Detection Method, Device, Equipment and Storage Medium for Obstacle Avoidance Performance

Abstract

An embodiment of the present invention discloses a method, device, equipment, and storage medium for detecting obstacle avoidance performance. The method includes: resetting an obstacle avoidance test module to an initial height, where the initial height is the effective obstacle avoidance height of a robot to be detected; controlling the obstacle avoidance test module to rise by a preset height; controlling the robot to be detected to move from one side of the obstacle avoidance test module to the opposite side of the obstacle avoidance test module; if the robot to be detected has avoided the obstacle avoidance test module during this movement, then return to execute the operation of controlling the obstacle avoidance test module to rise by the preset height; otherwise, determine the previous height value of the obstacle avoidance test module as the maximum effective obstacle avoidance height of the robot to be detected. By adopting the above technical solution, the embodiment of the present invention can realize the automatic detection of the maximum effective obstacle avoidance height of the robot to be detected.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular, to a method, device, equipment, and storage medium for detecting obstacle avoidance performance. Background Art

[0002] After the robot is generated, it is necessary to detect the obstacle avoidance performance of the robot. However, the existing obstacle avoidance performance detection methods require a lot of manpower and cannot achieve rapid detection of the robot's obstacle avoidance performance. Summary of the Invention

[0003] In view of this, embodiments of the present invention provide a method, device, equipment, and storage medium for detecting obstacle avoidance performance to achieve automatic detection of the robot's obstacle avoidance performance.

[0004] In a first aspect, an embodiment of the present invention provides a method for detecting obstacle avoidance performance, including:

[0005] Reset the obstacle avoidance test module to the initial height, where the initial height is the effective obstacle avoidance height of the robot to be detected;

[0006] Control the obstacle avoidance test module to rise by a preset height;

[0007] Control the robot to be detected to move from one side of the obstacle avoidance test module to the opposite side of the obstacle avoidance test module;

[0008] If the robot to be detected has avoided an obstacle with the obstacle avoidance test module during this movement, return to execute the operation of controlling the obstacle avoidance test module to rise by a preset height;

[0009] Otherwise, determine the previous height value of the obstacle avoidance test module as the maximum effective obstacle avoidance height of the robot to be detected.

[0010] In a second aspect, an embodiment of the present invention provides a device for detecting obstacle avoidance performance, including:

[0011] A first reset module for resetting the obstacle avoidance test module to the initial height, where the initial height is the effective obstacle avoidance height of the robot to be detected;

[0012] A first module control module for controlling the obstacle avoidance test module to rise by a preset height;

[0013] A first movement control module for controlling the robot to be detected to move from one side of the obstacle avoidance test module to the opposite side of the obstacle avoidance test module;

[0014] The first height determination module is configured to return the first module control module if the robot to be detected has avoided an obstacle from the obstacle avoidance test module during the current movement; otherwise, determine the previous height value of the obstacle avoidance test module as the maximum effective obstacle avoidance height of the robot to be detected.

[0015] In a third aspect, an embodiment of the present invention provides a device for detecting obstacle avoidance performance, including:

[0016] One or more processors;

[0017] A memory for storing one or more programs,

[0018] When the one or more programs are executed by the one or more processors, the one or more processors implement the method for detecting obstacle avoidance performance as described in the embodiments of the present invention.

[0019] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, it implements the method for detecting obstacle avoidance performance as described in the embodiments of the present invention.

[0020] The method, device, equipment, and storage medium for detecting obstacle avoidance performance provided by the embodiments of the present invention reset the obstacle avoidance test module to the initial height, where the initial height is the effective obstacle avoidance height of the robot to be detected; control the obstacle avoidance test module to rise by a preset height; control the robot to be detected to move from one side of the obstacle avoidance test module to the opposite side of the obstacle avoidance test module; if the robot to be detected has avoided an obstacle from the obstacle avoidance test module during the current movement, return to perform the operation of controlling the obstacle avoidance test module to rise by the preset height; if the robot to be detected has not avoided an obstacle from the obstacle avoidance test module during the current movement, determine the previous height of the obstacle avoidance test module as the maximum effective obstacle avoidance height of the robot to be detected. By adopting the above technical solutions, the embodiments of the present invention can control the obstacle avoidance test module and the robot to be detected through the test equipment, and alternately link with the obstacle avoidance test module and the robot to be detected, so as to realize the automatic detection of the maximum effective obstacle avoidance height of the robot to be detected, and improve the test efficiency and test accuracy of the obstacle avoidance performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] By reading the following detailed description of the non-limiting embodiments with reference to the accompanying drawings, other features, objects, and advantages of the present invention will become more apparent:

[0022] Figure 1 It is a schematic flowchart of a method for detecting obstacle avoidance performance provided in Embodiment 1 of the present invention;

[0023] Figure 2Schematic flowchart of another obstacle avoidance performance detection method provided in Embodiment 2 of the present invention;

[0024] Figure 3 Schematic diagram of the relative positions of a task point and a test point provided in Embodiment 2 of the present invention;

[0025] Figure 4 Block diagram of the structure of an obstacle avoidance performance detection device provided in Embodiment 3 of the present invention;

