the first opening and closing interval time of the to-be-tested cabin door in the linkage function detection process can be extracted from the detection parameters based on a preset matching rule. Alternatively, the detection parameters can be input into a pre-trained feature extraction model, and the first opening and closing detection number and the first opening and closing interval time in the linkage function detection process can be output.

[0084] Optionally, the opening linkage detection start time and the closing linkage detection time of the to-be-tested cabin door can be determined according to the first opening and closing detection number and the first opening and closing interval time. For example, if the first opening and closing detection number is 1 and the first opening and closing interval time is 5 seconds, the current time can be determined as the opening linkage detection start time of each to-be-tested cabin door, and the time 5 seconds after the current time can be determined as the closing linkage detection time of each to-be-tested cabin door. Similarly, if the first opening and closing detection number is n, n sets of opening linkage detection start time and closing linkage detection time of the to-be-tested cabin door can be determined.

[0085] Optionally, the first control instruction for controlling the to-be-tested cabin door to open or close at the corresponding time can be generated according to the opening linkage detection start time and the closing linkage detection time of each to-be-tested cabin door. Meanwhile, the opening linkage detection start time and the closing linkage detection time of the to-be-tested cabin door can be determined as the detection start time of the to-be-tested cabin door.

[0086] S304, the first control instruction is synchronously sent to each to-be-tested cabin door according to the detection start time of the to-be-tested cabin door, and is used to instruct the to-be-tested cabin door to perform the opening and closing operation.

[0087] Specifically, if the current time is the opening linkage detection start time, the first control instruction can be synchronously sent to each to-be-tested cabin door to instruct the to-be-tested cabin door to perform the opening operation. If the current time is the closing linkage detection start time, the first control instruction can be synchronously sent to each to-be-tested cabin door to instruct the to-be-tested cabin door to perform the closing operation.

[0088] S305, the actual opening and closing time of each to-be-tested cabin door is acquired.

[0089] Optionally, after the first control instruction is sent to each to-be-tested cabin door, whether each to-be-tested cabin door is switched to the position can be determined based on the state of the preset limit switch of each to-be-tested cabin door, and the actual switching-to-position time of each to-be-tested cabin door is recorded; or the actual switching-to-position time of each to-be-tested cabin door can be recorded based on the signal of the motor of the to-be-tested cabin door; or whether each to-be-tested cabin door is switched to the position can be determined according to the related parameter information of the preset encoder, and the actual switching-to-position time of each to-be-tested cabin door is recorded.

[0090] S306, determining the difference between the actual switching-to-position times of each to-be-tested cabin door, and determining the detection result of the switching-association function detection of at least two to-be-tested cabin doors according to the difference and the preset time threshold.

[0091] The preset time threshold refers to a threshold for measuring the degree of deviation between the actual switching-to-position times of the to-be-tested cabin doors. For example, the preset time threshold can be 3 seconds. It can be understood that for the cabin doors that can be associated with work, when two or more cabin doors are associated with work, if the cabin doors cannot be switched to the position at the same time, it will have a great impact. For example, when there is no partition between the two opposing doors on the upper layer of the robot, the upper layer is combined into one cabin, and the two cabin doors are associated with work. If the user issues an opening instruction in a restaurant scenario, but the two cabin doors are not opened to the position at the same time, but are opened to the position one after another, it will affect the user's judgment, and may cause injury to the user, and is not conducive to the user to quickly place the objects. If the two cabin doors cannot be closed to the position at the same time, the user may misjudge the departure instruction, causing the objects to fall, and other problems.

[0092] Optionally, if the number of to-be-tested cabin doors is two, the difference between the actual switching-to-position times of each to-be-tested cabin door can be determined according to the actual switching-to-position times of each to-be-tested cabin door. If the difference between the actual switching-to-position times of each to-be-tested cabin door is greater than the preset time threshold, a switching-association function fault of the cabin door of the robot is recorded, and the detection result of the switching-association function detection of the to-be-tested cabin door is determined to be failed.

