Robot knocking test method, test system and storage medium

Abstract

This invention relates to a robot door-knocking test method, test system, and storage medium. The method is applied to a test 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 disposed on the door panel, and the parameter adjustment assembly is connected to both the door panel and the door frame. The method includes: controlling a robot to reach a preset test position on one side of the door panel, recognizing the door panel, and receiving door-knocking test parameters, including a target angle and / or a target depth; adjusting the opening angle and / or depth of the door panel relative to the door frame using the parameter adjustment assembly based on the door-knocking test parameters; controlling the robot to perform a knocking test on the door panel, and determining whether the robot successfully knocked the door using the detection assembly. This method automates robot door-knocking tests using a test device, is applicable to various door-knocking test situations, reduces the impact of environmental changes on door-knocking tests, and improves the accuracy of door-knocking test results.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a method, system, and storage medium for testing a robot knocking on a door. Background Technology

[0002] Delivery robots equipped with robotic arms are products that combine automation, robotics, and logistics technologies. They are typically used in environments such as warehouses, hospitals, and hotels to perform delivery tasks, improving efficiency and reducing labor costs.

[0003] In hotel settings, some current solutions involve a robot delivering items to a room and then using a robotic arm to knock on the door, simulating a human gesture, to notify the customer to retrieve the items. Currently, testing the robotic arm's knocking action typically involves issuing a delivery task to the robot, which then travels to the target location, activates its robotic arm to knock, and a human observes the knocking. However, this method is only suitable for testing with a limited number of knocks. It is unsuitable for aging tests where the robot needs to perform a greater number of knocks. Furthermore, environmental variations (e.g., door frame depth) can affect the robot's knocking movements, potentially reducing the accuracy of the test results. Summary of the Invention

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

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

[0006] In a first aspect, embodiments of the present invention provide a robot door-knocking test method, applied to a test device, the test device including a door assembly, a detection assembly and a parameter adjustment assembly, the door assembly including a door panel and a door frame, the detection assembly being disposed on the door panel, and the parameter adjustment assembly being connected to the door panel and the door frame respectively;

[0007] The method includes:

[0008] 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;

[0009] After the robot identifies the door panel, it receives knocking test parameters, which include target angle and / or target depth.

[0010] If the knocking test parameters include a target angle, the opening angle of the door panel relative to the door frame is adjusted to the target angle by the parameter adjustment component; and if the knocking test parameters include 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 determines whether the robot successfully knocked on the door.

[0012] In some embodiments, the knocking test parameters include a knocking time threshold, and determining whether the robot successfully knocked the door using the detection component includes:

[0013] If the detection component detects the robot's knocking signal within the knocking time threshold, it determines that the robot successfully knocked on the door.

[0014] If the detection component does not detect the robot's knocking signal within the knocking time threshold, it determines that the robot's knocking has failed.

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

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

[0017] In some embodiments, the knocking test parameters further include a target number of knocks, and the method further includes:

[0018] The number of times the robot knocks on the door within the first time period is counted, wherein each successful knock by the robot increases the knock count by one.

[0019] Based on the number of knocks and the target number of knocks, the test results of the knocking test are obtained, including the success rate and / or the failure rate of knocking.

[0020] In some embodiments, after receiving the knocking test parameters, the method further includes:

[0021] Analyze the knocking test parameters to obtain the target angle and / or the target depth;

[0022] If the target angle is greater than the preset angle threshold, the opening angle of the door panel relative to the door frame will not be 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 will not be adjusted.

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

[0026] A test command is sent to the robot to make the robot reach a preset test position specified by the test command. The robot detects whether the door panel is recognized at the preset test position. When the robot determines that the door panel has been recognized, a first command indicating that the door panel has been successfully recognized is issued. When the robot does not recognize the door panel, a second command indicating that the door panel has not been successfully recognized is issued.

[0027] If the first instruction is received, it is determined that the robot has identified the door panel;

[0028] If the second instruction is received, it is determined that the robot has not recognized the door panel.

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

[0030] If it is determined that the robot has not recognized the door panel, the opening angle of the door panel relative to the door frame is adjusted to zero degrees by the parameter adjustment component.