[0026] Figure 5 Schematic diagram of the structure of an obstacle avoidance performance detection device provided in Embodiment 4 of the present invention. Detailed implementation manners

[0027] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention. In addition, it should be noted that, for the sake of description, only parts related to the present invention are shown in the drawings rather than all the content. In addition, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0028] Embodiment 1

[0029] Figure 1 Schematic flowchart of an obstacle avoidance performance detection method provided in an embodiment of the present invention. This method can be executed by an obstacle avoidance performance detection device, where the device can be implemented by software and / or hardware and can be configured in a computer device. Typically, it can be configured in a server. The obstacle avoidance performance detection method provided in the embodiments of the present invention is applicable to the scenario of detecting the obstacle avoidance performance of a robot, especially applicable to the scenario of detecting the obstacle avoidance performance of a robot with high precision requirements. As Figure 1 shown, the obstacle avoidance performance detection method provided in this embodiment may include:

[0030] S101. Reset the obstacle avoidance test module to the initial height, where the initial height is the effective obstacle avoidance height of the robot to be detected.

[0031] Among them, the obstacle avoidance test module can be an obstacle for detecting the obstacle avoidance performance of the robot. Its specific structure can be flexibly set according to needs, as long as it is ensured that when it is at the highest height and the lowest height, the robot cannot avoid it, and when it is at some heights between the lowest height and the highest height, the robot can avoid it. Exemplarily, an obstacle component can be set in the obstacle avoidance test module. The obstacle component can be a rod-shaped structure perpendicular to the moving path of the robot and parallel to the horizontal plane. Its width can be greater than the width of the robot. Support components / suspension components for supporting / suspending the obstacle component can be provided at both ends of the obstacle component. In addition, a control chip and a motor can be further provided in the obstacle avoidance test module. Thus, based on the control of a detection device (such as a server or a host computer, etc.), the control chip can instruct the motor to drive the support component / suspension component to adjust the height of the obstacle component. Correspondingly, the height of the obstacle avoidance test module mentioned in this embodiment can be understood as the height of the center of the obstacle component in the obstacle avoidance test module.

[0032] The robot to be detected is the robot whose obstacle avoidance performance needs to be detected this time. It can be a mobile robot equipped with a vision camera. Thus, the robot to be detected can take pictures of the external environment through the vision camera, detect whether there are obstacles (such as the obstacle test component during the obstacle avoidance performance detection) on its traveling route based on the pictures taken, and avoid the obstacles when it detects that there are obstacles on its traveling route.

[0033] The initial height can be the height when the obstacle avoidance test module is reset. It is the effective obstacle avoidance height of the robot, that is, when the obstacle avoidance test module is at this height, the robot can avoid the obstacle avoidance test module. This initial height can be set according to needs. For example, it can be set to a certain height near the height of the center of the vision camera configured on the robot, and preferably, it can be set to the same height as the height of the center of the vision camera configured on the robot to ensure that when at this height, the robot can avoid the obstacle avoidance test module.

[0034] In this embodiment, a map consistent with the current test scenario can be created in each robot that needs to be detected for obstacle avoidance performance in advance, or the map of the current test scenario can be imported into each robot in advance. Set the moving path of the robot to be detected, build the obstacle avoidance performance test module, and place the obstacle avoidance performance test module on this moving path. Thus, subsequently, the robot can be controlled to move along this moving path towards the obstacle module to test the obstacle avoidance performance of the robot.

[0035] Specifically, when detecting the maximum effective obstacle avoidance height of the robot to be detected, the obstacle avoidance test module can first be reset to the initial height. For example, a reset instruction is sent to the obstacle avoidance test module, and through this reset instruction, the obstacle avoidance test module is instructed to reset to the initial height, so as to reduce the error when adjusting the height of the obstacle avoidance test module, and further improve the accuracy of the test result of the robot's obstacle avoidance performance.

[0036] Correspondingly, when the obstacle avoidance test module receives the reset instruction sent by the test device, it can be reset to the initial height. For example, when the control chip of the obstacle avoidance test module receives the reset instruction sent by the detection device, it can instruct the motor configured in the obstacle avoidance test module to drive the support component / suspension component, and then adjust the height of the obstacle component to the initial height. After the reset is completed, a reset completion notification can be sent to the detection device.

[0037] S102. Control the obstacle avoidance test module to rise by a preset height.

[0038] Among them, the preset height can be a preset height adjustment step, which can be the height of a test unit when performing performance tests on the robot, such as 1 mm, to improve the accuracy of the robot's obstacle avoidance performance.

[0039] Specifically, after the detection device detects that the obstacle avoidance test module has been reset to the initial height, such as when receiving the reset completion notification sent by the obstacle avoidance test module, it can send a rising instruction to the obstacle avoidance test module to instruct the obstacle avoidance test module to rise by a preset height. Correspondingly, when the obstacle avoidance test module receives the rising instruction sent by the detection device, it can rise by a preset height, such as raising the configured obstacle component by a preset height, and after rising by the preset height, send a rising completion notification to the detection device.

[0040] It can be understood that in this embodiment, when detecting the maximum effective obstacle avoidance height of the robot to be detected, the obstacle avoidance test module may not be controlled to be reset, but directly control the obstacle avoidance test module to adjust its height to the sum of the initial height and the preset height, and detect whether the robot to be detected can avoid the obstacle avoidance test module when the obstacle avoidance test module is at this height. This embodiment does not limit this.

