A robotic dithering test method, system, device, and storage medium

Abstract

The application provides a robot jitter test method, system, device and storage medium, the method comprising: acquiring motion data of a robot from multiple sensors, acquiring initial jitter amounts and real-time jitter amounts of the robot in multiple directions respectively according to the motion data, calculating jitter amplitudes of the robot in each direction according to the initial jitter amounts and real-time jitter amounts in each direction, and acquiring a final jitter amplitude of the robot according to the jitter amplitudes of the robot in each direction. The application can realize jitter test of the robot in different scenes, and acquire full-range jitter amplitude values of the robot in different scenes in real time, thereby improving jitter test precision of the robot.

Description

Technical Field

[0001] This invention relates to the field of robot testing, and more particularly to a robot vibration testing method, system, device, and storage medium. Background Technology

[0002] Currently, robots on the market experience a certain degree of body vibration during operation, especially in different driving scenarios (such as straight-line driving, turning, climbing, obstacle crossing, ditch crossing, braking, etc.), due to their structural design and chassis weight distribution. Therefore, to ensure the stability of the robot during operation, it is generally necessary to first detect whether there is severe body vibration during operation, obtain parameters before the product is designed for commercial use, and then optimize and modify the structural design before commercialization. This includes things like lowering the product's center of gravity, reinforcing the chassis support, improving the internal structural design, and increasing chassis weight distribution, thereby improving the overall reliability of the product's operation.

[0003] Existing methods for detecting robot vibration amplitude often neglect verification or rely solely on visual observation for robots with small vibration amplitudes during driving, as these vibrations do not affect the robot's main performance and are not important acceptance indicators. This approach is highly subjective and lacks rigor. Furthermore, because deviations in chassis precision introduce driving errors during robot movement, slight robot vibrations are often mixed with chassis deviations, making it difficult to distinguish between the actual visually observed vibration amount and the actual vibration, thus increasing the difficulty of analysis. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to overcome the shortcomings of the prior art and provide a robot vibration testing method, system, device and storage medium.

[0005] This invention provides the following technical solution:

[0006] Firstly, this application provides a method for testing robot shaking, including:

[0007] The robot's motion data is acquired from multiple sensors, and based on the motion data, the initial jitter and real-time jitter of the robot in multiple directions are obtained respectively.

[0008] Based on the initial jitter and the real-time jitter in each direction, the jitter amplitude of the robot in each direction is calculated respectively.

[0009] The final shaking amplitude of the robot is obtained based on the shaking amplitude of the robot in each direction.

[0010] In one embodiment, acquiring motion data of the robot from sensors and obtaining initial jitter of the robot in multiple directions based on the motion data includes:

[0011] The vertical distance between each of the multiple sensors and the horizontal ground is obtained, and the corresponding initial shaking angle of the robot in each direction is obtained.

[0012] Based on the vertical distance in each direction and the initial shaking angle, the initial shaking amount of the robot in each direction is calculated.

[0013] In one embodiment, acquiring motion data of the robot from sensors and, based on the motion data, acquiring real-time jitter of the robot in multiple directions includes:

[0014] The robot's real-time jitter angles in various directions are obtained from multiple sensors.

[0015] The real-time jitter of the robot in each direction is calculated based on the vertical distance in each direction and the corresponding real-time jitter angle.

[0016] In one embodiment, calculating the robot's jitter amplitude in each direction based on the initial jitter and real-time jitter in each direction includes:

[0017] The difference between the initial jitter and the corresponding real-time jitter of the robot in each direction is calculated, and the absolute value of the difference is determined as the jitter amplitude of the robot in each direction.

[0018] In one embodiment, obtaining the final shaking amplitude of the robot based on the shaking amplitude of the robot in various directions includes:

[0019] The final shaking amplitude is obtained by superimposing the shaking amplitude of the robot in each direction.

[0020] Secondly, this application also provides a robot vibration testing system, comprising:

[0021] The first acquisition module is used to acquire motion data of the robot from multiple sensors, and based on the motion data, acquire the initial jitter and real-time jitter of the robot in multiple directions respectively.

[0022] The calculation module is used to calculate the shaking amplitude of the robot in each direction based on the initial shaking amount and the real-time shaking amount in each direction;

[0023] The second acquisition module is used to acquire the final shaking amplitude of the robot based on the shaking amplitude of the robot in each direction.

[0024] In one embodiment, the first acquisition module is further configured to:

[0025] The vertical distance between each of the multiple sensors and the horizontal ground is obtained, and the corresponding initial shaking angle of the robot in each direction is obtained.

[0026] Based on the vertical distance and initial jitter angle in each direction, the initial jitter of the robot in each direction is calculated.