[0093] Optionally, if the number of to-be-tested cabin doors is greater than two, the to-be-tested cabin doors can be divided into groups of two, for example, if there are three to-be-tested cabin doors numbered 1, 2 and 3, they can be divided into 1 and 2, 2 and 3, and 3 and 1, a total of three groups, and the difference between the actual switching-to-position times of each group of to-be-tested cabin doors is determined. If the difference between the actual switching-to-position times of any group of to-be-tested cabin doors is greater than the preset time threshold, the detection result of the switching-association function detection of the to-be-tested cabin door is determined to be failed.

[0094] The technical scheme of the embodiment of the present application extracts the first opening and closing detection times and the first opening and closing interval time of the to-be-tested cabin door in the linkage function detection process from the detection parameters, generates the first control instruction for the to-be-tested cabin door according to the first opening and closing detection times and the first opening and closing interval time, and determines the detection starting moment for the to-be-tested cabin door. According to the detection starting moment of the to-be-tested cabin door, the first control instruction is synchronously sent to each to-be-tested cabin door, which is used to instruct the to-be-tested cabin door to perform the opening and closing operation. The actual opening and closing arrival moments of each to-be-tested cabin door are respectively acquired, the difference of the actual opening and closing arrival moments of each to-be-tested cabin door is determined, and the detection result of the opening and closing linkage function detection of at least two to-be-tested cabin doors is determined according to the difference and the preset time threshold. By synchronously sending the control instruction and recording the actual opening and closing arrival moments of each to-be-tested cabin door, the linkage functions of each to-be-tested cabin door can be accurately compared, and the corresponding detection result is generated according to the difference and the preset time threshold, which helps the subsequent detection personnel to intuitively understand the detection situation of the opening and closing linkage function of the cabin door and to judge whether the opening and closing processes of the cabin door are consistent.

[0095] Embodiment four

[0096] Figure 4 A flowchart of a robot cabin door detection method provided by the fourth embodiment of the present application is provided. The process of how to detect the opening and closing arrival function of the robot cabin door according to the detection parameters is described in detail based on the above-mentioned embodiments, as shown in FIG. 4. Figure 4 The robot cabin door detection method provided by the embodiment specifically includes the following steps.

[0097] S401, in response to a robot cabin door function detection event, acquiring detection parameters of the robot cabin door.

[0098] S402, extracting the second opening and closing detection times and the second opening and closing interval time of the candidate cabin door in the arrival function detection process from the detection parameters, generating the second control instruction according to the second opening and closing detection times and the second opening and closing interval time, and respectively determining the detection starting moment for each candidate cabin door.

[0099] The arrival function detection refers to the function detection of whether the opening and closing of at least two candidate cabin doors can normally arrive. The second opening and closing detection times refer to the preset detection times when the arrival function detection is performed. The second opening and closing interval time refers to the preset opening and closing interval time when the arrival function detection is performed. The second control instruction refers to the instruction for controlling the candidate cabin door to perform the opening and closing arrival test. The detection starting moments of each candidate cabin door are different.

[0100] Optionally, different detection start times can be determined for each candidate door according to the second switch detection number and the second switch interval time, and a corresponding control instruction, i.e., a second control instruction, can be generated for each candidate door according to the detection start time corresponding to each candidate door. For example, if there are a No. 1 candidate door and a No. 2 candidate door, the second switch detection number is 1, and the second switch interval time is 5 seconds, the current time can be determined as the detection start time of the No. 1 candidate door, and the time 5 seconds after the current time can be determined as the detection start time of the No. 2 candidate door, so that the detection start times of the candidate doors are different.

[0101] S403. The second control instruction is sent to each candidate door according to the detection start time of each candidate door, so as to instruct the candidate door to perform the switch operation.

[0102] Optionally, the second control instruction of opening or closing the door can be sent to the corresponding candidate door at different times according to the different detection start times of the candidate doors, so as to instruct the candidate door to perform the switch operation.

[0103] S404. The actual switch state of each candidate door after the preset switch interval time is acquired.

[0104] The preset switch interval time refers to the interval time after the preset switch door operation is performed to detect whether the candidate door is switched to the position. The preset interval time can be directly taken as the second switch interval time or a multiple of the second switch interval time (for example, the second switch interval is 10 seconds, and the preset switch interval time can be 10 seconds or 20 seconds, etc.), or can be specified in advance based on experience. The actual switch state refers to the actual switch state of the candidate door after the candidate door receives the second control instruction and performs the operation. The actual switch state can include the open door state and the closed door state, and the open door state can further include the open door angle and other information in the open door state.

