Robot door knocking test method and test system and storage medium

Abstract

The invention relates to a robot door knocking test method and system and a storage medium, the method is applied to a test device, the test device comprises a door assembly, a detection assembly and a parameter adjustment assembly, the door assembly comprises a door plate and a door frame, the detection assembly is arranged on the door plate, and the parameter adjustment assembly is connected with the door plate and the door frame; the method comprises the steps that a robot is controlled to reach a preset test position on one side of a door plate, after the door plate is recognized, door knocking test parameters are received, and the door knocking test parameters comprise a target angle and / or a target depth; according to the door knocking test parameters, the opening and closing angle and / or depth of the door plate relative to the door frame are / is adjusted through a parameter adjusting assembly; and the robot is controlled to execute a knocking test on the door plate, and whether the robot knocks the door successfully is determined through the detection assembly. According to the method, the robot door knocking test is automatically implemented by using the test device, the method is suitable for various different door knocking test conditions, the influence of environment change on the door knocking test is reduced, and the accuracy of a door knocking test result is improved.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a robot door knocking test method, a test system and a storage medium. Background Art

[0002] A delivery robot equipped with a robotic arm is a product that combines automation, robotics and logistics. It is typically used to perform delivery tasks in warehouses, hospitals, hotels and other environments to improve efficiency and reduce labor costs.

[0003] In the hotel scenario, some current solutions are that after the robot delivers the items to the room, it uses a mechanical arm to simulate manual knocking to notify the customer to pick up the items. At present, for the knocking test of the mechanical arm, a delivery task is usually issued to the robot, the robot drives to the target point, the mechanical arm is started to knock on the door, and the situation of the mechanical arm knocking on the door is observed manually. However, this method is only applicable to knocking tests with fewer knocks. When the robot needs to perform a knocking aging test with a large number of knocks, this method is not applicable. In addition, due to changes in the environment (for example, the depth of the door frame, etc.), the knocking actions performed by the robot are also different, which may reduce the accuracy of the knocking test results. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides a robot knocking test method, a test system and a storage medium, aiming to solve the technical problems in the prior art that the applicable knocking test scenarios are limited and the accuracy of the knocking test results is reduced.

[0005] To solve the above technical problems, the embodiments of the present invention provide the following technical solutions:

[0006] In a first aspect, an embodiment of the present invention provides a robot knocking test method, which is applied to a test device, wherein the test device includes a door component, a detection component, and a parameter adjustment component, wherein the door component includes a door panel and a door frame, the detection component is disposed on the door panel, and the parameter adjustment component is connected to the door panel and the door frame respectively;

[0007] The method comprises:

[0008] Controlling the robot to reach a preset test position on one side of the door panel, and determining whether the robot recognizes the door panel;

[0009] After the robot identifies the door panel, receiving knock test parameters, wherein the knock test parameters include a target angle and / or a target depth;

[0010] If the knock test parameter includes a target angle, the opening and closing angle of the door panel relative to the door frame is adjusted to the target angle by the parameter adjustment component, and if the knock test parameter includes a target depth, the depth of the door panel relative to the door frame is adjusted to the target depth by the parameter adjustment component;

[0011] The robot is controlled to perform a knocking test on the door panel, and the detection component is used to determine whether the robot has successfully knocked on the door.

[0012] In some embodiments, the knock test parameter includes a knock time threshold, and determining whether the robot successfully knocks on the door through the detection component includes:

[0013] If the detection component detects the knocking signal of the robot within the knocking time threshold, it is determined that the robot knocks successfully;

[0014] If the detection component fails to detect the robot's knocking signal within the knocking time threshold, it is determined that the robot has failed to knock on the door.

[0015] In some embodiments, the method further comprises:

[0016] If a test end instruction is received, the robot is controlled to stop performing the knocking test on the door panel, and the opening and closing angle of the door panel relative to the door frame is adjusted to the initial opening angle through the parameter adjustment component, and the depth of the door panel relative to the door frame is adjusted to the initial depth.

[0017] In some embodiments, the knock test parameter further includes a target number of knocks, and the method further includes:

[0018] Counting the number of knocks by the robot within the first time period, wherein the number of knocks increases each time the robot successfully knocks on the door;

[0019] Based on the number of knocking times and the target number of knocking times, a test result of the knocking test is obtained, and the test result includes a knocking success rate and / or a knocking failure rate.

[0020] In some embodiments, after receiving the knock test parameter, the method further includes:

[0021] parsing the knock test parameters to obtain the target angle and / or the target depth;

[0022] If the target angle is greater than a preset angle threshold, the opening and closing angle of the door panel relative to the door frame is not adjusted;

[0023] and / or,

[0024] If the target depth is less than a preset depth threshold, the depth of the door panel relative to the door frame is not adjusted.

[0025] In some embodiments, controlling the robot to reach a preset test position on one side of the door panel and determining whether the robot recognizes the door panel comprises:

[0026] Sending a test instruction to the robot so that the robot reaches a preset test position specified by the test instruction, and the robot detects whether the door panel is recognized at the preset test position, wherein when the robot determines that the door panel is recognized, a first instruction is issued indicating that the door panel has been successfully recognized, and when the robot fails to recognize the door panel, a second instruction is issued indicating that the door panel has not been successfully recognized;

[0027] If the first instruction is received, determining that the robot recognizes the door panel;

[0028] If the second instruction is received, it is determined that the robot fails to recognize the door panel.

[0029] In some embodiments, the method further comprises:

[0030] If it is determined that the robot has not recognized the door panel, adjusting the opening and closing angle of the door panel relative to the door frame to zero degrees through the parameter adjustment component;

[0031] After adjusting the opening and closing angle of the door panel relative to the door frame to zero degrees, the parameter adjustment component increases the depth of the door panel relative to the door frame according to the preset depth step, and controls the robot to detect in real time whether the door panel is recognized until a first instruction is received from the robot indicating that the door panel has been successfully recognized, or the depth of the door panel relative to the door frame reaches a preset maximum value.