[0041] S103. Control the robot to be detected to move from one side of the obstacle avoidance test module to the opposite side of the obstacle avoidance test module.

[0042] In this embodiment, after the obstacle avoidance test module rises by a preset height, the robot to be detected can be controlled to move towards the obstacle avoidance test module to determine whether the robot to be detected can avoid the obstacle avoidance test module when the obstacle avoidance test module is at this height.

[0043] Specifically, when the detection device receives the elevation completion notification sent by the obstacle avoidance test module, it can send a movement instruction to the robot to be detected, and control the robot to be detected to move from one side of the obstacle avoidance test module to the opposite side along the path passing through the obstacle avoidance test module. Correspondingly, after receiving the movement instruction sent by the detection device, the robot to be detected can move towards the obstacle avoidance test module along the preset path, detect obstacles based on the images collected by the vision camera during the movement, and avoid obstacles when detecting an obstacle.

[0044] S104. Determine whether the robot to be detected has avoided the obstacle avoidance test module during this movement. If so, return to execute S102; if not, execute S105.

[0045] Specifically, it can be detected whether the robot to be detected has avoided the obstacle avoidance test module during the process of moving from one side of the obstacle avoidance test module to the opposite side. For example, it can be detected whether the robot to be detected collides with the obstacle avoidance test module, and when it is detected that there is no collision with the obstacle avoidance test module, it is determined that the robot to be detected has avoided the obstacle avoidance test module during this movement; or, obtain the actual movement path of the robot to be detected, and analyze and determine whether it has bypassed the obstacle avoidance test module during this movement based on this actual movement path, so as to determine whether the robot to be detected has avoided the obstacle avoidance test module, and so on.

[0046] In this embodiment, if the robot to be detected has avoided the obstacle avoidance test module during this movement, it means that the current height of the obstacle avoidance test module is the effective obstacle avoidance height of the robot to be detected. At this time, it can return to execute S120 to raise the height of the obstacle avoidance test module again to detect whether the robot to be detected can avoid it when the obstacle avoidance test module is at the new height. Thus, by gradually raising the height of the obstacle avoidance test module and detecting whether the robot to be detected can avoid the obstacle avoidance test module at the corresponding height, the automatic detection of the maximum effective obstacle avoidance height of the robot to be detected can be realized, without the need for manual adjustment of the height of the obstacle and manual observation of whether the robot to be detected bypasses the obstacle module, reducing the manpower consumed during the robot obstacle avoidance performance test.

[0047] In addition, since the detection device can automatically control the obstacle avoidance test module and the robot, it can flexibly adjust the preset height of each elevation of the obstacle avoidance test module as needed. For example, when the test accuracy requirement for the obstacle avoidance performance is relatively high, the preset height can be set to a smaller value without considering the manpower consumption, so as to achieve high-precision setting of the robot obstacle avoidance performance; when the test accuracy requirement for the obstacle avoidance performance is relatively low, the preset height can be set to a larger value to further improve the test efficiency of the obstacle avoidance performance.

[0048] S105. Determine the previous height value of the obstacle avoidance test module as the maximum effective obstacle avoidance height of the robot to be detected.

[0049] Among them, the previous height value of the obstacle avoidance test module can be understood as the height of the obstacle avoidance test module when the robot to be detected last moves from one side of the obstacle avoidance test module to the opposite side of the obstacle avoidance test module, that is, the difference between the current height of the obstacle avoidance test module and the preset height.

[0050] Specifically, if the robot to be detected does not avoid obstacles for the obstacle avoidance test module during this movement, it means that the current height of the obstacle avoidance test module has exceeded the maximum height at which the robot to be detected can avoid obstacles. Therefore, the height of the obstacle avoidance test module when the robot to be detected last moves from one side of the obstacle avoidance test module to the opposite side of the obstacle avoidance test module can be determined as the maximum obstacle avoidance height of the robot to be detected.

[0051] The test method for obstacle avoidance performance provided in Embodiment 1 of the present invention resets the obstacle avoidance test module to the initial height, where the initial height is the effective obstacle avoidance height of the robot to be detected; controls the obstacle avoidance test module to rise by a preset height; controls the robot to be detected to move from one side of the obstacle avoidance test module to the opposite side of the obstacle avoidance test module; if the robot to be detected avoids obstacles for the obstacle avoidance test module during this movement, return to execute the operation of controlling the obstacle avoidance test module to rise by the preset height; if the robot to be detected does not avoid obstacles for the obstacle avoidance test module during this movement, determine the previous height of the obstacle avoidance test module as the maximum effective obstacle avoidance height of the robot to be detected. By adopting the above technical solution in this embodiment, the test equipment controls the obstacle avoidance test module and the robot to be detected, and alternately links with the obstacle avoidance test module and the robot to be detected, so as to realize the automatic detection of the maximum effective obstacle avoidance height of the robot to be detected, and improve the test efficiency and test accuracy of the obstacle avoidance performance.

