A method and system for factory detection of a cleaning robot

Abstract

The application discloses a delivery detection method and system of a cleaning robot, and relates to the technical field of intelligent household appliances. The method comprises the following steps: receiving first detection data of the cleaning robot in a first pose state; controlling the cleaning robot to move according to target actions corresponding to a detection type based on the detection type of the cleaning robot; receiving second detection data of the cleaning robot in a second pose state; and judging whether the work of the cleaning robot is abnormal based on the first detection data, the second detection data and a preset reference value. Therefore, the application has the advantages of reliable and accurate detection, suitability for delivery detection of a large number of products and effective saving of manpower and resources.

Description

Technical Field

[0001] This application relates to the technical field of smart home appliances, and more specifically, to a factory testing method and system for a cleaning robot. Background Technology

[0002] In existing technologies, cleaning robots using laser navigation technology are characterized by high production cycles and high output during the manufacturing process. Therefore, how to effectively and reliably test the functionality of each component of the cleaning robot for a large number of unshipped products is an urgent problem to be solved.

[0003] Current methods for inspecting the performance of cleaning robots suffer from the following problems: First, when detecting whether the lidar is installed at an angle, the method often involves observing the laser line through a camera in a dark room and then calculating the lidar's tilt angle. This method is costly and complex. Second, when testing the reliability of the gyroscope, a high-precision turntable is often required for auxiliary verification, which is also costly. Third, controlling the cleaning robot to directly cross a threshold to detect whether the drop sensor installed on the robot is falsely triggered has the problem of unstable detection. That is, when the cleaning robot stays on the threshold for a short time, the drop sensor may miss the detection because it does not have enough time to detect the fall. Summary of the Invention

[0004] The purpose of this application is to provide a factory inspection method and system for cleaning robots. Based on the principle of lidar ranging, it detects whether there are any installation or malfunctions in the various components installed on the body of the cleaning robot. It also enables mass production factory inspection through simple tooling, and has the advantages of reliability, accuracy, efficiency, and saving manpower and resources.

[0005] The embodiments of this application are implemented as follows:

[0006] The first aspect of this application provides a factory inspection method for a cleaning robot. The method includes: receiving first detection data of the cleaning robot in a first pose state; controlling the cleaning robot to move according to the target action corresponding to the detection type based on the detection type of the cleaning robot; receiving second detection data of the cleaning robot in a second pose state; and determining whether the operation of the cleaning robot is abnormal based on the first detection data, the second detection data, and a preset reference value.

[0007] In one embodiment, based on the detection type of the cleaning robot, controlling the cleaning robot to move according to the target action corresponding to the detection type includes: based on the detection type of the cleaning robot, confirming that the target action of the cleaning robot is to rotate around a fixed axis by a preset angle; and controlling the cleaning robot to rotate around the fixed axis by a preset angle.

[0008] In one embodiment, when the detection type of the cleaning robot is LiDAR, based on the first detection data, the second detection data and the preset reference value, it is determined whether the operation of the cleaning robot is abnormal, including: calculating the difference between the first detection data and the preset reference value to obtain a first distance deviation; calculating the difference between the second detection data and the preset reference value to obtain a second distance deviation; and determining whether the installation of the LiDAR of the cleaning robot is abnormal based on whether the first distance deviation or the second distance deviation exceeds the preset deviation threshold range.

[0009] In one embodiment, determining whether the installation of the lidar on the cleaning robot is abnormal based on whether the first distance deviation or the second distance deviation exceeds a preset deviation threshold range includes: if the first distance deviation exceeds the preset deviation threshold range, determining that the lidar detection device is installed at an angle in the first direction; if the second distance deviation exceeds the preset deviation threshold range, determining that the lidar detection device is installed at an angle in the second direction; if neither the first distance deviation nor the second distance deviation exceeds the preset deviation threshold range, determining that the lidar detection device is installed correctly.

[0010] In one embodiment, when the detection type of the cleaning robot is a gyroscope, the first detection data includes: a first angle calculated by a laser matching algorithm and a second angle detected by the gyroscope; the second detection data includes: a third angle calculated by a laser matching algorithm and a fourth angle detected by the gyroscope; based on the first detection data, the second detection data, and a preset reference value, determining whether the cleaning robot's operation is abnormal includes: calculating the difference between the first angle and the third angle to obtain the first angle change; calculating the difference between the second angle and the fourth angle to obtain the second angle change; calculating the difference between the first angle change and the second angle change to obtain the angle change deviation; and determining whether the gyroscope is installed correctly based on whether the absolute value of the angle change deviation exceeds a preset reference value.

[0011] In one embodiment, when the detection type of the cleaning robot is a drop sensor, the cleaning robot is controlled to move according to the target action corresponding to the detection type based on the detection type, including: based on the detection type of the cleaning robot, confirming that the target action of the cleaning robot is to move a preset distance at a constant speed or variable speed along a fixed direction; and controlling the cleaning robot to move a preset distance at a constant speed or variable speed along a fixed direction to pass through the hollow groove.

[0012] In one embodiment, a preset reference value is used to characterize: the cleaning robot is in a fall state; when a suspension plate is suspended below the hollowed-out groove, based on the first detection data, the second detection data and the preset reference value, it is determined whether the operation of the cleaning robot is abnormal, including: based on whether the first detection data and the second detection data are equal to the preset reference value, it is determined whether the fall sensor of the cleaning robot is malfunctioning.

[0013] In one embodiment, determining whether the drop sensor of the cleaning robot is malfunctioning based on whether the first detection data and the second detection data are equal to a preset reference value includes: if the first detection data or the second detection data is equal to the preset reference value, determining that the drop sensor is malfunctioning.

[0014] The second aspect of this application provides a factory inspection system for a cleaning robot. The system includes at least one inspection fixture, which has a crossbar biased to one side of the inspection fixture and a fixed distance between the bottom of the crossbar and the bottom of the inspection fixture; and / or, a hollowed-out groove and a suspension plate, wherein the suspension plate is detachably suspended from the bottom of the hollowed-out groove; the cleaning robot is movably placed in the inspection fixture, and inspection data in different pose states are acquired during the movement, which is used for the factory inspection method of the cleaning robot in any embodiment of the first aspect of this application.