[0031] After adjusting the opening 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 whether the door panel is recognized in real time, until the robot sends a first instruction that the door panel has been successfully recognized, or the depth of the door panel relative to the door frame reaches the preset maximum value.

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

[0033] During the process of adjusting the depth of the door panel relative to the door frame, when the parameter adjustment component receives the first instruction from the robot 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] Secondly, embodiments of the present invention provide a testing system, comprising:

[0035] A testing apparatus for performing any of the robot knocking test methods proposed in the first aspect;

[0036] The robot is communicatively connected to the testing device and is used to perform a knocking test on the door panel according to the control commands sent by the testing device.

[0037] Thirdly, embodiments of the present invention provide a computer-readable storage medium storing processor-executable computer program instructions, which, when invoked by a processor, cause the processor to execute any of the robot knocking test methods proposed in the first aspect, or to execute the steps in any of the robot knocking test methods proposed in the first aspect.

[0038] The beneficial effects of this invention's embodiments are as follows: Unlike existing technologies, the robot door-knocking test method provided in this 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 disposed on the door panel, and the parameter adjustment assembly is connected to both the door panel and the door frame. The method includes: controlling a 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 door-knocking test parameters, which include a target angle and / or a target depth; if the door-knocking test parameters include a target angle, adjusting the opening angle of the door panel relative to the door frame to the target angle using the parameter adjustment assembly; and if the door-knocking test parameters include a target depth, adjusting the depth of the door panel relative to the door frame to the target depth using the parameter adjustment assembly; controlling the robot to perform a knocking test on the door panel, and determining whether the robot successfully knocked the door using the detection assembly.

[0039] In this invention, a testing device is used to automatically conduct door-knocking tests with robots. This method is applicable to various door-knocking test situations, reduces the impact of environmental changes on door-knocking tests, and improves the accuracy of door-knocking test results. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below only show some embodiments of the present invention and should not be considered as limiting the scope of protection. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a schematic diagram illustrating the application scenario of robot door-knocking testing in some embodiments of the present invention;

[0042] Figure 2 These are schematic diagrams of the testing system provided in some embodiments of the present invention;

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

[0044] Figure 4This is a flowchart illustrating a robot door-knocking test method provided in some embodiments of the present invention;

[0045] Figure 5 yes Figure 4 A detailed flowchart 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 Implementation

[0047] To make the objectives and advantages of the embodiments of the present invention more readily understood, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. The detailed description of the embodiments of the present invention in the accompanying drawings is not intended to limit the scope of protection claimed by the present invention, but only to illustrate selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0048] It should be noted that, unless there is a conflict, the various technical features involved in the embodiments of the present invention described below can be combined with each other, and all are within the protection scope of the present invention. Furthermore, although functional modules are divided in the device or structural schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. In addition, the terms "first," "second," "third," and other similar expressions used herein do not limit the data or execution order, but are only for illustrative purposes and to distinguish identical or similar items with substantially the same function and effect, and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features.

[0049] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. It should be understood that the term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0050] Please see Figure 1 , Figure 1 The illustration shows a schematic diagram of an application scenario for robot door-knocking testing in some embodiments of the present invention.

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

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

[0053] It should be understood that, due to limitations in the door panel recognition algorithm and sensors, 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, thus preventing it from performing the subsequent knocking action.

[0054] Understandably, to ensure the accuracy of the knocking test results, considering the business logic of robot 100, when door panel 211 is in the open state, the subsequent knocking action is not executed; that is, the subsequent knocking test process is not executed. In some embodiments, the knocking test can be performed based on the opening angle of door panel 211 relative to door frame 212 (i.e., Figure 1 The angle θ shown in the figure is used to determine whether the door panel 211 is in the open state.

[0055] In some embodiments, during the door-knocking test task, after the testing device 200 controls the robot 100 to travel to the vicinity of the location of the testing device 200, the robot 100 uses various sensors equipped on itself ( Figure 1 (Not shown) The door panel 211 is detected and identified. After identifying the door panel 211, the testing device 200 is notified that it has successfully identified the door panel 211. After confirming that the robot 100 has successfully identified the door panel 211, the testing device 200 receives the knocking test parameters and, based on the received knocking test parameters, adjusts the opening angle and / or depth of the door panel 211 relative to the door frame 212 using the parameter adjustment component 230.