[0032] In some embodiments, the method further comprises:

[0033] During the process of the parameter adjustment component adjusting the depth of the door panel relative to the door frame, upon receiving the first instruction issued by the robot indicating that the door panel has been successfully identified, the depth of the door panel relative to the door frame is used as a preset depth threshold.

[0034] In a second aspect, an embodiment of the present invention provides a test system, including:

[0035] A testing device, used to perform any one of the robot knocking test methods proposed in the first aspect;

[0036] A robot is communicatively connected to the testing device, and is used to perform a knock test on the door panel according to a control instruction sent by the testing device.

[0037] In a third aspect, an embodiment of the present invention provides a computer-readable storage medium, on which computer program instructions executable by a processor are stored, and when the computer program instructions are called by the processor, the processor executes any one of the robot knocking test methods proposed in the first aspect, or executes the steps in any one of the implementations of any one of the robot knocking test methods proposed in the first aspect.

[0038] Beneficial effects of the embodiments of the present invention: Different from the prior art, the robot knocking test method provided by the embodiments of the present invention is applied to a testing device, the testing device includes a door assembly, a detection assembly and a parameter adjustment assembly, the door assembly includes a door panel and a door frame, the detection assembly is arranged on the door panel, and the parameter adjustment assembly is respectively connected to the door panel and the door frame; the method includes: controlling the robot to reach a preset test position on one side of the door panel, and determining whether the robot recognizes the door panel; after the robot recognizes the door panel, receiving knocking test parameters, the knocking test parameters include a target angle and / or a target depth; if the knocking test parameters include a target angle, adjusting the opening and closing angle of the door panel relative to the door frame to the target angle through the parameter adjustment assembly, and if the knocking test parameters include a target depth, adjusting the depth of the door panel relative to the door frame to the target depth through the parameter adjustment assembly; controlling the robot to perform a knocking test on the door panel, and determining whether the robot knocks successfully through the detection assembly.

[0039] In the present invention, the robot knock test is automatically implemented by utilizing a testing device, which is applicable to a variety of different knock test situations, reduces the impact of environmental changes on the knock test, and improves the accuracy of the knock test results. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art description. Obviously, the drawings described below only illustrate certain embodiments of the present invention and should not be regarded as limiting the scope of protection. For those of ordinary skill in the art, other related drawings can also be obtained based on these drawings without creative work.

[0041] Figure 1 is a schematic diagram of an application scenario of a robot knocking test in some embodiments of the present invention;

[0042] Figure 2 is a schematic diagram of the structure of a test system provided by some embodiments of the present invention;

[0043] Figure 3 is a schematic diagram of the structure of a controller in a test device provided in some embodiments of the present invention;

[0044] Figure 4is a flowchart of a robot knocking test method provided by some embodiments of the present invention;

[0045] Figure 5 yes Figure 4 A detailed flow chart of step S100 in the robot knocking test method shown in the embodiment;

[0046] Figure 6 yes Figure 4 A detailed flowchart of step S400 in the robot knocking test method shown in the embodiment. DETAILED DESCRIPTION

[0047] In order to make the purpose and advantages of the embodiments of the present invention easier to understand, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The detailed description of the embodiments of the present invention in the drawings below does not limit the scope of protection claimed by the present invention, but only represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0048] It should be noted that, if no conflict is constituted, the various technical features involved in the embodiments of the present invention described below can be combined with each other, and are all within the scope of protection of the present invention. In addition, although the functional modules are divided in the device or structural schematic diagram, and the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in a different order than the module division in the device, or in a different order than in the flow chart. In addition, the "first", "second", "third" and other similar expressions used herein do not limit the data and execution order, but are only for the purpose of convenience of explanation and to distinguish between the same or similar items with basically the same functions and effects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features.

[0049] Unless otherwise defined, the technical terms and scientific terms used in this specification have the same meanings as those generally understood by those of ordinary skill in the art of the present invention. The terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. It should be understood that the term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0050] See also Figure 1 , Figure 1 The following is a schematic diagram showing an application scenario of a robot knocking test in some embodiments of the present invention.

[0051] like Figure 1 As shown, the application scenario includes a robot 100 and a test device 200, and the robot 100 and the test device 200 are in communication connection. The robot 100 includes a knocking component 150, and the robot 100 performs a knocking action through the knocking component 150 to complete the knocking test task. The test device 200 includes a door component 210, a detection component 220, and a parameter adjustment component 230, and the door component 210 includes a door panel 211 and a door frame 212.

[0052] The detection component 220 is disposed on the door panel 211 and is used to detect whether the robot 100 successfully knocks on the door. The parameter adjustment component 230 is connected to the door panel 211 and the door frame 212 respectively and is used to adjust the opening and closing angle and depth of the door panel 211 relative to the door frame 212.

[0053] It should be understood that due to the limitations of the door panel recognition algorithm and the sensor, the depth of the door panel 211 relative to the door frame 212 affects the accuracy of the robot 100 in recognizing the door panel 211. When the depth of the door panel 211 relative to the door frame 212 is less than a preset threshold, the robot 100 cannot recognize the door panel 211, resulting in the inability to perform the subsequent knocking action.

[0054] It is understandable that in order to ensure the accuracy of the knock test result, from the business logic of the robot 100, when the door panel 211 is in the open state, the subsequent knock action is not performed, that is, the subsequent knock test process is not performed. In some embodiments, the door panel 211 can be opened and closed according to the opening and closing angle of the door panel 211 relative to the door frame 212 (i.e. Figure 1 The angle θ) shown in FIG. 1 is used to determine whether the door panel 211 is in an open state.