[0015] In one embodiment, the cleaning robot includes a lidar, a gyroscope, and a drop sensor. When the detection type of the cleaning robot is lidar or gyroscope, the cleaning robot is placed in the detection fixture on the side away from the crossbar, and detection data in different pose states is acquired by rotating in place. When the detection type of the cleaning robot is drop sensor, the cleaning robot passes through the hollowed-out groove to acquire detection data.

[0016] The advantages of this application compared to the prior art are:

[0017] This application addresses the problem in existing technologies that cannot efficiently and reliably inspect key working components of mass-produced products. It utilizes a factory inspection method for cleaning robots to detect installation or operational issues in a large number of cleaning robot components, such as lidar, gyroscopes, and drop sensors. Furthermore, this application achieves multi-functional inspection of cleaning robots through a simple tooling structure, offering advantages such as simplicity, efficiency, reliability, and cost-effectiveness in terms of inspection resources. The inspection method and tooling provided by this application effectively meet the requirements for mass-produced product factory inspection. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this application, 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 this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of a cleaning robot provided in one embodiment of this application;

[0020] Figure 2 A schematic diagram of the factory inspection system for a cleaning robot provided in an embodiment of this application;

[0021] Figure 3 This is a top view of the structure of a testing fixture provided in an embodiment of this application;

[0022] Figure 4 This is a side view of the structure of a testing fixture provided in an embodiment of this application;

[0023] Figure 5 A flowchart illustrating a factory testing method for a cleaning robot provided in an embodiment of this application;

[0024] Figure 6 A schematic diagram of light propagation when a lidar is installed at an angle in the pitch direction, according to an embodiment of this application;

[0025] Figure 7 A schematic diagram of light propagation when a lidar is installed at an angle in the tumbling direction, according to an embodiment of this application;

[0026] Figure 8 A schematic diagram of light propagation when a lidar is installed correctly, according to an embodiment of this application;

[0027] Figure 9 A schematic diagram of light propagation in case of abnormal installation of a lidar according to an embodiment of this application;

[0028] Figure 10 This is a schematic diagram illustrating an application scenario of abnormal lidar installation, provided in one embodiment of this application.

[0029] Figure 11 This is a schematic diagram illustrating an application scenario of a detection gyroscope provided in an embodiment of this application;

[0030] Figure 12 This is a schematic diagram illustrating an application scenario of a cleaning robot traveling on a plane, according to an embodiment of this application.

[0031] Figure 13 This is a schematic diagram illustrating an application scenario of a cleaning robot crossing a threshold, as provided in one embodiment of this application.

[0032] Reference numerals: 1-Cleaning robot; 10-Detection component; 110-LiDAR; 120-Gyroscope; 130-Drop sensor; 11-Processor; 12-Memory; 13-Moving component; 2-Detection fixture; 20-Outer frame; 201-Base plate; 202-Side frame; 21-Crossbar; 22-Hollow groove; 23-Suspension plate; 3-Plane; 30-Threshold; 4-Factory inspection system for cleaning robot. Detailed Implementation

[0033] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0034] Similar reference numerals 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. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0035] The technical solution of this application will now be clearly and completely described with reference to the accompanying drawings.

[0036] Please see Figure 1 , Figure 1 This is a schematic diagram of the structure of a cleaning robot 1 provided in one embodiment of this application. Figure 1 As shown, the cleaning robot 1 involved in this application includes at least: a detection component 10, a processor 11, a memory 12, and a motion component 13. Specifically, the cleaning robot 1 includes at least one processor 11 and a memory 12. Figure 1 Taking a processor 11 as an example. The processor 11 is connected to a memory 12, which stores instructions that can be executed by at least one processor 11. The instructions are executed by at least one processor 11 to cause at least one processor 11 to perform the factory testing method of the cleaning robot 1 as described in the following embodiment.

[0037] The detection component 10 of the cleaning robot 1 includes components such as a lidar 110, a gyroscope 120, and a drop sensor 130 to detect various parameters during the movement of the cleaning robot 1. These components assist the cleaning robot 1 in its linear or rotational movement and prevent it from colliding with walls or falling. Specifically, the lidar 110 detects the distance between the cleaning robot 1 and surrounding obstacles; the gyroscope 120 detects the rotation angle of the cleaning robot 1; and the drop sensor 130 determines whether the cleaning robot 1 is in a falling state.

[0038] In order to accurately perform the above work, the cleaning robot 1 needs to be tested at the factory to check whether the performance or installation of the above-mentioned detection components 10 is abnormal. That is, the processor 11 executes the factory test method of the cleaning robot 1 to check whether the installation or operation of detection components such as lidar 110, gyroscope 120 and drop sensor 130 is abnormal.

[0039] When performing factory testing on the cleaning robot 1, the operator needs to place the cleaning robot 1 in the factory testing system or factory testing fixture 2, control the cleaning robot 1 to start, move or rotate to obtain relevant data from the testing component 10, and verify whether the installation or operation of the testing component 10 on the cleaning robot 1 is abnormal through the auxiliary components on the testing system or testing fixture 2.

[0040] Please see Figure 2 , Figure 2 This is a schematic diagram of the structure of a factory inspection system 4 for a cleaning robot provided in one embodiment of this application. Figure 2 As shown, the factory inspection system 4 for the cleaning robot includes at least one inspection fixture 2. Figure 2 Taking a testing fixture 2 as an example, operators can design a corresponding customized testing fixture 2 based on the different cleaning robots 1 (such as the different size or structure of the cleaning robot 1) to better adapt to the batch testing of the same model of cleaning robot 1 when it leaves the factory.