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

[0057] As is easily understood, the knocking component 150 can be a robotic arm, robotic hand, or other suitable device, equipment, or instrument, and the knocking 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 may be a sensor (such as an accelerometer, microphone, or pressure sensor), a button device, or other suitable device, equipment, or apparatus for sensing the knocking action signal of the robot 100.

[0059] In some embodiments, the parameter adjustment assembly 230 includes a telescopic device and a stepper motor. The telescopic device (e.g., a guide rail, a lead screw mechanism, etc.) adjusts the depth of the door panel 211 relative to the door frame 212, and the stepper motor adjusts the opening angle of the door panel 211 relative to the door frame 212. It is understood that the parameter adjustment assembly 230 may also include any other suitable device, apparatus, or component, and the parameter adjustment assembly 230 may also be a suitable device, apparatus, or component capable of adjusting the opening angle and depth of the door panel 211 relative to the door frame 212.

[0060] It is worth noting that, Figure 1 The application scenario illustrated is merely a schematic representation of one situation in which the robot 100 and the testing device 200 perform a door-knocking test, and it does not impose any limitations on the structure, type, or quantity of the robot 100 and testing device 200 in other application scenarios. For example, in some other application scenarios, the testing device may also include... Figure 1 The test apparatus shown has 200 or fewer components, or has more or fewer components than the one described above. Figure 1 The test apparatus shown has 200 different configurations.

[0061] To facilitate understanding of the robot knocking test method provided in the embodiments of the present invention, the test system provided in the embodiments of the present invention will first be described in detail.

[0062] Please see Figure 2 , Figure 2 The schematic diagram illustrates the structure of a test system 1000 provided in some embodiments of the present invention.

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

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

[0065] In some embodiments, the testing apparatus 200 further includes a controller 240, which is communicatively connected to the detection component 220 and the parameter adjustment component 230, respectively, and is used to coordinate and control the detection component 220 and the parameter adjustment component 230.

[0066] Please see Figure 3 , Figure 3 The schematic diagram illustrates the structure of the controller 240 in the test apparatus 200 provided in some embodiments of the present invention.

[0067] For example, such as Figure 3 As shown, the controller 240 includes at least one processor 241 and a memory 242 that are communicatively connected. Figure 3 Taking a bus system connection and a processor as an example, the various components in controller 240 are coupled together through bus system 243, which is used to realize the connection and communication between these components. It is easy to understand that bus system 243 may include not only a data bus, but also a power bus, a control bus, and a status signal bus, etc. However, for the sake of clarity and brevity, in... Figure 3 The general labels all buses as Bus System 243. Understandably, Figure 3 The structures shown in the embodiments are merely illustrative and do not limit the structure of the controller 240 described above. For example, the controller 240 may also include components that are more... Figure 3 The more or fewer components shown, or having the same Figure 3 The different configurations shown.

[0068] Specifically, processor 241 provides computational and control capabilities to control controller 240 to perform corresponding tasks. For example, it controls the testing device 200 to execute any of the robot knocking test methods provided in the embodiments of the present invention, or to execute the steps in any possible implementation of any of the robot knocking test methods provided in the embodiments of the present invention. It is understood that 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 gate or transistor logic devices, or discrete hardware components.

[0069] The memory 242, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, instructions, and modules, such as the program, instructions, and modules corresponding to the robot knocking test method provided in this embodiment of the invention. In some embodiments, the memory 242 may include a program storage area and a data storage area. The program storage area may store an operating system and an application program required for at least one function; the data storage 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-transitory software programs, instructions, and modules stored in the memory 242, to implement any robot knocking test method provided in this embodiment of the invention, or to execute the steps in any possible implementation of any robot knocking test method provided in this embodiment of the invention. The memory 242 may include high-speed random access memory and may also include non-transitory memory. For example, at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory 242 may also include memory remotely located relative to the processor 241, and these remote memories may be connected to the processor 241 via a communication network. It is understood that examples of the aforementioned communication networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

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

[0071] As can be understood from the above, the robot knocking test method provided in this embodiment of the invention can be implemented by various suitable types of testing devices with certain computing and control capabilities, for example, it can be implemented by the aforementioned testing device 200. The robot knocking test method provided in this embodiment of the invention will be described in detail below with reference to exemplary applications and implementations of the testing device provided in this embodiment of the invention.