[0055] In some embodiments, during the door knocking test, after the testing device 200 controls the robot 100 to drive to the vicinity of the location of the testing device 200, the robot 100 uses various sensors ( Figure 1 The robot 100 detects and identifies the door panel 211 (not shown). After identifying the door panel 211, the testing device 200 is notified that the door panel 211 is successfully identified. After the testing device 200 determines that the robot 100 successfully identifies the door panel 211, it receives the knock test parameters, and adjusts the opening and closing angle and / or depth of the door panel 211 relative to the door frame 212 using the parameter adjustment component 230 according to the received knock test parameters.

[0056] After adjusting the opening and closing angle of the door panel 211 relative to the door frame 212 to be the same as the target angle in the knock test parameters, and / or adjusting the depth of the door panel 211 relative to the door frame 212 to be the same as the target depth in the knock test parameters, the robot 100 is controlled to perform a knocking action on the door panel 211, that is, a knocking test is performed on the door panel 211, and the detection component 220 arranged on the door panel 211 is used to detect and determine whether the robot 100 has knocked successfully.

[0057] It is easy to understand that the knock component 150 can be a robotic arm, a robotic hand or other suitable devices, equipment or devices, etc., and the knock component 150 can be made of any suitable material, including but not limited to metal, rubber, etc.

[0058] In some embodiments, the detection component 220 can be a sensor (such as an accelerometer, a microphone or a pressure sensor, etc.), a button device or other suitable device, equipment or device that can be used to sense the knocking action signal of the robot 100.

[0059] In some embodiments, the parameter adjustment component 230 includes a telescopic device and a stepper motor, and the depth of the door panel 211 relative to the door frame 212 is adjusted by the telescopic device (for example, a guide rail, a screw mechanism, etc.), and the opening and closing angle of the door panel 211 relative to the door frame 212 is adjusted by the stepper motor. It can be understood that the parameter adjustment component 230 can also include any other suitable device, equipment or device, and the parameter adjustment component 230 can also be a suitable device, equipment or device capable of adjusting the opening and closing angle and depth of the door panel 211 relative to the door frame 212.

[0060] It is worth mentioning that Figure 1 The application scenario shown is only a schematic illustration of a situation in which the robot 100 and the testing device 200 perform a door knocking test, and does not impose any limitation on the structure, type, quantity, etc. of the robot 100 and the testing component 200 in other application scenarios. For example, in some other application scenarios, the testing device may also include Figure 1 The test apparatus 200 shown may have more or fewer components, or may have the same Figure 1 The test apparatus 200 is shown in different configurations.

[0061] In order to facilitate understanding of the robot knocking test method provided by the embodiment of the present invention, the test system provided by the embodiment of the present invention is first introduced in detail.

[0062] See also Figure 2 , Figure 2 The structural diagram of the test system 1000 provided in some embodiments of the present invention is schematically shown.

[0063] like Figure 2As shown, the test system 1000 includes: a robot 100 and a test device 200, and the robot 100 and the test device 200 are in communication connection. The robot 100 includes: a knocking component 150, and the robot 100 performs a knocking action through the knocking component 150 to complete the knocking test task. The test device 200 includes a door component 210, a detection component 220, and a parameter adjustment component 230, and the door component 210 includes a door panel 211 and a door frame 212.

[0064] The detection component 220 is disposed on the door panel 211 and is used to detect whether the robot 100 successfully knocks on the door. The parameter adjustment component 230 is connected to the door panel 211 and the door frame 212 respectively and is used to adjust the opening and closing angle and depth of the door panel 211 relative to the door frame 212.

[0065] In some embodiments, the testing device 200 further includes: a controller 240 , which is respectively in communication with the detection component 220 and the parameter adjustment component 230 , and is used for coordinating and controlling the detection component 220 and the parameter adjustment component 230 .

[0066] See also Figure 3 , Figure 3 The structure diagram of the controller 240 in the testing device 200 provided in some embodiments of the present invention is schematically shown.

[0067] For example, Figure 3 As shown, the controller 240 includes at least one processor 241 and a memory 242 that are communicatively connected. Figure 3 In the example, the bus system connection and a processor are used. The various components in the controller 240 are coupled together through the bus system 243, and the bus system 243 is used to realize the connection and communication between these components. It is easy to understand that the bus system 243 includes not only a data bus, but also a power bus, a control bus, and a status signal bus. However, for the sake of clarity and brevity, Figure 3 In the figure, various buses are labeled as bus system 243. It can be understood that Figure 3 The structure shown in the embodiment is only for illustration and does not impose any limitation on the structure of the controller 240. For example, the controller 240 may also include Figure 3 More or fewer components as shown, or with Figure 3 Different configurations are shown.

[0068] Specifically, the processor 241 is used to provide computing and control capabilities to control the controller 240 to perform corresponding tasks. For example, the above-mentioned test device 200 is controlled to perform any one of the robot knocking test methods provided in the embodiments of the present invention, or to perform any one of the steps in any possible implementation of any one of the robot knocking test methods provided in the embodiments of the present invention. It can be understood that the processor 241 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0069] The memory 242, as a non-transient computer-readable storage medium, can be used to store non-transient software programs, non-transient computer executable programs, instructions and modules, for example, programs, instructions and modules corresponding to the robot knocking test method provided in the embodiment of the present invention. In some embodiments, the memory 242 may include a storage program area and a storage data area, and the storage program area may store an operating system, an application required for at least one function; the storage data area may store data created according to the use of the processor 241, etc. The processor 241 executes various functional applications and data processing of the controller 240 by running the non-transient software programs, instructions and modules stored in the memory 242, so as to implement any robot knocking test method provided in the embodiment of the present invention, or execute any possible implementation of any robot knocking test method provided in the embodiment of the present invention. Among them, the memory 242 may include a high-speed random access memory, and may also include a non-transient memory. For example, at least one disk storage device, a flash memory device or other non-transient solid-state storage device. In some embodiments, the memory 242 may also include a memory remotely arranged relative to the processor 241, and these remote memories may be connected to the processor 241 through a communication network. It is understandable that examples of the above-mentioned communication network include but are not limited to the Internet, corporate intranet, local area network, mobile communication network and combinations thereof.