[0041] Please see Figure 3 , Figure 3 This is a top view of the structure of the testing fixture 2 provided in one embodiment of this application; please refer to... Figure 4 , Figure 4 This is a side view of the structure of the testing fixture 2 provided in an embodiment of this application. Please refer to... Figure 3 and Figure 4 As shown, the cleaning robot 1 is movably placed inside the inspection fixture 2, and the factory inspection method of the cleaning robot 1 is performed based on the data detected during its movement. The outer frame 20 of the inspection fixture 2 is a cuboid structure without a top cover. The outer frame 20 includes side frames 202 and a base plate 201. A crossbar 21 parallel to one of the side frames 202 is provided inside the outer frame 20. The crossbar 21 can be set to be parallel to the side frame 202 in the length direction of the outer frame 20, or it can be set to be parallel to the side frame 202 in the width direction of the outer frame 20.

[0042] In one embodiment, the crossbar 21 is biased toward one side of the detection fixture 2, and there is a fixed distance between the bottom of the crossbar 21 and the base plate of the detection fixture 2 (or the bottom of the detection fixture 2).

[0043] In another embodiment of this application, the outer frame 20 of the detection fixture 2 may also be a cube structure without a top cover.

[0044] The bottom plate 201 of the inspection fixture 2 is also provided with a hollow groove 22 in the center. The bottom of the hollow groove 22 is provided with a detachable hanging plate 23. The hollow groove 22 assists the cleaning robot 1 in detecting whether the drop sensor 130 is malfunctioning by loading and unloading the hanging plate 23.

[0045] The cleaning robot 1 is movably placed within the testing fixture 2, acquiring testing data in different pose states during movement to execute the factory testing method for the cleaning robot 1 described in this application. Specifically, when the testing type of the cleaning robot 1 is a lidar 110 or a gyroscope 120, the cleaning robot 1 is placed on the side of the testing fixture 2 away from the crossbar 21, and testing data in different pose states is acquired by rotating in place; when the testing type of the cleaning robot 1 is a drop sensor 130, the cleaning robot 1 passes through the hollowed-out groove 22 to acquire testing data. Other components within the testing fixture 2, such as the dimensions of the crossbar 21, the hollowed-out groove 22, and the distance between the suspension plate 23 and the hollowed-out groove 22, will be described in conjunction with the testing principle in the various embodiments of the factory testing method for the cleaning robot 1 described below.

[0046] Please see Figure 5 , Figure 5 This is a schematic flowchart illustrating the factory testing method for a cleaning robot 1 provided in one embodiment of this application. Figure 5 As shown, the method includes the following steps:

[0047] S110: Receive the first detection data of the cleaning robot 1 in its first pose state;

[0048] In this step, when the cleaning robot 1 is placed into the testing fixture 2, its pose state at that moment is directly marked as the first pose state, and the first detection data in the first pose state is obtained through the detection component 10. Alternatively, when the cleaning robot 1 is placed into the testing fixture 2, it controls the movement of the motion component 13 to adjust the posture of the cleaning robot 1 to meet the detection conditions based on the pose conditions corresponding to different detection types in the factory testing, and takes the current posture that meets the detection conditions as the first pose state, so that the first detection data in the first pose state can be further obtained through the detection component 10.

[0049] In the embodiments of this application, the first detection data may be a single type of data or multiple types of data corresponding to a specific pose when the cleaning robot 1 is in a stationary state; the first detection data may also be a set of data of the same type or multiple sets of data of different types that meet the same detection conditions when the cleaning robot 1 is in a stable movement.

[0050] S120: Based on the detection type of the cleaning robot 1, control the cleaning robot 1 to move according to the target action corresponding to the detection type;

[0051] In this step, after the cleaning robot 1 obtains the first detection data, it needs to control its own moving parts 13 to perform corresponding actions according to the different detection components in the detection type, so as to obtain data for comparison with the first detection data or another set of data for comprehensive judgment on whether the detection component 10 is abnormal after the movement.

[0052] S130: Receive second detection data from the cleaning robot 1 in its second pose state;

[0053] In this step, after the cleaning robot 1 controls the motion component 13 to move and adjust the posture of the cleaning robot 1 to meet the conditions for the second detection, the cleaning robot 1 takes the current posture that meets the conditions for the second detection as the second pose state, so that the detection component 10 can further obtain the second detection data in the second pose state.

[0054] In the embodiments of this application, the second detection data may be a single type of data or multiple types of data corresponding to a specific pose when the cleaning robot 1 is stationary; the second detection data may also be a set of data of the same type or multiple sets of data of different types that meet the same detection conditions when the cleaning robot 1 is in a stable motion.

[0055] S140: Based on the first detection data, the second detection data, and the preset reference value, determine whether the operation of the cleaning robot 1 is abnormal.

[0056] In this step, after acquiring the first and second detection data, the cleaning robot 1 performs calculations based on the first and second detection data, or directly compares the first or second detection data with a preset reference value, depending on the detection type corresponding to the detection data, to comprehensively determine whether the detection component corresponding to that detection type is abnormal. The preset reference value can be a pre-set standard value representing the normal installation or operation (no abnormality) of the corresponding detection component, or it can be a pre-set threshold value representing the range of standard values ​​for the normal installation or operation (no abnormality) of the corresponding detection component.

[0057] The following embodiments describe the specific details of the factory testing methods performed by the cleaning robot 1 for different types of testing, in order to determine whether there are any abnormalities in the operation or installation of different testing components.

[0058] Please refer to Figure 6 , Figure 6 This is a schematic diagram of the beam propagation of a lidar 110 with an oblique tilt in the pitch direction, provided in one embodiment of this application; please refer to... Figure 7 , Figure 7 This is a schematic diagram of light propagation with an oblique orientation installed in the tumbling direction for a lidar 110 provided in one embodiment of this application. Please refer to... Figure 6 , Figure 7 As shown, during the production process, the inconsistent torque of the screws fixing the lidar 110 can easily lead to an unbalanced installation of the lidar 110. This will cause the laser beam emitted by the lidar 110 to be unbalanced relative to the robot's pitch direction. Figure 6 (shown in the X direction) and the roll direction ( Figure 7 The laser beam is tilted relative to the pitch direction (as shown in the Y direction), and the laser beam is tilted relative to the pitch direction (as shown in the Y direction). Figure 6 (shown in the X direction) and the roll direction ( Figure 7 The tilt angles (as shown in the Y direction) are α and β, which will affect the subsequent mapping of the cleaning robot 1 based on the data detected by the lidar 110.