[0072] Please see Figure 4 , Figure 4 A flowchart illustrating a robot door-knocking test method provided in some embodiments of the present invention is shown.

[0073] Those skilled in the art will understand that the robot knocking test method provided in this embodiment of the invention can be applied to the aforementioned test apparatus (e.g., test apparatus 200). Specifically, the execution entity of this robot knocking test method is one or at least two processors of the test apparatus.

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

[0075] S100: Controls the robot to reach the preset test position on one side of the door panel and determines whether the robot recognizes the door panel.

[0076] The preset test position is the location where the robot performs the knocking test, and this position is located on one side of the door panel of the testing device. The knocking test is only performed when the robot is in the preset test position. It is easy to understand that the preset test position can be set according to actual testing needs, and this embodiment of the invention does not impose any limitations on this.

[0077] Specifically, the testing device establishes a communication connection with the robot, sends a preset test position to the robot, and schedules the robot to move to the preset test position. The robot uses a path planning algorithm (such as A* or Dijkstra's algorithm) to plan its travel path. The testing device sends the preset test position to the robot through a suitable communication method (such as WiFi or Bluetooth), and the robot moves according to the travel 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 uses its various sensors (e.g., cameras, LiDAR, etc.) to detect and identify the door panel of the testing device, obtaining the door panel recognition result. The robot sends the door panel recognition result to the testing device via a suitable communication method (e.g., WiFi, Bluetooth, etc.), and the testing device can determine whether the robot has recognized the door panel based on the recognition result.

[0079] In some embodiments, the door panel recognition result can be represented by a status code. For example, a status code of 1 indicates that the robot has recognized the door panel. A status code of 0 indicates that the robot has not recognized the door panel. When the testing device receives a status code of 1 from the robot, it determines that the robot has recognized the door panel; when it receives a status code of 0 from the robot, it determines that the robot has not recognized the door panel.

[0080] It should be understood that there are other suitable ways to represent the door panel recognition result, or it is possible to send instructions that characterize different door panel recognition results so that the testing device can determine whether the robot has successfully recognized the door panel based on the door panel recognition result or instructions. Those skilled in the art can choose any suitable method according to actual needs, and the embodiments of the present invention do not limit this in any way.

[0081] In some embodiments, after the robot reaches a preset test position on one side of the door panel, the testing device sends a test command to the robot. The testing device receives the command sent by the robot, which characterizes the door panel recognition result, and determines whether the robot has recognized the door panel based on the command.

[0082] Please see Figure 5 , Figure 5 This diagram illustrates a sub-process of step S100 in the robot knocking test method provided in some embodiments of the present invention.

[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 command to the robot so that the robot can reach the preset test position specified by the test command. The robot checks whether the door panel is recognized at the test position. When the robot determines that the door panel has been recognized, it issues a first command indicating that the door panel has been successfully recognized. When the robot does not recognize the door panel, it issues a second command indicating that the door panel has not been successfully recognized.

[0085] In some embodiments, after establishing a communication connection with the robot, the testing device sends a test command to the robot. Upon receiving the test command, the robot parses it to obtain the preset test location for the door-knocking test. Based on its current location and the preset test location, the robot plans a travel path and travels to the preset test location. At the preset test location, the robot uses its various onboard sensors to detect and identify the door panel of the testing device to determine whether it has recognized the door panel.

[0086] In one possible implementation, the robot sends a first command to the test location when it determines that it has successfully identified the door panel; if the robot fails to identify the door panel, it sends a second command to the test device. Clearly, the first command indicates that the robot has successfully identified the door panel, and the second command indicates that the robot has failed to identify the door panel.