[0070] It is easy to understand that the implementation and execution subject of any robot knocking test method provided by the embodiments of the present invention can be any suitable type of test device with certain computing and control capabilities. In some possible implementations, any robot knocking test method provided by the embodiments of the present invention can be implemented by a processor calling computer program instructions stored in a memory.

[0071] It can be understood from the above that the robot knocking test method provided by the embodiment of the present invention can be implemented by various suitable types of test devices with certain computing and control capabilities, for example, it can be implemented by the above-mentioned test device 200. The robot knocking test method provided by the embodiment of the present invention will be described in detail below in conjunction with the exemplary application and implementation of the test device provided by the embodiment of the present invention.

[0072] See also Figure 4 , Figure 4 A schematic flow chart of a robot knocking test method provided by some embodiments of the present invention is shown.

[0073] Those skilled in the art will appreciate that the robot knocking test method provided in the embodiment of the present invention can be applied to the above-mentioned test device (eg, the test device 200). Specifically, the execution subject of the robot knocking test method is one or at least two processors of the test device.

[0074] like Figure 4 As shown, the robot knocking test method includes but is not limited to the following steps S100-S400:

[0075] S100: Control the robot to reach a preset test position on one side of the door panel, and determine whether the robot recognizes the door panel.

[0076] The preset test position is the position where the robot performs the knock test, and the preset test position is located on one side of the door panel of the test device. When the robot is located at the preset test position, the relevant knock test is performed. It is easy to understand that the preset test position can be set according to actual test needs, and the embodiment of the present invention does not impose any limitation on this.

[0077] Specifically, the test device establishes a communication connection with the robot, sends a preset test position to the robot, and dispatches the robot to the preset test position. The robot uses a path planning algorithm (such as A*, Dijkstra algorithm) to plan a driving path. The test device sends the preset test position to the robot through a suitable communication method (such as WiFi, Bluetooth, etc.), and the robot moves along the driving path to reach the preset test position, thereby controlling the robot to reach the preset test position on one side of the door panel.

[0078] The robot then detects and identifies the door panel of the test device through various sensors (e.g., cameras, cameras, or laser radars, etc.) equipped on itself to obtain the door panel recognition result. The robot sends the door panel recognition result to the test device through a suitable communication method (e.g., WiFi, Bluetooth, etc.), and the test device can determine whether the robot recognizes the door panel based on the door panel recognition result.

[0079] In some embodiments, the door panel recognition result can be represented in the form of a status code. For example, when the status code is 1, it indicates that the door panel recognition result is that the robot recognizes the door panel. When the status code is 0, it indicates that the door panel recognition result is that the robot does not recognize the door panel. When the testing device receives the status code 1 sent by the robot, it is determined that the robot recognizes the door panel; when the testing device receives the status code 0 sent by the robot, it is determined that the robot does not recognize the door panel.

[0080] It should be understood that there may be other suitable ways to represent the door panel recognition results, or it may be possible to send instructions representing different door panel recognition results so that the testing device can determine whether the robot successfully recognizes the door panel based on the door panel recognition results or instructions. Technical personnel in this field can choose any suitable method according to actual needs, and the embodiments of the present invention do not impose any limitations on this.

[0081] In some embodiments, after the robot is controlled to reach a preset test position on one side of the door panel, the testing device sends a test instruction to the robot. The testing device receives the instruction sent by the robot representing the door panel recognition result, and determines whether the robot recognizes the door panel according to the instruction.

[0082] See also Figure 5 , Figure 5 A sub-flow diagram of step S100 in the robot knocking test method provided by some embodiments of the present invention is shown.

[0083] like Figure 5 As shown, in some embodiments, the robot is controlled to reach a preset test position on one side of the door panel, and it is determined whether the robot recognizes the door panel, specifically including but not limited to the following steps S110-S130:

[0084] S110: Send a test instruction to the robot to make the robot reach a preset test position specified by the test instruction. The robot detects at the test position whether a door panel has been recognized. When the robot determines that the door panel has been recognized, a first instruction indicating that the door panel has been successfully recognized is issued. When the robot fails to recognize the door panel, a second instruction indicating that the door panel has not been successfully recognized is issued.

[0085] In some embodiments, after the testing device establishes a communication connection with the robot, the testing device sends a testing instruction to the robot. After receiving the testing instruction, the robot parses the testing instruction and obtains the preset testing position of the knocking test. The robot plans a driving path according to its current location and the preset testing position, and drives along the driving path to the preset testing position. At the preset testing position, the robot detects and identifies the door panel of the testing device through various sensors equipped on the robot to determine whether the door panel is recognized.

[0086] In a possible implementation, when the robot determines that the door panel has been identified, it sends a first instruction to the test position, and when the robot fails to identify the door panel, it sends a second instruction to the test device. Obviously, the first instruction indicates that the robot has successfully identified the door panel, and the second instruction indicates that the robot has failed to successfully identify the door panel.

[0087] S120: If the first instruction is received, it is determined that the robot recognizes the door panel.

[0088] S130: If the second instruction is received, it is determined that the robot does not recognize the door panel.

[0089] Exemplarily, if a first instruction indicating that the robot has successfully identified the door panel is received, it can be determined that the robot has identified the door panel, and then receives knock test parameters, and adjusts the opening and closing angle and / or depth of the door panel relative to the door frame according to the knock test parameters.

[0090] If a second instruction is received indicating that the robot has not successfully identified the door panel, it can be determined that the robot has not identified the door panel, does not receive the knock test parameters, and adjusts the depth of the door panel relative to the door frame so that the robot can identify the door panel to perform the knock test.

[0091] In some embodiments, if the robot fails to successfully identify the door panel, the depth of the door panel relative to the door frame is adjusted to increase so that the robot can identify the door panel to perform a knock test.