[0059] Please refer to Figure 8 , Figure 8 A schematic diagram of light propagation after the correct installation of the lidar 110 according to an embodiment of this application; please refer to... Figure 9 , Figure 9 A schematic diagram of light propagation in case of an abnormal installation of the lidar 110 provided in one embodiment of this application; please refer to... Figure 10 , Figure 10 This is a schematic diagram illustrating an application scenario where the lidar 110 is installed abnormally, as provided in one embodiment of this application.

[0060] like Figure 8 As shown, the laser beam emitted by the lidar 110 is relative to the robot's pitch direction. Figure 6 Taking the X-direction tilt as an example, when the lidar 110 is tilted, the maximum allowable upward tilt angle is α1, and the maximum allowable downward tilt angle is α2. The distance from the midpoint of the side of the crossbar 21 connected to the side frame 202 to the cleaning robot 1 is D0. The height of the crossbar 21 is designed to be l, so that during the robot's rotation, the laser points of the lidar 110 within the allowable tilt angle all hit the crossbar 21. When the robot is positioned at the marked origin in the center of the fixture, and the lidar 110 emits laser light towards the corner of the crossbar 21, the allowable range of change of the laser points on the crossbar 21 in the width direction is the largest, which is the maximum width l of the crossbar 21. max The relevant calculation formula is:

[0061] l max = (tanα1 + tanα2) * D0;

[0062] The distance from one side of the crossbar 21 to the inner wall of the side frame 202 is set as d3, and the robot is placed on the other side with a distance of d4 between the robot and the crossbar 21. The height of the crossbar 21 itself is l, and its height above the ground is h. Because the distance between the laser beam emitted by the cleaning robot 1 and the various laser points on the crossbar 21 when rotating in a fixed position is different, the operator can use the maximum width l of the crossbar 21 calculated in the above embodiment when designing and manufacturing the tooling. max The width of the crossbar 21 is set to a uniform width, and consequently, the height h of the crossbar 21 from the ground is also consistent. Operators can also design the crossbar 21 to be wider at both ends and narrower in the middle, based on the distance between the crossbar 21 and the cleaning robot 1 at different positions along its length (assuming the laser beam emitted by the laser radar 110, when installed without tilt, can hit the midpoint of each width direction of the crossbar 21, i.e., different positions along the length of the crossbar 21), the maximum allowable upward tilt angle α1 when the laser radar 110 is tilted, and the maximum allowable downward tilt angle α2. This allows for more accurate and reliable detection results when the laser radar 110 is inspected for installation abnormalities using the inspection fixture 2.

[0063] The detection method of the lidar 110 in this application is as follows: the cleaning robot 1 rotates in place, and the distance from the cleaning robot 1 to the laser point is detected by the lidar 110. The lidar 110 is then used to determine whether it is installed at an angle based on whether the distance changes abruptly or exceeds a preset reference value. Figure 9 As shown, if the lidar 110 is installed abnormally or tilted at too large an angle, the laser beam will be excessively deflected upwards or downwards, and the laser will hit the surface of the side frame 202 behind the crossbar 21. Furthermore, the distance D0′ between the cleaning robot 1 and the laser point 21 detected by the lidar 110 will be greater than the preset threshold (preset reference value). At this time, it can be determined that the lidar 110 is installed abnormally.

[0064] It is important to note that when determining whether the installation is abnormal based on whether the detection distance exceeds the preset reference value, the tooling dimensions and the fixed position of the cleaning robot 1 at the start of the detection need to be preset in advance. This ensures that the furthest distance between the laser beam emitted by the cleaning robot 1's lidar 110 on one side of the crossbar 21 and the laser point on the crossbar 21 is always less than the closest distance between the laser beam emitted by the lidar 110 and the laser point formed on the surface of the side frame 202 on the other side of the crossbar 21. Only when the above conditions are met can the furthest distance be preset as the preset reference value; otherwise, the detection results are prone to errors when detecting whether the lidar 110 is installed abnormally.

[0065] Please combine Figures 6 to 10The specific method for detecting whether the installation of the lidar 110 is abnormal, based on the ranging principle of the testing fixture 2 and the lidar 110, is as follows:

[0066] S210: Receive the first detection data of the cleaning robot 1 in its first pose state.

[0067] In this step, the first pose state refers to the state maintained by the cleaning robot 1 when the first laser beam emitted by the lidar 110 from one side is always directed towards the position of the crossbar 21 during the movement (rotation) process; the first detection data can be multiple sets of distance data detected by the lidar 110 when it emits the first laser beam towards the position of the crossbar 21. The first detection data is used to determine whether the lidar 110 is tilted in the first direction.

[0068] S220: Based on the detection type of cleaning robot 1, confirm that the target action of cleaning robot 1 is to rotate around a fixed axis by a preset angle.

[0069] In this step, when the detection type is LiDAR 110, the cleaning robot 1 needs to control the body to remain in a fixed position and rotate in order to further detect whether the installation of LiDAR 110 in another direction is tilted.

[0070] S230: Controls the cleaning robot 1 to rotate around a fixed axis by a preset angle.

[0071] When the detection type is LiDAR 110, the cleaning robot 1 controls itself to rotate around the axis of the body by a preset angle so that the second laser beam emitted by the LiDAR 110 from the other side is directed toward the position of the crossbar 21.

[0072] S240: Receive the second detection data of the cleaning robot 1 in the second pose state.

[0073] The second pose state refers to the state maintained by the cleaning robot 1 when the second laser beam emitted by the lidar 110 from the other side is always directed towards the position of the crossbar 21 during the movement (rotation) process; the second detection data can be multiple sets of distance data detected when the lidar 110 emits the second laser beam towards the position of the crossbar 21. The second detection data is used to determine whether the installation of the lidar 110 in the second direction is tilted.