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

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

[0089] For example, 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 knocking test parameters are received, and the opening angle and / or depth of the door panel relative to the door frame are adjusted according to the knocking test parameters.

[0090] If a second instruction is received indicating that the robot has not successfully recognized the door panel, it can be determined that the robot has not recognized the door panel, and the knocking test parameters will not be received. The depth of the door panel relative to the door frame will be adjusted so that the robot can recognize the door panel and perform the knocking test.

[0091] In some embodiments, if the robot fails to recognize the door panel, the depth of the door panel relative to the door frame is adjusted to increase so that the robot can recognize the door panel and perform a knocking 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 angle of the door panel relative to the door frame will be adjusted to zero degrees through the parameter adjustment component.

[0094] If the robot fails to recognize the door panel, the testing device's control parameter adjustment component (e.g., an electric motor or stepper motor) adjusts the door panel's opening angle relative to the door frame to zero degrees, effectively closing the door panel against the frame. During this adjustment process, the testing device uses sensors (e.g., ultrasonic sensors, infrared sensors, or lidar) to monitor the opening angle in real time, ensuring it remains at zero degrees.

[0095] S102: After adjusting the opening 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 whether the door panel is recognized in real time, until the robot sends the first instruction that the door panel has been successfully recognized, or the depth of the door panel relative to the door frame reaches the preset maximum value.

[0096] The preset depth step indicates the depth of the door panel relative to the door frame that is adjusted each time. For example, when increasing the depth of the door panel relative to the door frame, if the preset depth step is 2cm and the current depth of the door panel relative to the door frame is 5cm, the parameter adjustment component will adjust the depth of the door panel relative to the door frame to 5+2=7cm.

[0097] It should be understood that the preset depth step size can be set and determined according to actual testing needs, and the embodiments of the present invention do not impose any limitations on it. For example, in some embodiments, the preset depth step size can be 2cm, 3cm or other arbitrarily suitable values.

[0098] Specifically, after adjusting the opening angle of the door panel relative to the door frame to zero degrees, the testing device's control parameter adjustment components (such as springs, torsion springs, lead screw mechanisms, electric slide rails, etc.) gradually increase the depth of the door panel relative to the door frame according to a preset depth step, and control the robot to detect and determine whether the door panel has been recognized in real time. During the process of adjusting and increasing the depth of the door panel relative to the door frame, sensors (such as lidar, ultrasonic sensors, infrared sensors, etc.) monitor the depth of the door panel relative to the door frame in real time, thereby ensuring that the depth of the door panel relative to the door frame is adjusted to the 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 the first instruction from 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 increased to a preset maximum value. That is, when the depth of the door panel relative to the door frame is increased to a value greater than or equal to the preset maximum value, the increase in the depth of the door panel relative to the door frame is stopped. At this time, since the robot does not recognize the door panel, the knocking test is not performed.

[0101] It is readily understood that the preset maximum value can be set and determined according to actual testing needs, and the embodiments of the present invention do not impose any limitations on this. For example, in some embodiments, the preset maximum value can be 15cm, 20cm, or other arbitrarily suitable values.

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

[0103] S103: During the process of adjusting the depth of the door panel relative to the door frame, when the parameter adjustment component receives the first instruction from the robot 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] For example, during the process of adjusting the depth of the door panel relative to the door frame by the control parameter adjustment component, if the testing device receives 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 at the time the first instruction is received is taken as a preset depth threshold. This preset depth threshold represents the minimum depth of the door panel relative to the door frame that the robot can identify; 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, it receives knocking test parameters, which include the target angle and / or target depth.

[0106] Specifically, after confirming that the robot has recognized the door panel, the testing device receives knocking test parameters from a test console, host computer, or cloud platform via a suitable communication method (e.g., WiFi, Bluetooth, wired network connection). These knocking test parameters include at least one of the following: target angle and target depth.

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

[0108] In some embodiments, after receiving the door knocking 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 preset angle thresholds and / or preset depth thresholds respectively, so as to determine whether the target angle and / or target depth are within a reasonable range, and then determine whether to adjust the opening angle and / or depth of the door panel relative to the door frame to perform the door knocking 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 the knocking test parameters to obtain the target angle and / or target depth.