[0092] In some embodiments, the robot knocking test method further includes but is not limited to the following steps S101-S102:

[0093] S101: If it is determined that the robot has not recognized the door panel, the opening and closing angle of the door panel relative to the door frame is adjusted to zero degrees through a parameter adjustment component.

[0094] If it is determined that the robot does not recognize the door panel, the test device controls the parameter adjustment component (such as an electric motor, a stepper motor) to adjust the opening and closing angle of the door panel relative to the door frame to zero degrees, that is, the door panel is closed on the door frame. In the process of adjusting the opening and closing angle of the door panel relative to the door frame, the test device monitors the opening and closing angle of the door panel relative to the door frame in real time through a sensor (such as an ultrasonic sensor, an infrared sensor, a laser radar), thereby ensuring that the opening and closing angle of the door panel relative to the door frame is adjusted to zero degrees.

[0095] S102: After adjusting the opening and closing angle of the door panel relative to the door frame to zero degrees, the parameter adjustment component increases the depth of the door panel relative to the door frame according to the preset depth step, and controls the robot to detect in real time whether the door panel is recognized, until the first instruction sent by the robot that the door panel has been successfully recognized is received, or the depth of the door panel relative to the door frame reaches a preset maximum value.

[0096] The preset depth step represents the depth of the door panel relative to the door frame each time it is adjusted. For example, when increasing the depth of the door panel relative to the door frame, the preset depth step is 2 cm, and the current depth of the door panel relative to the door frame is 5 cm, then the parameter adjustment component adjusts the depth of the door panel relative to the door frame to 5+2=7 cm.

[0097] It should be understood that the preset depth step can be set and determined according to actual test needs, and the embodiment of the present invention does not impose any limitation on this. For example, in some embodiments, the preset depth step can be 2 cm, 3 cm or any other suitable value.

[0098] Specifically, after adjusting the opening and closing angle of the door panel relative to the door frame to zero degrees, the test device controls the parameter adjustment components (such as springs, torsion springs, screw mechanisms, electric slide rails, etc.) to gradually adjust and increase the depth of the door panel relative to the door frame according to a preset depth step, and controls the robot to detect in real time to determine whether the door panel is recognized. In the process of adjusting and increasing the depth of the door panel relative to the door frame, the depth of the door panel relative to the door frame is monitored in real time by sensors (such as laser radars, ultrasonic sensors, infrared sensors, etc.), thereby ensuring that the depth of the door panel relative to the door frame is adjusted to a corresponding angle.

[0099] During the process of adjusting and increasing the depth of the door panel relative to the door frame, if the testing device receives a first instruction sent by the robot indicating that the door panel has been successfully identified, it stops increasing the depth of the door panel relative to the door frame and then executes the subsequent knocking test process.

[0100] Alternatively, in some embodiments, the testing device does not receive the first instruction until the depth of the door panel relative to the door frame is adjusted to reach a preset maximum value, that is, the depth of the door panel relative to the door frame increases to be greater than or equal to the preset maximum value, then the depth of the door panel relative to the door frame is stopped from being increased. At this time, since the robot does not recognize the door panel, the knock test is not performed.

[0101] It is easy to understand that the preset maximum value can be set and determined according to actual test needs, and the embodiment of the present invention does not impose any limitation on this. For example, in some embodiments, the preset maximum value can be 15 cm, 20 cm or any other suitable value.

[0102] In some embodiments, the robot knocking test method further includes but is not limited to the following steps S103:

[0103] S103: During the process of adjusting the depth of the door panel relative to the door frame by the parameter adjustment component, upon receiving a first instruction from the robot indicating that the door panel has been successfully identified, the depth of the door panel relative to the door frame is used as a preset depth threshold.

[0104] Exemplarily, during the process of the control parameter adjustment component adjusting the depth of the door panel relative to the door frame, if the test device receives a first instruction sent by the robot indicating that the door panel has been successfully identified, the depth of the door panel relative to the door frame when the first instruction is received is used as a preset depth threshold. The preset depth threshold represents the minimum depth of the door panel corresponding to the door panel that the robot can identify relative to the door frame, that is, the robot can only identify the door panel when the depth of the door panel relative to the door frame is greater than or equal to the preset depth threshold.

[0105] S200: After the robot recognizes the door panel, receiving knock test parameters, wherein the knock test parameters include a target angle and / or a target depth.

[0106] Specifically, after determining that the robot recognizes the door panel, the testing device receives the knock test parameters sent by the test console, the host computer or the cloud through a suitable communication method (for example, WiFi, Bluetooth, wired network connection, etc.). The knock test parameters include at least one of a target angle and a target depth.

[0107] In some embodiments, the knock test parameters may also include knock force, knock frequency, and number of knocks.

[0108] In some embodiments, after receiving the knock test parameters, it is necessary to extract the target angle and / or target depth included therein, and then compare the target angle and / or target depth with the preset angle threshold and / or preset depth threshold respectively to determine whether the target angle and / or target depth is within a reasonable range, and then determine whether to adjust the opening and closing angle and / or depth of the door panel relative to the door frame to perform the knock test.

[0109] In some embodiments, the robot knocking test method further includes but is not limited to the following steps S201-S203:

[0110] S201: Analyze knock test parameters to obtain a target angle and / or a target depth.

[0111] S202: If the target angle is greater than the preset angle threshold, the opening and closing angle of the door panel relative to the door frame is not adjusted.

[0112] S203: If the target depth is less than the preset depth threshold, the depth of the door panel relative to the door frame is not adjusted.

[0113] Specifically, after receiving the knock test parameters, the testing device parses the received knock test parameters and extracts the target angle and / or target depth in the knock test parameters.

[0114] In some embodiments, if the target angle is extracted, the extracted target angle is compared with a preset angle threshold. If the target angle is greater than the preset angle threshold, it means that the target angle is not within a reasonable test angle range, and the test device does not adjust the opening and closing angle of the door panel relative to the door frame.