[0105] Optionally, the actual switch state of each candidate door can be determined based on the state of the preset open door limit switch and / or the preset closed door limit switch of each candidate door after the candidate door sends the second control instruction for the preset switch interval time, and the actual switch state of each candidate door can also be determined based on the signal of the motor of the candidate door or the related parameter information of the preset encoder.

[0106] S405. The expected switch state of the corresponding candidate door after the preset switch interval time is determined according to the second switch detection number and the second switch interval time.

[0107] The expected switch state refers to the expected switch state of the candidate door after the preset switch interval time.

[0108] Optionally, the second switch detection times and the second switch interval time can be analyzed to calculate the expected switch state of the corresponding candidate door after the preset switch interval time; or the second switch detection times, the second switch interval time and the preset switch interval time can be input into a pre-trained model to output the expected switch state of the candidate door.

[0109] S406, according to the consistency of the actual switch state and the expected switch state, detecting the switch to position function of each candidate door.

[0110] Optionally, if the actual switch state and the expected switch state are consistent, it can be determined that the independent switch to position function of each candidate door is correct, and if the actual switch state and the expected switch state are inconsistent, it is determined that the switch to position function of the candidate door is faulty, that is, the detection is not passed.

[0111] It should be noted that the process of detecting the switch to position function of the door described in S402-S406 is preferably executed before the switch linkage function detection process described in S407-S408, which is used to determine that each door works normally alone before performing linkage test, thereby improving the detection efficiency. It can also be executed simultaneously with the switch linkage function detection process, or after the switch linkage function detection process, which is not limited by the present application.

[0112] S407, determining at least two to-be-tested doors to be associated for testing from the candidate doors of the robot.

[0113] S408, according to the detection parameters, controlling the robot to detect the switch linkage function of the at least two to-be-tested doors.

[0114] The technical scheme of the embodiment of the present application extracts the second switch detection times and the second switch interval time of the candidate door in the to position function detection process from the detection parameters, generates a second control instruction according to the second switch detection times and the second switch interval time, and determines the detection start time for each candidate door, respectively. According to the detection start time of each candidate door, the second control instruction is sent to each candidate door to instruct the candidate door to perform the switch operation, the actual switch state of each candidate door after the preset switch interval time is obtained, the expected switch state of the corresponding candidate door after the preset switch interval time is determined according to the second switch detection times and the second switch interval time, and the switch to position function of each candidate door is detected according to the consistency of the actual switch state and the expected switch state. By determining different detection start times for each candidate door and instructing each candidate door to perform switch operation at different times, independent switch to position function detection of each door can be realized, and automatic switch detection of multiple doors of the robot can also be realized, avoiding multiple separate tests of multiple doors, which can improve the efficiency of switch detection of multiple door robots.

[0115] Optionally, after detecting the switch-to-position function of each candidate door, targeted troubleshooting can be performed when a functional failure is detected, and the failure cause is analyzed. Specifically, after detecting the switch-to-position function of each candidate door, the method further includes: determining whether the switch-to-position function of the candidate door is abnormal according to the actual execution times and the failure times of the candidate door; if the switch-to-position function of the candidate door is abnormal, determining the failure type of the candidate door according to at least one of the motor signal of the candidate door, the opening and closing state of the limit switch, and the encoder signal; and the failure type includes that the door is blocked and / or the limit switch is abnormal.

[0116] The actual execution times refer to the number of times that each candidate door actually performs a switch operation. The failure times refer to the number of times that the door fails to successfully switch to the position due to a failure during the actual switch operation. The door being blocked refers to the door being blocked by external force when opening or closing the door, resulting in failure to close or open. The limit switch being abnormal refers to the state of the limit switch configured on the door being abnormal.

[0117] Optionally, the relationship between the actual execution times and the failure times of the candidate door can be analyzed based on a preset rule to determine whether the switch-to-position function of the candidate door is abnormal. For example, if the proportion of the failure times of the candidate door to the actual execution times is higher than a preset proportion threshold, it is determined that the switch-to-position function of the candidate door is abnormal.