[0074] S250: Calculate the difference between the first detection data and the preset reference value to obtain the first distance deviation;

[0075] S260: Calculate the difference between the second detection data and the preset reference value to obtain the second distance deviation.

[0076] In steps S250 and S260, the preset reference value is set as the farthest distance between the laser point formed by the laser light emitted by the lidar 110 hitting the crossbar 21 and the cleaning robot 1. The preset reference value can be calculated based on the following in the above embodiment: the distance D0 from the midpoint of the side of the crossbar 21 connected to the side frame 202 to the cleaning robot 1 (when the lidar 110 is installed without tilt, the laser light emitted can hit the midpoint of each width direction of the crossbar 21 to form a laser point, then the farthest distance between the laser point and the lidar 110 is D0), and the maximum allowable upward tilt angle α1 or the maximum allowable downward tilt angle α2 when the lidar 110 is installed with tilt.

[0077] In other embodiments of this application, step S250 may also be performed immediately after the processor 11 obtains the first detection data, and then the moving part 13 is controlled to rotate to obtain the second detection data.

[0078] S270: Based on whether the first distance deviation or the second distance deviation exceeds the preset deviation threshold range, determine whether there is an abnormality in the installation of the lidar 110 of the cleaning robot 1.

[0079] In this step, to prevent errors in the shape, size, or installation position of the crossbar 21 of the testing fixture 2 from causing inaccurate judgment results, the operator can pre-set a preset deviation threshold range to ensure more accurate and reliable test results. When there is no need to consider errors caused by other factors, the upper or lower limit of the preset deviation threshold range can be set to 0 based on actual needs (when the distance deviation is obtained by subtracting the preset reference value from the first or second detection distance, the upper limit of the preset deviation threshold range can be set to 0; when the distance deviation is obtained by subtracting the first or second detection distance from the preset reference value, the lower limit of the preset deviation threshold range can be set to 0). This step includes at least three judgment scenarios:

[0080] S281: If the first distance deviation exceeds the preset deviation threshold range, determine that the lidar 110 detection device is installed at an angle in the first direction.

[0081] S282: If the second distance deviation exceeds the preset deviation threshold range, determine that the lidar 110 detection device is installed at an angle in the second direction.

[0082] S283: If neither the first distance deviation nor the second distance deviation exceeds the preset deviation threshold range, it is determined that the lidar 110 detection device is installed correctly.

[0083] In the above-mentioned factory inspection method for cleaning robot 1, the first direction can be preset as the pitch direction of cleaning robot 1. Figure 6 The X direction is shown, and the second direction is set as the rolling direction of the cleaning robot 1. Figure 7 (as shown in the Y direction); or, the first direction can be preset as the rolling direction of the cleaning robot 1 (as shown in the Y direction); Figure 7 The second direction is preset to be the pitch direction of the cleaning robot 1 (as shown in the Y direction). Figure 6 (in the X direction shown).

[0084] In another embodiment of this application, the processor 11 can control the lidar 110 to transmit multiple first detection data or multiple second detection data in real time. Based on the timing sequence, the processor 11 continuously calculates the difference between the first detection data in adjacent time periods or the difference between the second detection data in adjacent time periods. When the detection data in adjacent time periods fluctuates significantly (the absolute value of the difference suddenly becomes very large), it is determined that the lidar 110 is abnormally installed in the first or second direction corresponding to the detection data, or that the installation is tilted.

[0085] In the embodiments of this application, a turntable can also be set at the center of the inspection fixture 2 to drive the cleaning robot 1 to rotate, without the need for the cleaning robot 1 to control the rotation of the moving parts 13. However, installing a turntable in the inspection fixture 2 will increase the cost and does not have the advantage of saving manpower and resources compared with the above embodiments, so it is generally not considered as the preferred solution of this application.

[0086] To determine whether the installation or operation of the gyroscope 120 is abnormal, or whether the error in the angle detected by the gyroscope 120 is within the threshold range, it is necessary to detect its rotation angle. The traditional method involves placing the robot on a turntable capable of measuring rotation angles, rotating the turntable, and comparing the difference between the angle calculated by the gyroscope 120 on the robot and the actual angle on the turntable. This method requires an additional turntable, resulting in high costs, and is generally not considered a preferred embodiment in this application.

[0087] This application employs a laser matching algorithm to assist in determining whether the gyroscope 120 is installed or malfunctioning. For details, please refer to the following embodiment:

[0088] Please refer to Figure 11 , Figure 11 This is a schematic diagram illustrating an application scenario of the detection gyroscope 120 provided in one embodiment of this application. For example... Figure 11 As shown, when the cleaning robot 1 is placed into the inspection fixture 2, the data is detected by the lidar 110 and a map of the inspection fixture 2 and the fixture coordinate system are established based on the laser detection principle. When the robot is stationary, the initial angle of the cleaning robot 1 relative to the fixture coordinate system is calculated by the laser matching algorithm.

[0089] When it is necessary to test the gyroscope 120 of the cleaning robot 1, the cleaning robot 1 rotates in place once, and when it is stationary before and after the rotation, the laser matching algorithm is used to calculate the angle change Δθ1, the gyroscope 120 is used to calculate the angle change Δθ2, and the difference between Δθ1 and Δθ2 is used to determine whether the gyroscope 120 is working properly.

[0090] This application achieves the function of determining whether the gyroscope 120 is working properly or installed correctly by comparing the angle of change of the cleaning robot 1's direction obtained by laser matching before and after the cleaning robot 1 rotates in place with the angle of change of the cleaning robot 1's direction obtained by the gyroscope 120. This solves the technical problems of high cost and complex procedures caused by the use of a turntable in traditional solutions. When the detection type is gyroscope 120, the corresponding method flow for the factory inspection of the cleaning robot 1 is as follows:

[0091] S310: Receive the first detection data of the cleaning robot 1 in its first pose state;

[0092] The first detection data refers to the first angle θ1 of the initial orientation of the cleaning robot 1 relative to the tooling coordinate system, calculated by the laser matching algorithm, and the second angle θ2 detected by the gyroscope 120, after the tooling map and tooling coordinate system are established. In this step, the first pose state is the initial state of the cleaning robot 1 when it is stationary, and the first detection data is the data detected by different detection components when the cleaning robot 1 is stationary.