[0052] Embodiment 2

[0053] Figure 2 It is a schematic flowchart of a method for detecting obstacle avoidance performance provided in Embodiment 2 of the present invention. On the basis of the above embodiment, this embodiment optimizes "controlling the robot to be detected to move from one side of the obstacle avoidance test module to the opposite side of the obstacle avoidance test module" to: controlling the robot to be detected to move from the current task point to another task point along a preset path, where the current task point and the other task point are two endpoints of the preset path, and the obstacle avoidance test module is located on the preset path.

[0054] Optionally, after controlling the robot to be detected to move from one side of the obstacle avoidance test module to the opposite side of the obstacle avoidance test module, it further includes: obtaining the moving duration of the robot to be detected moving from the current task point to the other task point; if the robot to be detected has avoided obstacles with respect to the obstacle avoidance test module during this movement, then returning to perform the operation of controlling the obstacle avoidance test module to rise by a preset height, including: if the moving duration is greater than a preset duration threshold, then returning to perform the operation of controlling the obstacle avoidance test module to rise by a preset height.

[0055] Optionally, after determining the previous height value of the obstacle avoidance test module as the maximum effective obstacle avoidance height of the robot to be detected, it further includes: resetting the obstacle avoidance test module to the initial height; controlling the obstacle avoidance test module to lower by a preset height; controlling the robot to be detected to move from one side of the obstacle avoidance test module to the opposite side of the obstacle avoidance test module; if the robot to be detected has avoided obstacles with respect to the obstacle avoidance test module during this movement, then returning to perform the operation of controlling the obstacle avoidance test module to lower by a preset height; otherwise, determining the previous height value of the obstacle avoidance test module as the minimum effective obstacle avoidance height of the robot to be detected.

[0056] Correspondingly, as Figure 2 shown, the method for detecting the obstacle avoidance performance provided in this embodiment may include:

[0057] S201. Reset the obstacle avoidance test module to the initial height, where the initial height is the effective obstacle avoidance height of the robot to be detected.

[0058] S202. Control the obstacle avoidance test module to rise by a preset height.

[0059] S203. Control the robot to be detected to move from the current task point to the other task point along a preset path, where the current task point and the other task point are the two endpoints of the preset path, and the obstacle avoidance test module is located on the preset path.

[0060] Exemplarily, as Figure 3 shown, two task points A and B and a test point C located between the two task points may be preset in advance. Place the obstacle avoidance test module at the test point C. For example, two points at a certain distance (such as 5m, 7m, etc.) can be selected as task points A and B, set the test point C at the midpoint of the line connecting task point A and task point B, and set the moving path of the robot to move along a straight line from the current task point it is located at to the other task point.

[0061] Thus, after controlling the obstacle avoidance test module to rise to a preset height, if the robot to be detected is currently at task point A, a first movement instruction can be sent to the robot to be detected to control the robot to move from task point A to task point B along the connection line between A and B; if the robot to be detected is currently at task point B, a second movement instruction can be sent to the robot to be detected to control the robot to move from task point B to task point A along the connection line between A and B.

[0062] Alternatively, after controlling the obstacle avoidance test module to rise to a preset height, determine whether the last instruction sent to the robot to be detected is the first movement instruction or the second movement instruction. If the last instruction sent to the robot to be detected is the first movement instruction, then send the second movement instruction to the robot to be detected; if the last instruction sent to the robot to be detected is the second movement instruction, then send the first movement instruction to the robot to be detected, that is, alternately send the first movement instruction and the second movement instruction to the robot to be detected to control the robot to move between task point A and task point B.

[0063] S204. Obtain the movement duration of the robot to be detected moving from the current task point to the other task point.

[0064] Specifically, the time taken for the robot to be detected to start moving until the movement ends can be obtained as the movement duration of the robot to be detected moving from the current task point to the other task point. For example, communication can be established with the robot to be detected to detect the start movement signal and the movement end signal of the robot to be detected, and the time length between the start movement signal and the movement end signal can be calculated as the movement duration of the robot to be detected moving from the current task point to the other task point.

[0065] S205. Determine whether the movement duration is greater than a preset duration threshold. If so, return to execute S202; if not, execute S206.

[0066] S206. Determine the previous height value of the obstacle avoidance test module as the maximum effective obstacle avoidance height of the robot to be detected.

[0067] Since the robot to be detected avoids the obstacle avoidance test module and bypasses it, compared with the situation where the robot to be detected does not avoid the obstacle avoidance test module and directly passes through it, it takes a longer time to move from the current task point to the other task point. Therefore, in this embodiment, it can be determined whether the robot to be detected avoids the obstacle avoidance test module during the movement according to the time taken for the robot to be detected to move from the current task point to the other task point.

[0068] Among them, the preset duration threshold can be set according to the error between the theoretical duration required for the robot to be detected to make a single move between two task points at a preset speed and the duration required for the robot to be detected to make a single move between the two task points. For example, assuming that when there is no obstacle, the theoretical time length required for the robot to be detected to make a single move between two task points at a preset speed is t, and the error is Δt, then the preset duration threshold can be set to t + Δt. Among them, the preset speed can be the speed of the robot during the uniform motion stage after acceleration. When there is no obstacle, the theoretical time length t required for the robot to be detected to make a single move between two task points at a preset speed can be calculated according to the distance between the two task points and the average speed of the robot to be detected during the move between these two points. For example, the quotient of the distance between the two task points and the average speed can be used as the theoretical time length t required for the robot to be detected to make a single move between two task points at a preset speed. The average speed can be calculated or statistically obtained.