[0118] Optionally, the motor signal of the candidate door, the opening and closing state of the limit switch, and the encoder signal can be analyzed based on a preset rule to determine the failure type of the candidate door.

[0119] Optionally, if it is detected from the motor signal of the candidate door that the motor overcurrent, i.e., the current value of the motor corresponding to the candidate door exceeds a preset normal current threshold, it can be determined that the failure type of the candidate door is that the door is blocked. If it is detected from the received failure reported by the pre-configured lower machine that the switch state of the door limit switch is abnormal, it can be determined that the failure type of the candidate door is that the limit switch is abnormal. If it is detected from the preset encoder signal information that the number of steps actually run by the door is inconsistent with the expected number of steps after a preset switch interval, it can be determined that the failure type of the candidate door is that the door is blocked. For example, 2 seconds after issuing an open door control instruction, the expected switch state of the door is an open door state, and the expected execution step number should be 100 steps, but according to the encoder signal information, the actual execution step number is 5 steps, at which time it can be determined that the failure type of the candidate door is that the door is blocked.

[0120] Optionally, the opening and closing of the hatch can be analyzed according to the actual number of times and the number of failures of the candidate hatch, in combination with the motor signal of the candidate hatch, the opening and closing state of the limit switch, and the encoder signal, to analyze the failure type of the candidate hatch, so that a more accurate failure type can be determined. For example, if it is detected that a candidate hatch does not open to the correct position and does not close to the correct position during the execution of a certain opening and closing operation, it can be determined that the failure type is that the hatch is blocked. If it is detected that a candidate hatch can always open to the correct position and does not close to the correct position during the execution of a certain opening and closing operation, it can be determined that the failure type is that the limit switch for closing is abnormal. For another example, if the hatch opening operation is performed, and the expected number of steps for the hatch to open to the correct position is 100 steps, at this time, according to the encoder signal, it is determined that the hatch opening operation has been performed for 100 steps, but the state of the opening limit switch is still abnormal, at this time, it can be determined that the failure type is that the limit switch for closing is abnormal.

[0121] It should be noted that by judging whether the opening and closing to the correct position function of the hatch is abnormal and analyzing the abnormal failure reason, the pre-checking of the function detection failure can be realized, and the maintenance of the hatch by subsequent related personnel is facilitated.

[0122] Embodiment Five

[0123] Figure 5 A structural block diagram of a detection device of a robot hatch provided by Embodiment Five of the present application is provided, and the detection device of the robot hatch provided by the embodiment of the present application can execute the detection method of the robot hatch provided by any embodiment of the present application, and has the corresponding function modules and beneficial effects of the execution method.

[0124] As shown in Figure 5 , the device comprises:

[0125] The acquisition module 501 is configured to acquire detection parameters of the robot hatch in response to a robot hatch function detection event.

[0126] The determination module 502 is configured to determine at least two to-be-tested hatches that need to be associated with testing from candidate hatches of the robot.

[0127] The detection module 503 is configured to control the robot to perform opening and closing linkage function detection on the at least two to-be-tested hatches according to the detection parameters.

[0128] The technical scheme of the embodiment of the application, in response to a robot hatch function detection event, acquires detection parameters of a robot hatch, determines at least two to-be-tested hatches that need to be associated for testing from candidate hatches of the robot, and controls the robot to perform opening and closing linkage function detection on the at least two to-be-tested hatches according to the detection parameters. By testing when the robot associates the at least two to-be-tested hatches, the opening and closing linkage function of the robot is tested in the case where the robot has multiple hatch linkage opening and closing requirements, the efficiency and flexibility of robot hatch detection are improved, further, a new scheme for function detection of a robot configured with multiple hatches is given, the opening and closing linkage function of the robot hatch is tested, and the richness of robot hatch detection is improved.

[0129] Further, the determining module 502 is specifically used for:

[0130] determining a position relationship between the candidate hatches according to a model of the robot; the position relationship is opposite-opening doors or same-direction opening doors;

[0131] two candidate hatches with the position relationship of opposite-opening doors and located at the same height are taken as a group, and at least two to-be-tested hatches that need to be associated for testing are determined.