[0027] In one embodiment, the first acquisition module is further configured to:

[0028] The robot's real-time jitter angles in various directions are obtained from multiple sensors.

[0029] The real-time jitter of the robot in each direction is calculated based on the vertical distance in each direction and the corresponding real-time jitter angle.

[0030] Thirdly, this application also provides a computer device, the computer device including a memory and at least one processor, the memory storing a computer program, and the processor executing the computer program to implement the robot shaking test method described in the first aspect.

[0031] Fourthly, this application also provides a computer-readable storage medium storing a computer program that, when executed, implements the robot shaking test method described in the first aspect.

[0032] The embodiments of the present invention have the following beneficial effects:

[0033] The robot vibration testing method provided by this invention can realize robot vibration testing in different scenarios and obtain the vibration amplitude value of the robot in different scenarios in real time, thereby improving the accuracy of robot vibration testing.

[0034] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0035] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1A flowchart of a robot vibration testing method is shown;

[0037] Figure 2 A flowchart of a method for obtaining initial jitter is shown;

[0038] Figure 3 A schematic diagram of the direction of robot shaking is shown;

[0039] Figure 4 A structural diagram of a robot vibration testing system is shown.

[0040] Figure 5 A schematic diagram of the superposition of robot shaking angles is shown;

[0041] Figure 6 Another schematic diagram of the robot's shaking angle superposition result is shown.

[0042] Explanation of key component symbols:

[0043] 400. Robot vibration testing system; 401. First acquisition module; 402. Calculation module; 403. Second acquisition module. Detailed Implementation

[0044] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0045] It should be noted that when an element is said to be "fixed to" another element, it can be directly on the other element or there may be an intervening element. When an element is said to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. Conversely, when an element is said to be "directly on" another element, there is no intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0046] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0047] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0048] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the template description is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0049] Example 1

[0050] See Figure 1 , Figure 1 This embodiment provides a flowchart of a robot vibration testing method, which includes:

[0051] S101. Obtain motion data of the robot from multiple sensors, and based on the motion data, obtain the initial jitter and real-time jitter of the robot in multiple directions respectively.

[0052] To ensure the accuracy of motion data, sensors typically utilize inertial measurement units (IMUs). An IMU is a device that measures an object's three-axis attitude angles (or angular rates) and acceleration. Generally, an IMU contains three single-axis accelerometers and three single-axis gyroscopes. The accelerometers detect the object's acceleration signals along three independent axes of the carrier's coordinate system, while the gyroscopes detect the carrier's angular velocity signals relative to the navigation coordinate system. By measuring the object's angular velocity and acceleration in three-dimensional space, the object's attitude can be calculated. This has significant applications in navigation.

[0053] Before acquiring motion data from the sensors, the sensors need to be positioned. The inertial measurement unit can be placed in the center on a horizontal base, and then the horizontal base is fixed on top of the robot. When placing the horizontal base on top of the robot, the horizontal angle needs to be measured with a level to ensure that the robot is on a horizontal plane. Then, the sensors collect data from the robot and send the data collected by the sensors to electronic devices for calculation and processing. The electronic devices can be computers, and the computers communicate with the sensors.

[0054] The system can use one or more sensors. When there is only one sensor, the vibration of the robot at different positions can be measured by moving the sensor's position. Alternatively, the number of sensors can be increased on a horizontal base to test the vibration in multiple directions.

[0055] See Figure 2 Step S101 further includes:

[0056] S1011. Obtain the vertical distance between each of the multiple sensors and the horizontal ground, and obtain the corresponding initial shaking angle of the robot in each direction.

[0057] Since the robot's movement is arbitrary, and the robot body may shake in multiple directions during the movement, in order to measure the shaking in all directions, firstly, the distance between the sensor and the horizontal ground where the robot is located can be obtained, denoted as L. Then, the shaking arc is collected by the sensor, and the shaking angle value is obtained in real time through the algorithm.

[0058] S1012. Calculate the initial shaking amount of the robot in each direction based on the vertical distance in each direction and the initial shaking angle.

[0059] See Figure 3 , Figure 3 This is a schematic diagram of the robot's shaking direction provided in an embodiment of this application;

[0060] For example, during robot movement, if the initial jitter angle in the left direction is α1 (radians and degrees: 1 degree = π / 180 ≈ 0.01745 radians), the initial jitter amount can be calculated using trigonometric functions.

[0061] Let the initial jitter be Y1. Since α1 can be obtained through sensor acquisition, then:

[0062]

[0063] Y1 = Ltanα1.

[0064] The initial jitter angle can be the jitter angle caused by the road surface or other external factors during the initial movement of the robot.

[0065] In one embodiment, acquiring the real-time jitter of the robot in multiple directions includes:

[0066] The real-time shaking angles of the robot in each direction are obtained respectively.