[0093] S320: Based on the detection type of cleaning robot 1, confirm that the target action of cleaning robot 1 is to rotate around a fixed axis by a preset angle;

[0094] In this step, since the detection type of the cleaning robot 1 is gyroscope 120, which is used to detect the angular orientation or rotation angle of the cleaning robot 1, the target action corresponding to the detection type is to rotate in place around the axis of the robot body by a preset angle. In one embodiment of this application, the preset angle is 360 degrees. ° .

[0095] S330: Controls the cleaning robot 1 to rotate around a fixed axis by a preset angle.

[0096] In this step, the processor 11 sends instructions to control the movement of the moving part 13, thereby causing the cleaning robot 1 to rotate 360 ​​degrees in place. ° .

[0097] S340: Receives second detection data from the cleaning robot 1 in its second pose state;

[0098] The second detection data refers to the third angle θ3 of the final orientation of the cleaning robot 1 relative to the tooling coordinate system, calculated by the laser matching algorithm, and the fourth angle θ4 detected by the gyroscope 120, after the cleaning robot 1 has rotated by a preset angle. In this step, the second pose state is the final state of the cleaning robot 1 when it is stationary after rotation, and the second detection data is the data detected by different detection components when the cleaning robot 1 is stationary after rotating by a preset angle.

[0099] S350: Calculate the difference between the first angle θ1 and the third angle θ3 to obtain the change in the first angle Δθ1;

[0100] S360: Calculate the difference between the second angle θ2 and the fourth angle θ4 to obtain the change in the second angle Δθ2;

[0101] In steps S350 and S360 above, the processor 11 calculates the first angle change and the second angle change respectively. The first angle change is obtained by calculating the difference between the initial angle (first angle) and the final angle (third angle) measured by the laser matching algorithm. The second angle change is obtained by calculating the difference between the initial angle (second angle) and the final angle (fourth angle) measured by the gyroscope 120.

[0102] S370: Calculate the difference between the first angle change and the second angle change to obtain the angle change deviation.

[0103] In this step, the first angle change is a comparative value of the second angle change. In essence, the initial and final angle values ​​measured by the laser matching algorithm are used as a standard value after calculating the difference between the two values ​​to help determine whether there is any abnormality in the installation or operation of the gyroscope 120.

[0104] S371: Determine whether the gyroscope 120 is installed correctly based on whether the absolute value of the angle change deviation exceeds the preset reference value.

[0105] The preset reference value is the highest threshold value of the allowable error range of the gyroscope 120 when measuring rotation angle, which is preset by the operator. Step S371 includes the following two cases:

[0106] S381: If the absolute value of the angle change deviation exceeds the preset reference value, it is confirmed that the installation or operation of the gyroscope 120 is abnormal.

[0107] S382: If the absolute value of the angle change deviation does not exceed the preset reference value, confirm that the gyroscope 120 is installed or working properly.

[0108] Please refer to Figure 12 , Figure 12This is a schematic diagram illustrating an application scenario of the cleaning robot 1 provided in an embodiment of this application traveling on a plane 3; please refer to... Figure 13 , Figure 13 This is a schematic diagram illustrating an application scenario of a cleaning robot 1 provided in one embodiment of this application crossing a threshold 30. (See diagram below.) Figure 12 , Figure 13 As shown, when the cleaning robot 1 is running normally on a smooth surface, the distance between the drop sensor 130 and the ground is d1. When the robot reaches the threshold 30, the front of the robot will tilt upwards, causing the distance between the drop sensor 130 and the ground to become d2, where d2 > d1. During this process, if the drop sensor 130 is not calibrated or is calibrated incorrectly, when the cleaning robot 1 is on the threshold 30, the drop sensor 130 may falsely report that there is a cliff ahead due to the increased distance from the ground, causing the cleaning robot 1 to stop moving forward.

[0109] To detect whether the drop sensor 130 will be falsely triggered when the cleaning robot 1 crosses the threshold 30, the traditional method is to directly allow the cleaning robot 1 to cross the threshold 30. This method has the problem of unstable detection. That is, when the robot stays on the threshold 30 for a long time, it can be detected; but when the robot stays on the threshold 30 for a short time, because the drop sensor 130 needs time to detect, it may not be able to detect it in time, and the drop sensor 130 may be mistakenly considered to be working properly, resulting in a missed detection.

[0110] Please combine Figure 5 , Figure 6 As shown, to check for malfunctions in the drop sensor 130, a perforated groove 22 can be pre-set in the fixture, and a suspension plate 23 can be placed below the perforated groove 22. The distance from the drop sensor 130 to the suspension plate 23 when the robot passes through the perforated groove 22 is exactly the same as the distance from the drop sensor 130 to the ground when the robot is on the threshold 30. A reasonable width d6 is set for the perforated groove 22 so that the drop sensor 130 is always triggered when the robot passes through the perforated groove 22, even without the suspension plate 23. When the suspension plate 23 is below the perforated groove 22, if the drop sensor 130 is not triggered when the robot passes through the perforated groove 22, it indicates that the drop sensor 130 is normal; otherwise, it is abnormal. When the suspension plate 23 is not below the perforated groove 22, if the drop sensor 130 is not triggered when the robot passes through the perforated groove 22, it indicates that the drop sensor 130 is abnormal; otherwise, it is normal. This method solves the technical problem of unreliable detection and missed detection caused by the uncontrollable dwell time on the threshold 30 when the robot is directly allowed to pass through the threshold 30 in the traditional solution. It enables the cleaning robot 1 to reliably and stably determine whether the cliff sensor is working properly.