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

[0113] Specifically, after receiving the knocking test parameters, the testing device analyzes the received knocking test parameters and extracts the target angle and / or target depth from the knocking test parameters.

[0114] In some embodiments, if a 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 indicates that the target angle is not within a reasonable test angle range, and the testing device does not adjust the opening angle of the door panel relative to the door frame.

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

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

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

[0118] For example, if the received door-knocking test parameters include a target angle, the test device's control parameter adjustment component (e.g., an electric motor, servo motor, stepper motor, etc.) adjusts the opening angle of the door panel relative to the door frame to the target angle. During the adjustment of the opening angle of the door panel relative to the door frame, sensors (e.g., ultrasonic sensors, infrared sensors, lidar, etc.) monitor the opening angle of the door panel relative to the door frame in real time, thereby ensuring that the opening angle of the door panel relative to the door frame is adjusted to the target angle.

[0119] Alternatively, if the received door-knocking test parameters include a target depth, the test device's control parameter adjustment components (e.g., springs, torsion springs, lead screw mechanisms, electric slide rails, etc.) adjust the door panel's depth relative to the door frame to the target depth. During the adjustment of the door panel's depth relative to the door frame, sensors (e.g., ultrasonic sensors, infrared sensors, lidar, etc.) monitor the door panel's depth relative to the door frame in real time, thereby ensuring that the door panel's depth relative to the door frame is adjusted to the target angle.

[0120] In this way, the testing device precisely adjusts the position of the door panel relative to the door frame (including the opening and closing angle and depth) according to the received door knocking test parameters, ensuring the accuracy and repeatability of the door knocking test.

[0121] S400: Controls the robot to perform a knocking test on the door panel and determines whether the robot successfully knocked on the door through a detection component.

[0122] Specifically, after adjusting the opening 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 knocking test command to the robot via a suitable communication method (such as WiFi and Bluetooth). Upon receiving the knocking test command, the robot adjusts the knocking component (such as a robotic arm or robotic hand) to move to the preset knocking position on the door panel, and controls the knocking component to knock on the door panel of the testing device according to preset knocking force, knocking frequency, and knocking count, i.e., to perform the knocking action, thereby controlling the robot to perform a knocking test on the door panel.

[0123] Furthermore, the robot detects knocking signals using detection components (such as sensors, button devices, etc.) installed on the door panel. When a knocking signal is detected, the robot processes and analyzes the detected knocking signal, comparing the knocking signal characteristics (such as amplitude, frequency, and duration) with preset standard signal characteristics that represent successful knocking to determine whether the robot has successfully knocked the door.

[0124] In some embodiments, if the difference between the detected knocking signal feature and the standard signal feature exceeds a preset threshold range, the robot's knocking is considered a failure. If the difference between the detected knocking signal feature and the standard signal feature does not exceed the preset threshold range, the robot's knocking is considered a success.

[0125] In some embodiments, the knocking test parameters include a knocking time threshold. During the knocking test performed by the robot, the knocking test environment is typically controlled to minimize the factors that might interfere with the test. Therefore, if the detection component detects a knocking signal within the knocking time threshold, it indicates that the robot has successfully knocked; if the detection component does not detect a knocking signal within the knocking time threshold, it indicates that the robot has failed to knock, and there is no need to compare the knocking signal characteristics with the standard signal characteristics.

[0126] Please see Figure 6 , Figure 6 This is a schematic diagram of a sub-process 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, a detection component determines whether the robot has successfully knocked on the door, 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 determines that the robot successfully knocked the door.

[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's knocking has failed.

[0130] Specifically, under the condition of minimal interference and minimal impact from factors that might interfere with the door-knocking test, when 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 (e.g., 2s, 3s, or other suitable duration), it indicates that the robot has performed a door-knocking test on the door panel of the testing 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 (e.g., sound signal, vibration signal, etc.) within a preset time threshold, it indicates that the robot has not performed a knocking test on the door panel of the testing device within the preset time threshold, and it can be determined that the robot's knocking has failed.