[0069] Specifically, after obtaining the moving duration of the robot to be detected moving from the current task point to another task point this time, it can be determined whether the moving duration is greater than the preset duration threshold. If so, it is determined that the robot to be detected has avoided obstacles to the obstacle avoidance test module during this move, and S202 is executed; if not, it is determined that the robot to be detected has not avoided obstacles to the obstacle avoidance test module during this move, and the height of the obstacle avoidance test module during the previous move of the robot to be detected is determined as the maximum effective obstacle avoidance height of the robot to be detected.

[0070] S207. Reset the obstacle avoidance test module to the initial height.

[0071] S208. Control the obstacle avoidance test module to lower by a preset height.

[0072] In this embodiment, after detecting the maximum effective obstacle avoidance height of the robot to be detected by gradually increasing the height of the obstacle avoidance test module, the minimum effective obstacle avoidance height of the robot to be detected can be continuously detected. Thus, by first detecting the maximum effective obstacle avoidance height of the robot to be detected and then detecting the minimum effective obstacle avoidance height of the robot to be detected, it is possible to automatically start detecting the minimum effective obstacle avoidance height of the robot to be detected without manual intervention after the detection of the maximum effective obstacle avoidance height is completed. This can not only achieve the detection of the maximum effective obstacle avoidance height and the minimum effective obstacle avoidance height of the robot to be detected, but also further improve the automation degree during the detection process of the obstacle avoidance performance of the robot to be detected.

[0073] Specifically, after detecting the maximum effective obstacle avoidance height of the robot to be detected, a reset instruction can be sent to the obstacle avoidance test module to indicate, through this reset instruction, that the obstacle avoidance test module resets to the initial height; and after the obstacle avoidance test module completes the reset, a lowering instruction can be sent to the obstacle avoidance test module to indicate, through this lowering instruction, that the obstacle avoidance test module lowers by a preset height.

[0074] Correspondingly, when the obstacle avoidance test module receives the reset instruction sent by the test device, it can reset to the initial height, and after resetting to the initial height, it can send a reset completion notification to the detection device; and when receiving the lowering instruction sent by the test device, it can lower by a preset height, such as lowering the configured obstacle component by a preset height, and after lowering by the preset height, it can send a lowering completion notification to the detection device.

[0075] S209. Control the robot to be detected to move from one side of the obstacle avoidance test module to the opposite side of the obstacle avoidance test module.

[0076] S210. Determine whether the robot to be detected has avoided obstacles with respect to the obstacle avoidance test module during this movement. If so, return to execute S208; if not, execute S211.

[0077] S211. Determine the previous height value of the obstacle avoidance test module as the minimum effective obstacle avoidance height of the robot to be detected.

[0078] Specifically, after lowering the obstacle avoidance test module by a preset height, the robot to be detected can be controlled to move from its current task point to another task point, and it is determined whether the robot to be detected has avoided obstacles with respect to the obstacle avoidance test module during this movement. If so, the current height of the obstacle avoidance test module is determined as the effective obstacle avoidance height of the robot to be detected; if not, it means that when the obstacle avoidance test module is at the current height, the robot to be detected can no longer avoid obstacles with respect to the obstacle avoidance test module. At this time, the previous height of the obstacle avoidance test module (i.e., the difference between the current height of the obstacle avoidance test module and the preset height) can be determined as the minimum effective obstacle avoidance height of the robot to be detected, and the maximum obstacle avoidance height and the minimum obstacle avoidance height of the robot to be detected can be further displayed. Thus, the maximum effective obstacle avoidance height and the minimum effective obstacle avoidance height of the robot to be detected are obtained, and the obstacle avoidance performance detection of the robot to be detected is completed.

[0079] In this embodiment, when detecting the minimum effective obstacle avoidance height of the robot to be detected, the method for determining whether the robot to be detected has avoided obstacles with respect to the obstacle avoidance test module during the movement can be flexibly set, and this embodiment does not limit this.

[0080] Considering that if the robot to be detected fails to avoid obstacles from the obstacle avoidance test module, it will collide with the obstacle avoidance test module and cause an emergency stop. Therefore, in this embodiment, it is preferably possible to determine whether the robot to be detected avoids obstacles from the obstacle avoidance test module during the movement according to whether the robot to be detected collides with the obstacle avoidance test module. At this time, optionally, if the robot to be detected has avoided obstacles from the obstacle avoidance test module during the current movement, the operation of controlling the obstacle avoidance test module to lower the preset height is returned and executed, including: if the robot to be detected does not collide with the obstacle avoidance test module during the current movement, it is determined that the robot to be detected has avoided obstacles from the obstacle avoidance test module during the current movement, and the operation of controlling the obstacle avoidance test module to lower the preset height is returned and executed.