[0067] The robot's real-time jitter angles in various directions are obtained from multiple sensors.

[0068] The real-time jitter of the robot in each direction is calculated based on the vertical distance in each direction and the corresponding real-time jitter angle.

[0069] For example, during the robot's movement, if the real-time jitter angle in the left direction is θ1, and the real-time jitter amount is Y2, then:

[0070]

[0071] Y2=Ltanθ1.

[0072] The initial real-time jitter angle can be the jitter angle caused by a combination of internal factors such as the robot's design and external factors such as the road surface during the robot's movement. By calculating the robot's initial jitter and real-time jitter separately, data support is provided for the subsequent calculation of the robot's jitter amplitude.

[0073] S102. Calculate the shaking amplitude of the robot in each direction based on the initial shaking amount and the real-time shaking amount in each direction.

[0074] Based on the initial jitter Y1 and the real-time jitter Y2 in the left direction, calculate the difference between Y1 and Y2, and take the absolute value of the difference between Y1 and Y2 as the jitter amplitude of the robot in the left direction.

[0075] That is, the robot's shaking amplitude in the left direction is ΔY+=|Y2-Y1|.

[0076] Similarly, let the initial jitter of the robot in the right direction be Y3, and the real-time jitter of the robot in the right direction be Y4. We can obtain the jitter amplitude of the robot in the right direction ΔY--=|Y4-Y3|.

[0077] Let X1 be the initial jitter of the robot in the forward direction and X2 be the real-time jitter of the robot in the forward direction. We can obtain the jitter amplitude of the robot in the forward direction as: ΔX+=|X2-X1|.

[0078] Let the initial jitter of the robot in the rear direction be X3, and the real-time jitter of the robot in the rear direction be X4. We can obtain the jitter amplitude of the robot in the rear direction as: ΔX - = |X4 - X3|.

[0079] Based on the calculation of the robot's vibration amplitude in each direction during movement, the robot's design or weight is adjusted according to the vibration amplitude in each direction, thereby reducing the robot's vibration during use.

[0080] S103. Obtain the final shaking amplitude of the robot based on the shaking amplitude of the robot in each direction.

[0081] See Figure 5 and Figure 6 , Figure 5 This is a schematic diagram after superimposing the jitter angles in the forward and backward directions. Figure 6 This is a schematic diagram showing the superposition of the robot's shaking angles in the left and right directions.

[0082] The robot's shaking angles in all directions are superimposed and represented on the same coordinate system to obtain the robot's shaking angle values ​​in each direction over time. Then, the final shaking amount of the robot at each time point is calculated based on these shaking angle values. This embodiment displays the calculated shaking angle values ​​of the robot in the forward / backward and left / right directions over time on the same coordinate system, allowing users to clearly understand the robot's shaking situation. Users can choose to superimpose shaking angle values ​​from different directions according to their needs.

[0083] This method can detect whether there is a serious body vibration problem during the robot's operation, obtain the parameters before the product is designed for commercial use, and thus optimize and modify the structural design before the product is commercially available. For example, the product's center of gravity can be lowered, the product's chassis support can be strengthened, the internal structural design of the machine can be improved, and the chassis counterweight can be increased, thereby improving the overall reliability of the product's operation.

[0084] Example 2

[0085] Please refer to Figure 4 This application also provides a robot vibration testing system 400, comprising:

[0086] The first acquisition module 401 is used to acquire motion data of the robot from the sensor, and acquire the initial jitter and real-time jitter of the robot in multiple directions based on the motion data.

[0087] The calculation module 402 is used to calculate the shaking amplitude of the robot in each direction based on the initial shaking amount and the real-time shaking amount in each direction;

[0088] The second acquisition module 403 is used to acquire the final shaking amplitude of the robot based on the shaking amplitude of the robot in various directions.

[0089] In one embodiment, the first acquisition module 401 is further configured to:

[0090] The vertical distance between each sensor and the horizontal ground is obtained, and the initial shaking angle of the robot in each direction is obtained.

[0091] Based on the vertical distance and initial jitter angle in each direction, the initial jitter of the robot in each direction is calculated.

[0092] In one embodiment, the first acquisition module 401 is further configured to:

[0093] The real-time jitter angles of the robot in each direction are obtained respectively;

[0094] The real-time jitter of the robot in each direction is calculated based on the vertical distance in each direction and the corresponding real-time jitter angle.