[0132] Further, the detecting module 503 is specifically used for:

[0133] extracting a first opening and closing detection frequency and a first opening and closing interval time of the to-be-tested hatches in the linkage function detection process from the detection parameters, generating a first control instruction for the to-be-tested hatches according to the first opening and closing detection frequency and the first opening and closing interval time, and determining a detection starting time for the to-be-tested hatches;

[0134] synchronously sending the first control instruction to each to-be-tested hatch according to the detection starting time of the to-be-tested hatches, for instructing the to-be-tested hatches to perform opening and closing operations;

[0135] respectively acquiring actual opening and closing arrival times of each to-be-tested hatch;

[0136] determining a difference value of the actual opening and closing arrival times of each to-be-tested hatch, and determining a detection result of the opening and closing linkage function detection on the at least two to-be-tested hatches according to the difference value and a preset time threshold.

[0137] Further, the above device is also used for:

[0138] extracting a second opening and closing detection frequency and a second opening and closing interval time of the candidate hatches in the arrival function detection process from the detection parameters, generating a second control instruction according to the second opening and closing detection frequency and the second opening and closing interval time, and respectively determining a detection starting time for each candidate hatch; the detection starting times of the candidate hatches are different;

[0139] sending the second control instruction to each of the candidate doors according to a detection starting time of each of the candidate doors, so as to instruct the candidate door to perform the opening and closing operation;

[0140] respectively acquiring actual opening and closing states of each of the candidate doors after a preset opening and closing interval time;

[0141] determining an expected opening and closing state of the candidate door after the preset opening and closing interval time according to the second opening and closing detection times and the second opening and closing interval time;

[0142] detecting the opening and closing in-place function of each candidate door according to consistency of the actual opening and closing state and the expected opening and closing state.

[0143] Further, the above device is also used for:

[0144] after detecting the opening and closing in-place function of each candidate door, determining whether the opening and closing in-place function of the candidate door is abnormal according to the actual execution times and the failure times of the candidate door;

[0145] if the opening and closing in-place function of the candidate door is abnormal, determining a failure type of the candidate door according to at least one of a motor signal of the candidate door, an opening and closing state of a limit switch and an encoder signal; the failure type includes that the door is blocked and / or the limit switch is abnormal.

[0146] Further, the acquisition module 501 is specifically used for:

[0147] if it is determined according to the robot model that the robot is configured with the door and the robot door circuit connection is normal, determining the number of doors and the door structure relationship of the robot according to the robot model, and performing visual display to obtain detection parameters configured by a detection personnel.

[0148] Further, the above device is also used for:

[0149] determining that a partition detection sensor is arranged between the to-be-tested doors;

[0150] Correspondingly, the detection module 503 is also used for:

[0151] if the partition detection sensor detects that there is no partition, controlling the robot to perform opening and closing linkage function detection on the at least two to-be-tested doors;

[0152] if the partition detection sensor detects that there is a partition, prompting to remove the partition to perform the opening and closing linkage function detection;

[0153] According to the detection results of the partition detection sensor and the switching linkage function detection results, visual display is performed through a man-machine interactive interface, and the man-machine interactive interface includes actual cabin distribution and test results.

[0154] Further, the above device is also used for:

[0155] In response to the disinfection function detection event, the disinfection detection hatch and the disinfection time of each disinfection detection hatch are obtained;

[0156] The disinfection detection hatch is controlled to open, and the disinfection device in each disinfection detection hatch is turned on to disinfect according to the disinfection time;

[0157] According to the opening and closing data of the disinfection detection hatch and the operation data of the disinfection device, the detection result of the door-closed disinfection function is determined.

[0158] Further, the above device is also used for:

[0159] In response to the lighting function detection event, the pre-configured lighting detection hatch and the hatch opening lighting detection times are obtained;

[0160] The lighting detection hatch is controlled to open, and the lighting function detection result is determined according to the opening and closing data of the lighting detection hatch and the lighting data.

[0161] Embodiment six

[0162] Figure 6 A structural schematic diagram of an electronic device is provided for embodiment six of the present application. Figure 6 A structural schematic diagram of an electronic device 10 that can be used to implement embodiments of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smart phones, wearable devices (e.g., headsets, glasses, watches, etc.), and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit the implementations of the present application described and / or claimed in this document.