[0081] Exemplarily, after controlling the robot to be detected to move from the current task point to another task point, it can be determined whether the robot to be detected collides with the obstacle avoidance test module during the current movement. If so, it is determined that the robot to be detected has not avoided obstacles from the obstacle avoidance test module during the current movement, and the previous height value of the obstacle avoidance test module before the current height reduction is determined as the minimum effective obstacle avoidance height of the robot to be detected; if not, it is determined that the robot to be detected has avoided obstacles from the obstacle avoidance test module during the current movement, and S208 is returned and executed.

[0082] In one embodiment, it is possible to determine whether the robot to be detected collides with the obstacle avoidance test module according to whether a collision alarm signal is generated by the robot to be detected during the movement. For example, when the robot to be detected collides with an external object, it can stop moving and send a collision alarm signal. Correspondingly, when the detection device receives the collision warning signal sent by the robot to be detected, it can determine that the robot to be detected collides with the obstacle avoidance test module. At this time, the method for detecting the obstacle avoidance performance provided in this embodiment may further include: if the collision alarm signal sent by the robot to be detected is not received during the current movement, it is determined that the robot to be detected does not collide with the obstacle avoidance test module during the current movement; otherwise, it is determined that the robot to be detected collides with the obstacle avoidance test module during the current movement. Among them, the robot to be detected can be configured with a collision protection device to prevent the robot to be detected from being damaged due to collision with the obstacle avoidance test module.

[0083] It can be understood that when detecting the minimum effective obstacle avoidance height of the robot to be detected, it is also possible to determine whether the robot to be detected has collided and stopped suddenly according to the moving duration of the robot to be detected, and then determine whether the robot to be detected has avoided obstacles from the obstacle avoidance test module. At this time, assuming that when there is an obstacle avoidance test module and the robot to be detected has avoided obstacles from the obstacle avoidance test module, the theoretical time length required for the robot to be detected to make a single move between two task points at a preset speed is T, and the error is ΔT, then T + ΔT can be set as the set duration threshold. At this time, the moving duration of the robot to be detected from the current task point to another task point this time can be obtained, and it is determined whether the moving duration is less than or equal to the preset duration threshold. If so, it is determined that the robot to be detected has not collided with the obstacle avoidance test module; if not, for example, if after a duration greater than T + ΔT, the robot to be detected still has not reached another task point, it is determined that the robot to be detected has collided with the obstacle avoidance test module.

[0084] Among them, the time T required for the robot to be detected to make a single move between two task points at a preset speed can be determined according to the time length consumed when the robot to be detected has avoided obstacles from the obstacle avoidance test module during the detection of the maximum effective obstacle avoidance height. For example, the maximum time length among the time lengths consumed by the robot to be detected for a single move when it has avoided obstacles from the obstacle avoidance test module during the detection of the maximum effective obstacle avoidance height can be used as the theoretical time length T required for the robot to be detected to make a single move between two task points at a preset speed.

[0085] The obstacle avoidance performance detection method provided in Embodiment 3 of the present invention first detects the maximum effective obstacle avoidance height of the robot to be detected by gradually increasing the height of the obstacle avoidance test module, and then detects the minimum effective obstacle avoidance height of the robot to be detected by gradually decreasing the height of the obstacle avoidance test module. It can not only realize the detection of the obstacle avoidance performance of the robot to be detected, but also further improve the automation degree in the obstacle avoidance performance detection process and improve the detection efficiency of the obstacle avoidance performance.

[0086] Embodiment 3

[0087] Figure 4 It is a structural block diagram of an obstacle avoidance performance detection device provided in an embodiment of the present invention. This device can be implemented by software and / or hardware, and can be configured in a computer device. Typically, it can be configured in a server, and can detect the obstacle avoidance performance of a robot by executing the obstacle avoidance performance detection method. As Figure 4 shown, the obstacle avoidance performance detection device provided in this embodiment may include: a first reset module 401, a first module control module 402, a first movement control module 403, and a first height determination module 404, where

[0088] The first reset module 401 is configured to reset the obstacle avoidance test module to the initial height, where the initial height is the effective obstacle avoidance height of the robot to be detected.

[0089] The first module control module 402 is configured to control the obstacle avoidance test module to rise by a preset height.

[0090] The first movement control module 403 is configured to control the robot to be detected to move from one side of the obstacle avoidance test module to the opposite side of the obstacle avoidance test module.

[0091] The first height determination module 404 is configured to, if the robot to be detected has avoided an obstacle with respect to the obstacle avoidance test module during the current movement, return to the first module control module; otherwise, determine the previous height value of the obstacle avoidance test module as the maximum effective obstacle avoidance height of the robot to be detected.

[0092] The obstacle avoidance performance test device provided in the third embodiment of the present invention resets the obstacle avoidance test module to the initial height through the first reset module, where the initial height is the effective obstacle avoidance height of the robot to be detected; controls the obstacle avoidance test module to rise by a preset height through the first module control module; controls the robot to be detected to move from one side of the obstacle avoidance test module to the opposite side of the obstacle avoidance test module through the first movement control module; and when the robot to be detected has avoided an obstacle with respect to the obstacle avoidance test module during the current movement, the first height determination module returns to execute the operation of controlling the obstacle avoidance test module to rise by a preset height, and when the robot to be detected has not avoided an obstacle with respect to the obstacle avoidance test module during the current movement, determines the previous height of the obstacle avoidance test module as the maximum effective obstacle avoidance height of the robot to be detected. By adopting the above technical solution in this embodiment, the obstacle avoidance test module and the robot to be detected are controlled by the test device, and they are alternately linked, so that the automatic detection of the maximum effective obstacle avoidance height of the robot to be detected can be realized, and the test efficiency and test accuracy of the obstacle avoidance performance are improved.