[0132] It should be understood that the preset time threshold can be set and determined according to actual testing needs, and the embodiments of the present invention do not impose any limitations on it. 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 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 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 step S401:

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

[0136] For example, if the testing device receives a test end command from a test console, host computer, or cloud via a suitable communication method (e.g., WiFi, Bluetooth, wired network connection, etc.), it sends a stop test command to the robot so that the robot stops knocking on the door panel after receiving the stop test command, 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 stops performing the knocking test on the door panel, the control parameter adjustment component of the testing device (such as an electric motor, servo motor, stepper motor, etc.) adjusts the opening angle of the door panel relative to the door frame to the initial opening angle. During the adjustment of the opening angle of the door panel relative to the door frame, sensors (such as ultrasonic sensors, infrared sensors, lidar, etc.) monitor the opening angle of the door panel relative to the door frame in real time, thereby ensuring that the opening angle of the door panel relative to the door frame is adjusted to the initial opening angle.

[0138] Furthermore, the test device's control parameter adjustment components (e.g., springs, torsion springs, lead screw mechanisms, electric slide rails) adjust the depth of the door panel relative to the door frame to the initial depth. During the adjustment of the door panel's depth relative to the door frame, sensors (e.g., ultrasonic sensors, infrared sensors, lidar, etc.) monitor the depth of the door panel relative to the door frame in real time, 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 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 angle and depth) according to the knocking test parameters in the next test, thereby improving the efficiency of the knocking test.

[0140] In some embodiments, the knocking test parameters also include a target number of knocks. After the robot performs a knocking test on the door panel of the testing device, the number of knocks needs to be counted to determine the ratio of successful to unsuccessful knocks and to improve the knocking 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 during the first time period. Each time the robot successfully knocks on the door, the knock count is increased by one.

[0143] The first time period is the duration from the moment the testing device receives the knocking test parameters to the moment the testing device receives the test end command. For example, in some embodiments, if the testing device receives the knocking test parameters at 12:05 and receives the test end command at 13:05, then the first time period is 12:05-13:05.

[0144] During the first time period, the testing device counts each time a knock signal is detected by the detection component, indicating that the robot has successfully knocked on the door once. Each successful knock by the robot increments the knock count by one, thus calculating the total number of knocks made by the robot during the first time period.

[0145] S403: Based on the number of knocks and the target number of knocks, obtain the test results of the knocking test, including the success rate and / or the failure rate of knocking.

[0146] Specifically, the statistically obtained number of knocks and the target number of knocks are mathematically calculated to obtain the test results for the knocking test. The test results include at least one of the knocking success rate and the knocking failure rate. The target number of knocks is the number of knocks the testing device requires the robot to perform.

[0147] In some embodiments, the successful knock count is divided by the target knock count to obtain the knock success rate. The difference between the target knock count and the successful knock count is the unsuccessful knock count. Then, the unsuccessful knock count is divided by the target knock count to obtain the knock failure rate.

[0148] In summary, the robot door-knocking test method provided in this embodiment of the 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 disposed on the door panel, and the parameter adjustment assembly is connected to the door panel and the door frame respectively. 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 door-knocking test parameters, which include a target angle and / or a target depth; if the door-knocking test parameters include a target angle, adjusting the opening angle of the door panel relative to the door frame to the target angle through the parameter adjustment assembly; and if the door-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 successfully knocked the door through the detection assembly.

[0149] In this invention, a testing device is used to automatically conduct door-knocking tests with robots. This method is applicable to various door-knocking test situations, reduces the impact of environmental changes on door-knocking tests, and improves the accuracy of door-knocking test results.

[0150] This invention provides a computer-readable storage medium storing processor-executable computer program instructions. When invoked by a processor, the computer program instructions cause the processor to execute any of the robot knocking test methods provided in this invention, or to execute the steps in any possible implementation of any of the robot knocking test methods provided in this invention.

[0151] In some embodiments, the storage medium may be a flash memory, a hard disk, an optical disk, a register, a magnetic surface memory, 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 art, or various devices including one or any combination of the above storage media.