[0111] When pre-designing the dimensions of the hollow groove 22 of the inspection fixture 2, it is necessary to set appropriate length d5 ​​and width d6 of the hollow groove 22 based on motion factors such as the dimensions of the moving parts 13 of the cleaning robot 1, the pre-set maximum forward speed, the detection cycle of the drop sensor 130, and the number of times the hollow groove 22 is inspected. This ensures that the width of the hollow groove 22 allows the cleaning robot 1 to pass through the hollow groove 22 stably without getting stuck, and also ensures that when the cleaning robot 1 passes through the hollow groove 22 at maximum speed, the drop sensor 130 performs a sufficient number of drop inspections above the hollow groove 22.

[0112] When pre-designing the installation distance between the suspension plate 23 and the base plate 201 of the inspection fixture 2, the installation distance needs to be determined based on the maximum distance d2 detected by the drop sensor 130 when the cleaning robot 1 crosses the threshold 30, and the normal distance d1 between the drop sensor 130 and the base plate 201 when the cleaning robot 1 is moving normally on the base plate 201 of the inspection fixture 2.

[0113] The specific procedure for the factory testing of the drop sensor 130 is as follows:

[0114] S410: Receive the first detection data of the cleaning robot 1 in its first pose state;

[0115] In this step, the first posture state refers to the state when the cleaning robot 1 is moving normally on the flat surface 3 of the tooling base plate 201 and the drop sensor 130 is not above the hollow groove 22. The first detection data is the state data generated by the processor 11 based on the distance detected by the drop sensor 130 when the drop sensor 130 is not above the hollow groove 22. The state data is divided into normal state data and abnormal state data.

[0116] If the distance detected by the fall sensor 130 when the cleaning robot 1 crosses the threshold 30 is within the preset safety threshold range, the processor 11 generates normal status data; if the distance detected by the fall sensor 130 exceeds the preset safety threshold range, the processor 11 generates abnormal status data. The upper limit of the safety threshold range is determined based on the maximum distance that the fall sensor 130 can detect when the cleaning robot 1 crosses the threshold 30, and the lower limit can be set to 0, or it can be designed separately based on the normal distance between the fall sensor 130 and the base plate 201 when the cleaning robot 1 is moving normally.

[0117] S420: Based on the detection type of cleaning robot 1, confirm that the target action of cleaning robot 1 is to move a preset distance at a constant or variable speed along a fixed direction.

[0118] In this step, the fixed direction refers to the direction in which the sensor 130 moves toward the hollowed-out groove 22 and eventually falls, allowing it to pass completely through the hollowed-out groove 22.

[0119] S430: Controls the cleaning robot 1 to move a preset distance along a fixed direction at a constant or variable speed to pass through the hollowed-out groove 22.

[0120] When the detection type is drop sensor 130, processor 11 controls moving part 13 to move a preset distance towards the hollow groove 22. The preset distance needs to ensure that the cleaning robot 1 and the drop sensor 130 installed on the body completely pass through the hollow groove 22. Since the width of the hollow groove 22 is determined based on the maximum traveling speed of the cleaning robot 1, the drop sensor 130 can be detected a sufficient number of times when the cleaning robot 1 passes through the hollow groove 22 at a constant speed or a variable speed.

[0121] S440: Receives second detection data from the cleaning robot 1 in its second pose state;

[0122] The second pose state refers to the state of the cleaning robot 1 when it is moving in a straight line and the drop sensor 130 is above the hollow groove 22. The second detection data refers to the state data generated by the processor 11 based on the distance data detected by the drop sensor 130 when the drop sensor 130 is above the hollow groove 22. For details, please refer to step S410.

[0123] S450: Based on the first detection data, the second detection data, and the preset reference value, determine whether the drop sensor 130 of the cleaning robot 1 is malfunctioning.

[0124] In this step, the processor 11 determines whether the drop sensor 130 of the cleaning robot 1 is malfunctioning based on whether the first detection data and the second detection data are equal to the preset reference value.

[0125] When a suspension plate 23 is suspended below the hollowed-out groove 22 based on the installation distance, the preset reference value is the abnormal state data generated by the processor 11 when the cleaning robot 1 is in a falling state. At this time, this step includes the following situations:

[0126] Under the premise that the upper limit of the safety threshold range is determined based on the maximum distance that the drop sensor 130 can detect when the cleaning robot 1 crosses the threshold 30, if the first detection data or the second detection data is equal to the preset reference value, it is determined that the drop sensor 130 is malfunctioning; if neither the first detection data nor the second detection data is equal to the preset reference value, it is determined that the drop sensor 130 is working normally. That is, in the presence of the suspension plate 23, the processor 11 should generate normal status data regardless of whether the drop sensor 130 passes through the hollow groove 22; if the drop sensor 130 malfunctions and the detected distance data is distorted, the processor 11 may generate abnormal status data based on the distorted distance data, which will cause the generated status data to be incorrect and the cleaning robot 1 to issue a fall alarm.

[0127] When no suspension plate 23 is provided below the hollowed-out groove 22, the preset reference value is the abnormal status data generated by the processor 11 when the cleaning robot 1 is in a falling state. At this time, this step includes the following situations:

[0128] Under the premise that the upper limit of the safety threshold range is determined based on the maximum distance that the drop sensor 130 can detect when the cleaning robot 1 crosses the threshold 30, if the first detection data is equal to the preset reference value, or the second detection data is not equal to the preset reference value, it is determined that the drop sensor 130 is malfunctioning; if the first detection data is not equal to the preset reference value, and the second detection data is equal to the preset reference value, it is determined that the drop sensor 130 is working normally. That is, in the absence of the suspension plate 23, when the drop sensor 130 passes through the hollow groove 22, the processor 11 should generate abnormal status data; if the drop sensor 130 malfunctions and the detected distance data is distorted, the processor 11 may generate incorrect status data based on the distorted distance data, which may cause the cleaning robot 1 to not alarm when passing through the hollow groove 22, or to issue a fall alarm when moving normally.

[0129] In one embodiment, the status data is represented in binary, and normal status data can be set to 1 and abnormal status data to 0; or normal status data can be set to 0 and abnormal status data to 1.