[0095] The robot vibration testing system 400 provided in this application embodiment can realize all the processes of the robot vibration testing method corresponding to Embodiment 1, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0096] Example 3

[0097] This application also provides a computer device, which may be, but is not limited to, a desktop computer, a laptop, etc. Its form is not limited, mainly depending on whether it needs to support the interface display function of a web browser. Exemplarily, the computer device includes a memory and at least one processor. The memory stores a computer program, and the processor executes the computer program to implement the robot shaking test method of the above embodiments, thereby achieving comprehensive testing of robot shaking and improving test accuracy.

[0098] The processor can be an integrated circuit chip with signal processing capabilities. The processor can be a general-purpose processor, including at least one of a Central Processing Unit (CPU), Graphics Processing Unit (GPU), Network Processor (NP), Digital Signal Processor (DSP), Application-Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor or any conventional processor, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this application.

[0099] The memory can be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), and Electrically Erasable Programmable Read-Only Memory (EEPROM). The memory stores computer programs, and the processor, upon receiving execution instructions, can execute the computer programs accordingly.

[0100] Furthermore, the memory may include a stored program area and a stored data area, wherein the stored program area may store the operating system and application programs required for at least one function; the stored data area may store data created based on the use of the computer device (such as iterative data, version data, etc.). In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0101] Example 4

[0102] This application also provides a computer-readable storage medium storing computer-executable instructions. When these instructions are invoked and executed by a processor, they cause the processor to perform the robot shaking test method described in Embodiment 1 above. That is, when the computer program runs on the processor, it will execute the following steps:

[0103] The robot's motion data is acquired from sensors, and based on the motion data, the initial and real-time jitter of the robot in multiple directions are obtained respectively.

[0104] Based on the initial and real-time jitter values ​​in each direction, the jitter amplitude of the robot in each direction is calculated.

[0105] The final shaking amplitude of the robot is obtained based on the shaking amplitude of the robot in each direction.

[0106] It is understood that the implementation methods of the robot shaking test method in the above embodiments are also applicable to this embodiment, so they will not be described again here.

[0107] The computer-readable storage medium can be either a non-volatile storage medium or a volatile storage medium. For example, the computer-readable storage medium may include, but is not limited to, various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0108] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that, in alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0109] In addition, the functional modules or units in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0110] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a smartphone, personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0111] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

[0112] In all examples shown and described herein, any specific values ​​should be interpreted as merely exemplary and not as limitations; therefore, other examples of exemplary embodiments may have different values.

[0113] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0114] The above-described embodiments are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A method for testing robot vibration, characterized in that, include: The robot acquires motion data from multiple sensors, and based on the motion data, acquires the initial jitter and real-time jitter of the robot in multiple directions, including: acquiring the vertical distance between each of the multiple sensors and the horizontal ground, and acquiring the corresponding initial jitter angle and real-time jitter angle of the robot in each direction; calculating the initial jitter of the robot in each direction based on the vertical distance and the initial jitter angle; and calculating the real-time jitter of the robot in each direction based on the vertical distance and the corresponding real-time jitter angle. Based on the initial jitter and the real-time jitter in each direction, the jitter amplitude of the robot in each direction is calculated respectively. The final shaking amplitude of the robot is obtained based on the shaking amplitude of the robot in each direction.

2. The robot vibration testing method according to claim 1, characterized in that, The step of calculating the robot's jitter amplitude in each direction based on the initial jitter and real-time jitter in each direction includes: The difference between the initial jitter and the corresponding real-time jitter of the robot in each direction is calculated, and the absolute value of the difference is determined as the jitter amplitude of the robot in each direction.

3. The robot vibration testing method according to claim 1, characterized in that, The step of obtaining the final shaking amplitude of the robot based on the shaking amplitude of the robot in various directions includes: The final shaking amplitude is obtained by superimposing the shaking amplitude of the robot in each direction.

4. A robot vibration testing system, characterized in that, include: The first acquisition module is used to acquire motion data of the robot from multiple sensors, and based on the motion data, acquire the initial jitter and real-time jitter of the robot in multiple directions, including: acquiring the vertical distance between each of the multiple sensors and the horizontal ground, and acquiring the corresponding initial jitter angle and real-time jitter angle of the robot in each direction; calculating the initial jitter of the robot in each direction based on the vertical distance and the initial jitter angle; and calculating the real-time jitter of the robot in each direction based on the vertical distance and the corresponding real-time jitter angle. The calculation module is used to calculate the shaking amplitude of the robot in each direction based on the initial shaking amount and the real-time shaking amount in each direction; The second acquisition module is used to acquire the final shaking amplitude of the robot based on the shaking amplitude of the robot in each direction.

5. A computer device, characterized in that, The computer device includes a memory and at least one processor, the memory storing a computer program, and the processor executing the computer program to implement the robot shaking test method as described in any one of claims 1 to 3.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when executed, implements the robot shaking test method as described in any one of claims 1 to 3.

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