[0093] In the above solution, the first movement control module 403 is specifically configured to: control the robot to be detected to move from the current task point to another task point along a preset path, where the current task point and the other task point are two end points of the preset path, and the obstacle avoidance test module is located on the preset path.

[0094] Further, the obstacle avoidance performance detection device provided in this embodiment may further include: a duration acquisition module, configured to acquire the movement duration of the robot to be detected from the current task point to another task point after controlling the robot to be detected to move from one side of the obstacle avoidance test module to the opposite side of the obstacle avoidance test module; specifically, the first height determination module 404 may be configured to: if the movement duration is greater than a preset duration threshold, return to perform the operation of controlling the obstacle avoidance test module to rise by a preset height.

[0095] Further, the obstacle avoidance performance detection device provided in this embodiment may further include: a second reset module, configured to reset the obstacle avoidance test module to the initial height after determining the previous height value of the obstacle avoidance test module as the maximum effective obstacle avoidance height of the robot to be detected; a second module control module, configured to control the obstacle avoidance test module to lower by a preset height; a second movement control module, configured to control the robot to be detected to move from one side of the obstacle avoidance test module to the opposite side of the obstacle avoidance test module; a second height determination module, configured to return to the second module control module if the robot to be detected has avoided the obstacle avoidance test module during this movement; otherwise, determine the previous height value of the obstacle avoidance test module as the minimum effective obstacle avoidance height of the robot to be detected.

[0096] In the above solution, specifically, the second height determination module may be configured to: if the robot to be detected does not collide with the obstacle avoidance test module during this movement, determine that the robot to be detected has avoided the obstacle avoidance test module during this movement, and return to the second module control module.

[0097] Further, the obstacle avoidance performance detection device provided in this embodiment may further include: a collision determination module, configured to determine that the robot to be detected does not collide with the obstacle avoidance test module during this movement if no collision alarm signal sent by the robot to be detected is received during this movement; otherwise, determine that the robot to be detected collides with the obstacle avoidance test module during this movement.

[0098] The obstacle avoidance performance detection device provided in Embodiment 3 of the present invention may execute the obstacle avoidance performance detection method provided in any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the obstacle avoidance performance detection method. For technical details not described in detail in this embodiment, reference may be made to the obstacle avoidance performance detection method provided in any embodiment of the present invention.

[0099] Embodiment 4

[0100] Figure 5The following is a schematic structural diagram of an obstacle avoidance performance detection device provided in Embodiment 4 of the present invention. As Figure 5 shown, the obstacle avoidance performance detection device includes a processor 50 and a memory 51, and may further include an input device 52 and an output device 53. The number of processors 50 in the obstacle avoidance performance detection device may be one or more. Figure 5 Here, one processor 50 is taken as an example. The processor 50, memory 51, input device 52, and output device 53 in the obstacle avoidance performance detection device may be connected through a bus or other means. Figure 5 Here, connection through a bus is taken as an example.

[0101] The memory 51, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as program instructions / modules corresponding to the obstacle avoidance performance detection method in the embodiments of the present invention (for example, the first reset module 401, the first module control module 402, the first movement control module 403, and the first height determination module 404 in the obstacle avoidance performance detection device). By running the software programs, instructions, and modules stored in the memory 51, the processor 50 executes various functional applications and data processing of the obstacle avoidance performance detection device, that is, implements the above-mentioned obstacle avoidance performance detection method.

[0102] The memory 51 mainly includes a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created according to the use of the terminal, etc. In addition, the memory 51 may include a high-speed random access memory, and may further include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some instances, the memory 51 may further include a memory remotely set relative to the processor 50, and these remote memories can be connected to the obstacle avoidance performance detection device through a network. Examples of the above network include, but are not limited to, the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0103] The input device 52 can be used to receive input digital or character information, and generate key signal inputs related to the user settings and function controls of the obstacle avoidance performance detection device. The output device 53 may include a display device such as a display screen.

[0104] Embodiment 4 of the present invention further provides a storage medium containing computer-executable instructions, and the computer-executable instructions are used to execute an obstacle avoidance performance detection method when executed by a computer processor. The method includes:

[0105] Reset the obstacle avoidance test module to the initial height, where the initial height is the effective obstacle avoidance height of the robot to be detected;

[0106] Control the obstacle avoidance test module to rise to a preset height;

[0107] Control the robot to be detected to move from one side of the obstacle avoidance test module to the opposite side of the obstacle avoidance test module;

[0108] If the robot to be detected has avoided the obstacle of the obstacle avoidance test module during this movement, return to execute the operation of controlling the obstacle avoidance test module to rise to a preset height;

[0109] Otherwise, determine the previous height value of the obstacle avoidance test module as the maximum effective obstacle avoidance height of the robot to be detected.