[0163] As Figure 6As shown, the electronic device 10 includes at least one processor 11, and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., communicatively connected to the at least one processor 11, where the memory stores a computer program executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or loaded into the random access memory (RAM) 13 from the storage unit 18. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0164] Various components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc., an output unit 17, such as various types of displays, a speaker, etc., a storage unit 18, such as a magnetic disk, an optical disk, etc., and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0165] The processor 11 can be various general and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs various methods and processes described above, such as the method of detecting a robot hatch.

[0166] In some embodiments, the method of detecting a robot hatch can be implemented as a computer program tangibly embodied in a computer readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the method of detecting a robot hatch described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the method of detecting a robot hatch by any other appropriate means, such as by means of firmware.

[0167] The various embodiments of the systems and techniques described above can be implemented in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a load programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0168] Computer programs used to implement the processes of the application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer program, when executed, can cause instructions defined in the flow charts and / or block diagrams to be implemented on the computer or other programmable apparatus. The computer programs can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, partially on a machine and partially on a remote machine or entirely on a remote machine or server.

[0169] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store computer programs for use by or in connection with an instruction execution system, apparatus, or device. Computer-readable storage media can include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium will include one or more lines of electrical connections, portable computer disks, hard disk drives, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or Flash memory), optical fibers, portable compact disc read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0170] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0171] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0172] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. A server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0173] It should be understood that the various forms of flow shown above can be re-ordered, added to, or deleted from without departing from the scope of the present disclosure. For example, the steps recited in the present disclosure can be executed in parallel, executed in sequence, or executed in a different order, as long as the desired results of the present disclosure are achieved, and the present disclosure is not limited herein.

[0174] The specific embodiments described hereinabove are illustrative only and not restrictive on the scope of the present disclosure. Those skilled in the art will recognize modifications, combinations, sub-combinations, and alternatives as can be necessary, clarity, and other benefits, in accordance with the principles and concepts disclosed herein. Accordingly, the disclosure is not limited to that precisely as shown and described.

Claims

1. A method of detecting a robot hatch, characterized by, The method comprises the following steps: in response to a robot hatch function detection event, obtaining detection parameters of a robot hatch; extracting a second switch detection number and a second switch interval time of a candidate hatch in a to-position function detection process from the detection parameters, generating a second control instruction according to the second switch detection number and the second switch interval time, and determining a detection start time for each candidate hatch respectively; the detection start times of the candidate hatches are different; sending the second control instruction to each candidate hatch according to the detection start time of each candidate hatch, for instructing the candidate hatch to perform a switch operation; obtaining actual switch states of each candidate hatch after a preset switch interval time respectively; determining an expected switch state of a corresponding candidate hatch after the preset switch interval time according to the second switch detection number and the second switch interval time; detecting a switch to-position function of each candidate hatch according to the consistency of the actual switch state and the expected switch state; determining at least two to-be-tested hatches to be associated with testing from candidate hatches of a robot according to a hatch label in the detection parameters; controlling the robot to perform a switch association function detection on the at least two to-be-tested hatches according to the detection parameters, comprising: simultaneously controlling each group of to-be-tested hatches to perform a switch door operation for switch association function detection; wherein, the at least two to-be-tested hatches to be associated with testing from the candidate hatches of the robot comprises: determining a position relationship between the candidate hatches according to a model of the robot; the position relationship is a split door or a same-direction door; two candidate hatches with the position relationship of a split door and located at the same height are taken as a group, and each group of determined candidate hatches is taken as the at least two to-be-tested hatches to be associated with testing.

2. The method of claim 1, wherein, the control method comprises: extracting a first switch detection number and a first switch interval time of the to-be-tested hatch in a switch association function detection process from the detection parameters, generating a first control instruction for the to-be-tested hatch according to the first switch detection number and the first switch interval time, and determining a detection start time for the to-be-tested hatch; sending the first control instruction to each to-be-tested hatch according to the detection start time of the to-be-tested hatch, for instructing the to-be-tested hatch to perform a switch operation; obtaining actual switch to-position times of each to-be-tested hatch respectively; determining a difference value of the actual switch to-position times of each to-be-tested hatch, and determining a detection result of the switch association function detection on the at least two to-be-tested hatches according to the difference value and a preset time threshold.