[0115] In some embodiments, if the target depth is extracted, the extracted target depth is compared with a preset depth threshold. If the target depth is less than the preset depth threshold, it means that the target depth is not within a reasonable test depth range, and the test device does not adjust the depth of the door panel relative to the door frame.

[0116] It should be understood that the preset angle threshold and the preset depth threshold can be set and determined according to actual test needs, and the embodiment of the present invention does not impose any limitation on this. For example, in some embodiments, the preset angle threshold can be 15°, and the preset depth threshold can be 3 cm.

[0117] S300: If the knock test parameters include a target angle, the opening and closing angle of the door panel relative to the door frame is adjusted to the target angle through the parameter adjustment component; and, if the knock test parameters include a target depth, the depth of the door panel relative to the door frame is adjusted to the target depth through the parameter adjustment component.

[0118] Exemplarily, if the received knock test parameters include a target angle, the test device controls the parameter adjustment component (e.g., an electric motor, a servo motor, a stepper motor, etc.) to adjust the opening and closing angle of the door panel relative to the door frame to the target angle. In the process of adjusting the opening and closing angle of the door panel relative to the door frame, the opening and closing angle of the door panel relative to the door frame is monitored in real time by a sensor (e.g., an ultrasonic sensor, an infrared sensor, a laser radar, etc.), thereby ensuring that the opening and closing angle of the door panel relative to the door frame is adjusted to the target angle.

[0119] Alternatively, if the received knock test parameters include a target depth, the test device controls the parameter adjustment component (e.g., a spring, a torsion spring, a screw mechanism, an electric slide rail, etc.) to adjust the depth of the door panel relative to the door frame to the target depth. In the process of adjusting the depth of the door panel relative to the door frame, the depth of the door panel relative to the door frame is monitored in real time by a sensor (e.g., an ultrasonic sensor, an infrared sensor, a laser radar, etc.), thereby ensuring that the depth of the door panel relative to the door frame is adjusted to the target angle.

[0120] In the above manner, the testing device accurately adjusts the position of the door panel relative to the door frame (including the opening and closing angle and depth) according to the received knock test parameters, thereby ensuring the accuracy and repeatability of the knock test.

[0121] S400: Control the robot to perform a knocking test on the door panel, and determine whether the robot knocks successfully through a detection component.

[0122] Specifically, after adjusting the opening and closing angle of the door panel relative to the door frame to the target angle, and / or adjusting the depth of the door panel relative to the door frame to the target depth, the testing device sends a knock test instruction to the robot through a suitable communication method (such as WiFi and Bluetooth, etc.). After receiving the knock test instruction, the robot adjusts the knock component (such as a manipulator, a robot arm, etc.) to move to the preset knock position of the door panel, and controls the knock component to knock on the door panel of the testing device according to the preset knock force, knock frequency, and knock number, that is, performs the knock action, thereby controlling the robot to perform a knock test on the door panel.

[0123] In addition, a detection component (such as a sensor, a button device, etc.) arranged on the door panel is used to detect the knock signal. When the knock signal is detected, the detected knock signal is processed and analyzed, and the knock signal characteristics (such as amplitude, frequency and duration, etc.) are compared with preset standard signal characteristics representing successful knocking to determine whether the robot has knocked successfully.

[0124] In some embodiments, if the difference between the detected knock signal feature and the standard signal feature exceeds a preset threshold range, it indicates that the robot has failed to knock on the door. If the difference between the detected knock signal feature and the standard signal feature does not exceed the preset threshold range, it indicates that the robot has successfully knocked on the door.

[0125] In some embodiments, the knock test parameters include a knock time threshold. When the robot performs the knock test, the knock test environment is usually controlled to minimize the factors that interfere with the execution of the knock test and minimize the impact. Therefore, if the detection component detects a knock signal within the knock time threshold, it means that the robot knocks successfully; if the detection component does not detect a knock signal within the knock time threshold, it means that the robot fails to knock, and there is no need to compare the difference between the knock signal characteristics and the standard signal characteristics.

[0126] See also Figure 6 , Figure 6 A schematic diagram of a sub-flow chart of step S400 in the robot knocking test method provided in some embodiments of the present invention.

[0127] like Figure 6 As shown, in some embodiments, the detection component is used to determine whether the robot knocks on the door successfully, specifically including but not limited to the following steps S410-S420:

[0128] S410: If the detection component detects the robot's knocking signal within the knocking time threshold, it is determined that the robot has knocked on the door successfully.

[0129] S420: If the detection component does not detect the robot's knocking signal within the knocking time threshold, it is determined that the robot has failed to knock on the door.

[0130] Specifically, when the factors interfering with the execution of the knocking test are minimal and the impact is lowest, in the process of using the detection component to detect whether the robot has successfully knocked on the door, if the detection component detects the robot's knocking signal within a preset time threshold (for example, 2s, 3s or other suitable time lengths), it means that the robot has performed a knocking test on the door panel of the test device within the preset time threshold, and it can be determined that the robot has successfully knocked on the door.

[0131] In some embodiments, if the detection component does not detect the robot's knocking signal (such as a sound signal, a vibration signal, etc.) within a preset time threshold, it means that the robot has not performed a knocking test on the door panel of the test device within the preset time threshold, and it can be determined that the robot has failed to knock.

[0132] It should be understood that the preset time threshold can be set and determined according to actual test needs, and the embodiment of the present invention does not impose any limitation on this. For example, in some embodiments, the preset time threshold can be 2s, 3s or other suitable durations.

[0133] In some embodiments, after the knocking test is stopped, the opening and closing angle of the door panel relative to the door frame is adjusted to the initial opening angle, and the depth of the door panel relative to the door frame is adjusted to the initial depth, so as to facilitate the next adjustment of the opening and closing angle and / or depth of the door panel relative to the door frame.