[0110] Of course, the storage medium containing computer-executable instructions provided by the embodiments of the present invention, its computer-executable instructions are not limited to the method operations described above, and can also execute related operations in the obstacle avoidance performance detection method provided by any embodiment of the present invention.

[0111] From the above description of the embodiments, those skilled in the art can clearly understand that the present invention can be implemented by means of software and necessary general hardware, and of course, it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as a floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disc of a computer, etc., including several instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0112] It should be noted that in the embodiments of the above-mentioned obstacle avoidance performance detection device, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of the functional units are only for the convenience of mutual distinction and do not limit the protection scope of the present invention.

[0113] Note that the above is only a preferred embodiment of the present invention and the technical principles applied. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein. Various obvious changes, re-adjustments, and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the present invention, it may also include more other equivalent embodiments, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for detecting obstacle avoidance performance, characterized in that, Including: Reset the obstacle avoidance test module to the initial height, where the initial height is the effective obstacle avoidance height of the robot to be detected; Control the obstacle avoidance test module to rise by a preset height; Control the robot to be detected to move from one side of the obstacle avoidance test module to the opposite side of the obstacle avoidance test module; If the robot to be detected has avoided the obstacle avoidance test module during this movement, return to perform the operation of controlling the obstacle avoidance test module to rise by a preset height; Otherwise, determine the previous height value of the obstacle avoidance test module as the maximum effective obstacle avoidance height of the robot to be detected.

2. The method according to claim 1, wherein The controlling the robot to be detected to move from one side of the obstacle avoidance test module to the opposite side of the obstacle avoidance test module includes: Control the robot to be detected to move along a preset path from the current task point to another task point, where the current task point and the other task point are the two endpoints of the preset path, and the obstacle avoidance test module is located on the preset path.

3. The method according to claim 2, wherein After the controlling the robot to be detected to move from one side of the obstacle avoidance test module to the opposite side of the obstacle avoidance test module, it further includes: Obtain the movement duration of the robot to be detected moving from the current task point to the other task point; The if the robot to be detected has avoided the obstacle avoidance test module during this movement, return to perform the operation of controlling the obstacle avoidance test module to rise by a preset height includes: If the movement duration is greater than the preset duration threshold, return to perform the operation of controlling the obstacle avoidance test module to rise by a preset height.

4. The method according to any one of claims 1-3, characterized in that, After the determining the previous height value of the obstacle avoidance test module as the maximum effective obstacle avoidance height of the robot to be detected, it further includes: Reset the obstacle avoidance test module to the initial height; Control the obstacle avoidance test module to lower by a preset height; Control the robot to be detected to move from one side of the obstacle avoidance test module to the opposite side of the obstacle avoidance test module; If the robot to be detected has avoided the obstacle avoidance test module during this movement, return to perform the operation of controlling the obstacle avoidance test module to lower by a preset height; Otherwise, determine the previous height value of the obstacle avoidance test module as the minimum effective obstacle avoidance height of the robot to be detected.

5. The method according to claim 4, wherein The if the robot to be detected has avoided the obstacle avoidance test module during this movement, return to perform the operation of controlling the obstacle avoidance test module to lower by a preset height includes: If the robot to be detected does not collide with the obstacle avoidance test module during this movement, determine that the robot to be detected has avoided the obstacle avoidance test module during this movement, and return to perform the operation of controlling the obstacle avoidance test module to lower by a preset height.

6. The method according to claim 5, wherein It further includes: If the collision alarm signal sent by the robot to be detected is not received during this movement, determine that the robot to be detected does not collide with the obstacle avoidance test module during this movement; Otherwise, determine that the robot to be detected collides with the obstacle avoidance test module during this movement.

7. A detection device for obstacle avoidance performance, characterized in that, Including: The first reset module is used to reset the obstacle avoidance test module to the initial height, where the initial height is the effective obstacle avoidance height of the robot to be detected; The first module control module is used to control the obstacle avoidance test module to rise by a preset height; The first movement control module is used to control the robot to be detected to move from one side of the obstacle avoidance test module to the opposite side of the obstacle avoidance test module; The first height determination module is used to, if the robot to be detected has avoided an obstacle with respect to the obstacle avoidance test module during this movement, return to the first module control module; otherwise, determine the previous height value of the obstacle avoidance test module as the maximum effective obstacle avoidance height of the robot to be detected.

8. The device according to claim 7, characterized in that, It further includes: The second reset module is used to, after determining the previous height value of the obstacle avoidance test module as the maximum effective obstacle avoidance height of the robot to be detected, reset the obstacle avoidance test module to the initial height; The second module control module is used to control the obstacle avoidance test module to lower by a preset height; The second movement control module is used to control the robot to be detected to move from one side of the obstacle avoidance test module to the opposite side of the obstacle avoidance test module; The second height determination module is used to, if the robot to be detected has avoided an obstacle with respect to the obstacle avoidance test module during this movement, return to the second module control module; otherwise, determine the previous height value of the obstacle avoidance test module as the minimum effective obstacle avoidance height of the robot to be detected.

9. A detection device for obstacle avoidance performance, characterized in that, It includes: One or more processors; A memory for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method for detecting the obstacle avoidance performance as described in any one of claims 1 - 6.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method for detecting the obstacle avoidance performance as described in any one of claims 1 - 6.

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