[0152] In some embodiments, computer program instructions may take the form of programs, software, software modules, scripts, 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 stand-alone programs or as modules, components, subroutines, or other units suitable for use in a computing environment.

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

[0154] As an example, computer program instructions can be deployed to execute on a single computing device (including devices such as smart terminals and servers), or on multiple computing devices located in one location, or on multiple computing devices distributed across multiple locations and interconnected via a communication network. It is readily understood that all or part of the steps of the methods described in the embodiments of the present invention above can be implemented directly using electronic hardware or processor-executable computer program instructions, or a combination of both.

[0155] Those skilled in the art will understand that the embodiments provided by this invention are merely illustrative. The order in which the steps in the methods of the embodiments are written does not imply 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. Modules or sub-modules, units or sub-units in the apparatus or system of the embodiments can be merged, divided, and deleted according to actual needs. For example, the division of units is only a logical functional division, and there may 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 above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented using software and a general-purpose hardware platform, or it can be implemented using hardware. Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This computer program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0157] It should be noted that the above embodiments are for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly. They should not be construed as limiting the scope of protection of the present invention. Those skilled in the art can understand that all or part of the processes of the above embodiments can be implemented by modifying the technical solutions described in the embodiments of the present invention, or by making equivalent substitutions for some of the technical features. It is understood that these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and should be considered as equivalent changes and modifications made based on the embodiments of the present invention, all of which should fall within the scope of the claims of the present invention.

Claims

1. A method for testing a robot knocking on a door, applied to a testing device, characterized in that, 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 disposed on the door panel, and the parameter adjustment assembly is connected to the door panel and the door frame respectively. The method includes: 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; After the robot identifies the door panel, it receives knocking test parameters, which include target angle and / or target depth. If the knocking test parameters include a target angle, the opening angle of the door panel relative to the door frame is adjusted to the target angle by the parameter adjustment component; and if the knocking test parameters include 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 determines whether the robot successfully knocked on the door.

2. The method according to claim 1, characterized in that, The knocking test parameters include a knocking time threshold, and the step of determining whether the robot successfully knocked on the door using the detection component includes: If the detection component detects the robot's knocking signal within the knocking time threshold, it determines that the robot successfully knocked on the door. If the detection component does not detect the robot's knocking signal within the knocking time threshold, it determines that the robot's knocking has failed.

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

4. The method according to claim 1, characterized in that, The knocking test parameters also include the target number of knocks, and the method further includes: The number of times the robot knocks on the door within the first time period is counted, wherein each successful knock by the robot increases the knock count by one. Based on the number of knocks and the target number of knocks, the test results of the knocking test are obtained, including the success rate and / or the failure rate of knocking.

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

6. The method according to claim 1, characterized in that, The process of 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 includes: A test command is sent to the robot to make the robot reach a preset test position specified by the test command. The robot detects whether the door panel is recognized at the preset test position. When the robot determines that the door panel has been recognized, a first command indicating that the door panel has been successfully recognized is issued. When the robot does not recognize the door panel, a second command indicating that the door panel has not been successfully recognized is issued. If the first instruction is received, it is determined that the robot has identified the door panel; If the second instruction is received, it is determined that the robot has not recognized the door panel.

7. The method according to claim 6, characterized in that, The method further includes: If it is determined that the robot has not recognized the door panel, the opening angle of the door panel relative to the door frame is adjusted to zero degrees by the parameter adjustment component. After adjusting the opening 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 whether the door panel is recognized in real time, until the robot sends a first instruction that the door panel has been successfully recognized, or the depth of the door panel relative to the door frame reaches the preset maximum value.

8. The method according to claim 7, characterized in that, The method further includes: During the process of adjusting the depth of the door panel relative to the door frame, when the parameter adjustment component receives the first instruction from the robot 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: The testing apparatus is used to perform the robot knocking test method as described in any one of claims 1-8; The robot is communicatively connected to the testing device and is used to perform a knocking test on the door panel according to the control commands sent by the testing device.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores processor-executable computer program instructions, which, when invoked by the processor, cause the processor to perform the robot knocking test method according to any one of claims 1-8.

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