[0130] In other embodiments of this application, the preset reference value can also be used to characterize the normal state data generated by the processor 11 when the cleaning robot 1 is in a normal walking state (including normal crossing of the threshold 30). However, the specific basis for determining whether the drop sensor 130 is working properly based on the first detection data, the second detection data and the preset reference value should be designed separately based on the actual situation of whether the hanging plate 23 is installed below the hollow groove 22.

[0131] This application utilizes a factory inspection method for cleaning robots 1 to inspect the working components of cleaning robots 1 in large quantities upon delivery, checking for installation or operational problems. Furthermore, this application achieves multi-functional inspection of cleaning robots 1 through a simple tooling structure, offering advantages such as simplicity, efficiency, reliability, and cost-effectiveness in terms of inspection and manpower. The inspection method and tooling 2 provided by this application effectively meet the requirements for factory inspection of large-volume products.

[0132] This application provides a computer-readable storage medium storing a computer program. The computer program can be executed by a processor 11 to complete the factory testing method for the cleaning robot 1.

[0133] If a function is implemented as a software module and sold or used as an independent product, it 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 part 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 personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0134] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A factory inspection method for a cleaning robot, characterized in that, The cleaning robot is movably placed inside a testing fixture, which has a crossbar positioned biased to one side of the fixture, with a fixed distance between the bottom of the crossbar and the bottom of the fixture. The testing fixture also has a perforated groove and a detachable suspension plate suspended from the bottom of the groove. The cleaning robot includes a lidar, a gyroscope, and a drop sensor. The method includes: Receive the first detection data of the cleaning robot in its first pose state; Based on the detection type of the cleaning robot, control the cleaning robot to move according to the target action corresponding to the detection type; Receive second detection data from the cleaning robot in its second pose state; Based on the first detection data, the second detection data, and the preset reference value, it is determined whether the cleaning robot is malfunctioning. The method further includes: If the suspension plate exists below the hollowed-out groove, when the cleaning robot passes through the hollowed-out groove, if the drop sensor is not triggered, it indicates that the drop sensor is normal; if the drop sensor is triggered, it indicates that the drop sensor is abnormal; or... If the suspension plate is not located below the hollowed-out groove, and the drop sensor is not triggered when the cleaning robot passes through the hollowed-out groove, it indicates that the drop sensor is abnormal; if the drop sensor is triggered, it indicates that the drop sensor is normal.

2. The method according to claim 1, characterized in that, The step of controlling the cleaning robot to move according to the target action corresponding to the detection type based on the detection type includes: Based on the detection type of the cleaning robot, it is confirmed that the target action of the cleaning robot is to rotate around a fixed axis by a preset angle; Control the cleaning robot to rotate around the fixed axis by the preset angle.

3. The method according to claim 2, characterized in that, When the detection type of the cleaning robot is LiDAR, the step of determining whether the cleaning robot's operation is abnormal based on the first detection data, the second detection data, and a preset reference value includes: The difference between the first detection data and the preset reference value is calculated to obtain the first distance deviation; The difference between the second detection data and the preset reference value is calculated to obtain the second distance deviation; Based on whether the first distance deviation or the second distance deviation exceeds a preset deviation threshold range, it is determined whether there is an abnormality in the installation of the lidar of the cleaning robot.

4. The method according to claim 3, characterized in that, The step of determining whether the installation of the lidar of the cleaning robot is abnormal based on whether the first distance deviation or the second distance deviation exceeds a preset deviation threshold range includes: If the first distance deviation exceeds the preset deviation threshold range, it is determined that the lidar detection device is installed at an angle in the first direction. If the second distance deviation exceeds the preset deviation threshold range, it is determined that the lidar detection device is installed at an angle in the second direction. If neither the first distance deviation nor the second distance deviation exceeds the preset deviation threshold range, it is determined that the lidar detection device is installed correctly.

5. The method according to claim 2, characterized in that, When the detection type of the cleaning robot is a gyroscope, the first detection data includes: a first angle calculated by a laser matching algorithm and a second angle detected by the gyroscope; the second detection data includes: a third angle calculated by a laser matching algorithm and a fourth angle detected by the gyroscope. The step of determining whether the cleaning robot's operation is abnormal based on the first detection data, the second detection data, and a preset reference value includes: Calculate the difference between the first angle and the third angle to obtain the change in the first angle; Calculate the difference between the second angle and the fourth angle to obtain the change in the second angle; Calculate the difference between the first angle change and the second angle change to obtain the angle change deviation; The gyroscope is judged to be installed correctly based on whether the absolute value of the deviation of the angle change exceeds a preset reference value.

6. The method according to claim 1, characterized in that, When the detection type of the cleaning robot is the drop sensor, controlling the cleaning robot to move according to the target action corresponding to the detection type includes: Based on the detection type of the cleaning robot, it is confirmed that the target action of the cleaning robot is to move a preset distance at a constant or variable speed along a fixed direction. The cleaning robot is controlled to move a preset distance at a constant or variable speed along a fixed direction to pass through the hollowed-out groove.

7. A factory inspection system for a cleaning robot, characterized in that, Includes at least one testing fixture, wherein the testing fixture is provided with: A crossbar is positioned biased towards one side of the testing fixture, and there is a fixed distance between the bottom of the crossbar and the bottom of the testing fixture; A hollowed-out groove and a hanging plate, wherein the hanging plate is detachably suspended from the bottom of the hollowed-out groove; The cleaning robot is movably placed inside the testing fixture, and during the movement, it acquires testing data in different pose states, which is used for the factory testing method of the cleaning robot according to any one of claims 1-6.

8. The factory inspection system for the cleaning robot according to claim 7, characterized in that, The cleaning robot includes a lidar, a gyroscope, and a drop sensor; When the detection type of the cleaning robot is lidar or gyroscope, the cleaning robot is placed in the detection fixture on the side away from the crossbar, and detection data in different pose states is obtained by rotating in place. When the detection type of the cleaning robot is a drop sensor, the cleaning robot passes through the hollowed-out groove to obtain the detection data.

Images