3. The method of claim 1, wherein, after detecting the switch to-position function of each candidate hatch, the method further comprises: determining whether the switch to-position function of the candidate hatch is abnormal according to the actual execution number and the fault number of the candidate hatch; If the opening and closing function of the candidate hatch is abnormal, the type of fault of the candidate hatch is determined according to at least one of the motor signal of the candidate hatch, the opening and closing state of the limit switch and the encoder signal; the type of fault includes that the hatch is blocked and / or the limit switch is abnormal.

4. The method of claim 1, wherein, The detection parameters of the robot hatch are acquired, including: If it is determined according to the robot model that the robot is configured with a hatch and the robot hatch circuit connection is normal, the number of hatches of the robot and the structure relationship of the hatches are determined according to the robot model, and visual display is performed, so as to acquire the detection parameters configured by the detection personnel.

5. The method of claim 1, wherein, Further comprising: It is determined that a partition detection sensor is arranged between the to-be-tested hatches; Correspondingly, the control of the robot on the opening and closing linkage function detection of the at least two to-be-tested hatches according to the detection parameters includes: If the detection result of the partition detection sensor is that there is no partition, the robot is controlled to perform the opening and closing linkage function detection on the at least two to-be-tested hatches; If the detection result of the partition detection sensor is that there is a partition, it is prompted to remove the partition for the opening and closing linkage function detection; According to the detection result of the partition detection sensor and the opening and closing linkage function detection result, visual display is performed through a man-machine interaction interface, and the man-machine interaction interface includes actual hatch distribution and test result.

6. The method of claim 1, wherein, Further comprising: In response to a disinfection function detection event, a disinfection detection hatch and a disinfection time length of each disinfection detection hatch are acquired; The disinfection detection hatch is controlled to be opened and closed, and a disinfection device in each disinfection detection hatch is controlled to be started according to the disinfection time length for disinfection; According to the opening and closing data of the disinfection detection hatch and the operation data of the disinfection device, a detection result of the hatch closing disinfection function is determined.

7. The method of claim 1, wherein, Further comprising: In response to an illumination function detection event, a pre-configured illumination detection hatch and an opening hatch illumination detection number are acquired; The illumination detection hatch is controlled to be opened and closed, and an illumination function detection result is determined according to the opening and closing data of the illumination detection hatch and illumination data.

8. A detection device for a robotic hatch, characterized by, Comprising: An acquisition module is configured to acquire detection parameters of a robot hatch in response to a robot hatch function detection event; A determination module is configured to determine at least two to-be-tested hatches to be associated with testing from candidate hatches of a robot according to a hatch number corresponding to a hatch in the detection parameters; A detection module is configured to control the robot to perform opening and closing linkage function detection on the at least two to-be-tested hatches according to the detection parameters; The determination module is specifically configured to determine a position relationship between the candidate hatches according to the model of the robot; the position relationship is opposite opening or same-direction opening; two candidate hatches with the position relationship of opposite opening and located at the same height are taken as a group, and each group of determined candidate hatches is taken as the at least two to-be-tested hatches to be associated with testing; The device is further configured to control the opening and closing operation to be performed simultaneously for each group of to-be-tested hatches, and perform opening and closing linkage function detection; The device is further configured to: extracting a second switch detection number and a second switch interval time of each candidate door in the in-place function detection process from the detection parameters, generating a second control instruction according to the second switch detection number and the second switch interval time, and determining a detection start time for each candidate door respectively; sending the second control instruction to each candidate door according to the detection start time of each candidate door, for instructing the candidate door to perform a switch operation; obtaining an actual switch state of each candidate door after a preset switch interval time respectively; determining an expected switch state of the corresponding candidate door after the preset switch interval time according to the second switch detection number and the second switch interval time; detecting the switch in-place function of each candidate door according to the consistency of the actual switch state and the expected switch state.

9. An electronic device, comprising: The electronic device comprises: at least one processor; and a memory connected with the at least one processor in communication; wherein, the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the detection method of the robot door as claimed in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for enabling the processor to execute the detection method of the robot door as claimed in any one of claims 1-7 when executed.

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