[0134] In some embodiments, the robot knocking test method further includes but is not limited to the following steps S401:

[0135] S401: If a test end instruction is received, the robot is controlled to stop performing the knocking test on the door panel, and the opening and closing angle of the door panel relative to the door frame is adjusted to the initial opening angle through the parameter adjustment component, and the depth of the door panel relative to the door frame is adjusted to the initial depth.

[0136] Exemplarily, if the testing device receives a test end instruction sent by a testing console, a host computer or the cloud through a suitable communication method (for example, WiFi, Bluetooth, a wired network connection, etc.), it sends a stop test instruction to the robot, so that the robot stops knocking on the door panel after receiving the stop test instruction, that is, stops performing the knocking test on the door panel, thereby controlling the robot to stop performing the knocking test on the door panel.

[0137] Specifically, after the robot is controlled to stop performing the knocking test on the door panel, the testing device controls the parameter adjustment component (such as an electric motor, a servo motor, a stepper motor, etc.) to adjust the opening and closing angle of the door panel relative to the door frame to the initial opening angle. In the process of adjusting the opening and closing angle of the door panel relative to the door frame, the opening and closing angle of the door panel relative to the door frame is monitored in real time by a sensor (such as an ultrasonic sensor, an infrared sensor, a laser radar, etc.), thereby ensuring that the opening and closing angle of the door panel relative to the door frame is adjusted to the initial opening angle.

[0138] And, the test device controls the parameter adjustment component (such as a spring, a torsion spring, a screw mechanism, an electric slide rail) to adjust the depth of the door panel relative to the door frame to an initial depth. In the process of adjusting the depth of the door panel relative to the door frame, the depth of the door panel relative to the door frame is monitored in real time by a sensor (such as an ultrasonic sensor, an infrared sensor, a laser radar, etc.), thereby ensuring that the depth of the door panel relative to the door frame is adjusted to the initial depth.

[0139] In this embodiment, by adjusting the opening and closing angle / depth of the door panel relative to the door frame to the initial opening angle / initial depth, it is convenient to quickly adjust the position of the door panel relative to the door frame (including the opening and closing angle and depth) according to the knock test parameters next time, thereby improving the efficiency of the knock test.

[0140] In some embodiments, the knock test parameters also include a target number of knocks. After the robot performs a knock test on the door panel of the test device, it is necessary to count the number of knocks by the robot, so as to determine the ratio of successful knocks to failed knocks and improve the knock test strategy.

[0141] In some embodiments, the robot knocking test method further includes but is not limited to the following steps S402-S403:

[0142] S402: Count the number of times the robot knocks on the door in the first time period, wherein the number of times the robot knocks on the door successfully increases by one.

[0143] The first time period is the time from when the test device receives the knock test parameter to when the test device receives the test end instruction. For example, in some embodiments, the test device receives the knock test parameter at 12:05 and receives the test end instruction at 13:05, then the first time period is 12:05-13:05.

[0144] In the first time period, each time the testing device detects a knock signal through the detection component, it means that the robot successfully knocks on the door. Each time the robot successfully knocks on the door, the number of knocks is increased, so as to obtain the number of knocks of the robot in the first time period.

[0145] S403: Based on the number of knocking times and the target number of knocking times, a test result of the knocking test is obtained, where the test result includes a knocking success rate and / or a knocking failure rate.

[0146] Specifically, a mathematical operation is performed on the statistically obtained number of knocks and the target number of knocks to calculate the test result of the knock test. The test result includes at least one of a knock success rate and a knock failure rate. The target number of knocks is the number of knocks that the test device requires the robot to perform.

[0147] In some embodiments, the successful knocking times obtained by counting are divided by the target knocking times to obtain a knocking success ratio. The target knocking times are subtracted from the successful knocking times to obtain an unsuccessful knocking times. The unsuccessful knocking times are then divided by the target knocking times to obtain a knocking failure ratio.

[0148] In summary, the robot knocking test method provided by the embodiment of the present invention is applied to a testing device, which includes a door assembly, a detection assembly and a parameter adjustment assembly, the door assembly includes a door panel and a door frame, the detection assembly is arranged on the door panel, and the parameter adjustment assembly is respectively connected to the door panel and the door frame; the method includes: controlling the robot to reach a preset test position on one side of the door panel, and determining whether the robot recognizes the door panel; after the robot recognizes the door panel, receiving knocking test parameters, the knocking test parameters include a target angle and / or a target depth; if the knocking test parameters include a target angle, adjusting the opening and closing angle of the door panel relative to the door frame to the target angle through the parameter adjustment assembly, and, if the knocking test parameters include a target depth, adjusting the depth of the door panel relative to the door frame to the target depth through the parameter adjustment assembly; controlling the robot to perform a knocking test on the door panel, and determining whether the robot knocks successfully through the detection assembly.

[0149] In the present invention, the robot knock test is automatically implemented by utilizing a testing device, which is applicable to a variety of different knock test situations, reduces the impact of environmental changes on the knock test, and improves the accuracy of the knock test results.

[0150] An embodiment of the present invention provides a computer-readable storage medium, on which computer program instructions executable by a processor are stored. When the computer program instructions are called by the processor, the processor executes any one of the robot knocking test methods provided by the embodiments of the present invention, or executes the steps in any one of the possible implementation methods of any one of the robot knocking test methods provided by the embodiments of the present invention.

[0151] In some embodiments, the storage medium may be a flash memory, a hard disk, an optical disk, a register, a magnetic surface storage, a removable disk, a CD-ROM, a random access memory (RAM), a read-only memory (ROM), an electrically programmable ROM, and an electrically erasable programmable ROM, or any other form of storage medium known in the technical field, or various devices including one or any combination of the above storage media.

[0152] In some embodiments, computer program instructions may be in the form of a program, software, software module, script or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as a stand-alone program or as a module, component, subroutine or other unit suitable for use in a computing environment.

[0153] As an example, computer program instructions may, but do not necessarily, correspond to a file in a file system, may be stored as part of a file that stores other programs or data, for example, in one or more scripts in a HyperText Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files storing one or more modules, subroutines, or code portions).

[0154] As an example, the computer program instructions may be deployed to be executed on a computing device (including devices such as smart terminals and servers), or on multiple computing devices located at one location, or on multiple computing devices distributed at multiple locations and interconnected by a communication network. It is easy to understand that all or part of the steps of the method described in the embodiments of the present invention may be directly implemented using electronic hardware or processor executable computer program instructions, or a combination of the two.

[0155] Those skilled in the art will appreciate that the embodiments provided by the present invention are only illustrative, and the order of writing the steps in the method of the embodiment does not mean a strict execution order and does not constitute any limitation on the implementation process. The order can be adjusted, merged and deleted according to actual needs, and the modules or sub-modules, units or sub-units in the device or system of the embodiment can be merged, divided and deleted according to actual needs. For example, the division of units is only a logical function division, and there can be other division methods in actual implementation. For another example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed.

[0156] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a general hardware platform, and of course can also be implemented by hardware. Those skilled in the art can understand that all or part of the processes in the above embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. The storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0157] It should be noted that the above embodiments are intended to illustrate the technical concept and features of the present invention, and their purpose is to enable people familiar with this technology to understand the content of the present invention and implement it accordingly, and cannot be used to limit the scope of protection of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiments can be implemented according to the technical solutions recorded in the embodiments of the present invention, or some of the technical features can be equivalently replaced. It can be understood that these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and should be regarded as equal changes and modifications based on the embodiments of the present invention, and should all fall within the scope of the claims of the present invention.

Claims

1. A robot knocking test method, applied to a test device, characterized in that: The testing device comprises a door assembly, a detection assembly and a parameter adjustment assembly, wherein the door assembly comprises a door panel and a door frame, the detection assembly is arranged on the door panel, and the parameter adjustment assembly is connected to the door panel and the door frame respectively; The method comprises: Controlling the robot to reach a preset test position on one side of the door panel, and determining whether the robot recognizes the door panel; After the robot identifies the door panel, receiving knock test parameters, wherein the knock test parameters include a target angle and / or a target depth; If the knock test parameter includes a target angle, the opening and closing angle of the door panel relative to the door frame is adjusted to the target angle by the parameter adjustment component, and if the knock test parameter includes a target depth, the depth of the door panel relative to the door frame is adjusted to the target depth by the parameter adjustment component; The robot is controlled to perform a knocking test on the door panel, and the detection component is used to determine whether the robot has successfully knocked on the door.

2. The method according to claim 1, characterized in that The knocking test parameter includes a knocking time threshold, and determining whether the robot knocks successfully through the detection component includes: If the detection component detects the knocking signal of the robot within the knocking time threshold, it is determined that the robot knocks successfully; If the detection component fails to detect the robot's knocking signal within the knocking time threshold, it is determined that the robot has failed to knock on the door.

3. The method according to claim 1, characterized in that: The method further comprises: If a test end instruction is received, the robot is controlled to stop performing the knocking test on the door panel, and the opening and closing angle of the door panel relative to the door frame is adjusted to the initial opening angle through the parameter adjustment component, and the depth of the door panel relative to the door frame is adjusted to the initial depth.

4. The method according to claim 1, characterized in that: The knock test parameters also include a target number of knocks, and the method further includes: Counting the number of knocks by the robot within the first time period, wherein the number of knocks increases each time the robot successfully knocks on the door; Based on the number of knocking times and the target number of knocking times, a test result of the knocking test is obtained, and the test result includes a knocking success rate and / or a knocking failure rate.

5. The method according to claim 1, characterized in that After receiving the knock test parameters, the method further includes: parsing the knock test parameters to obtain the target angle and / or the target depth; If the target angle is greater than a preset angle threshold, the opening and closing angle of the door panel relative to the door frame is not adjusted; and / or, If the target depth is less than a preset depth threshold, the depth of the door panel relative to the door frame is not adjusted.

6. The method according to claim 1, characterized in that The controlling the robot to reach a preset test position on one side of the door panel and determining whether the robot recognizes the door panel comprises: Sending a test instruction to the robot so that the robot reaches a preset test position specified by the test instruction, and the robot detects whether the door panel is recognized at the preset test position, wherein when the robot determines that the door panel is recognized, a first instruction is issued indicating that the door panel has been successfully recognized, and when the robot fails to recognize the door panel, a second instruction is issued indicating that the door panel has not been successfully recognized; If the first instruction is received, determining that the robot recognizes the door panel; If the second instruction is received, it is determined that the robot fails to recognize the door panel.

7. The method according to claim 6, characterized in that The method further comprises: If it is determined that the robot has not recognized the door panel, adjusting the opening and closing angle of the door panel relative to the door frame to zero degrees through the parameter adjustment component; After adjusting the opening and closing angle of the door panel relative to the door frame to zero degrees, the parameter adjustment component increases the depth of the door panel relative to the door frame according to the preset depth step, and controls the robot to detect in real time whether the door panel is recognized until a first instruction is received from the robot indicating that the door panel has been successfully recognized, or the depth of the door panel relative to the door frame reaches a preset maximum value.

8. The method according to claim 7, characterized in that The method further comprises: During the process of the parameter adjustment component adjusting the depth of the door panel relative to the door frame, upon receiving the first instruction issued by the robot indicating that the door panel has been successfully identified, the depth of the door panel relative to the door frame is used as a preset depth threshold.

9. A testing system, characterized in that: include: A testing device, used to perform the robot knocking test method according to any one of claims 1 to 8; A robot is communicatively connected to the testing device, and is used to perform a knock test on the door panel according to a control instruction sent by the testing device.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions executable by a processor, and when the computer program instructions are called by the processor, the processor executes the robot knocking test method according to any one of claims 1 to 8.

Images