Narrow-road dynamic obstacle avoidance passing test method for mobile robot

Abstract

The invention belongs to the technical field of robot testing, and discloses a narrow-road dynamic obstacle avoidance passage testing method for a mobile robot, and the method comprises the steps: presetting a starting point and an ending point of the robot on a test road surface, and presetting a linear motion target track when the robot is not blocked by an obstacle; narrow doors are evenly arranged on the two sides of a linear motion target track, an obstacle is arranged on the linear motion target track, and a flexible film type sensor is arranged on the surface of the obstacle; setting an initial distance between two opposite single narrow doors, if the robot cannot pass through the width, increasing the distance between the narrow doors until the robot can pass through, and recording a final passing width; starting a motion action of autonomous navigation of the robot to a target position, using a motion capture system to track and record a moving trajectory of the robot, and outputting whether the robot completes an advancing task or not and arrives at a target point; and judging whether the robot collides with the obstacle or not in the test process according to an output result of the flexible film type sensor, and outputting a test result.

Description

Technical Field

[0001] The invention belongs to the technical field of robot testing, and in particular relates to a narrow-path dynamic obstacle avoidance passing test method for a mobile robot. Background Art

[0002] The obstacle avoidance capability of mobile robots is a core indicator for measuring the performance of robots. The test equipment and test methods for the obstacle avoidance capability of robots in existing standards can only evaluate the ability or collision force of robots to prevent collisions with obstacles by stopping or avoiding in simple environments. For example, GB / T 38124 only evaluates the ability of robots to prevent collisions with dynamic / static obstacles by stopping or avoiding in simple working conditions; GB / T 40229 proposes a detection method for evaluating whether a robot has a head-on collision with an object, and the magnitude of the collision force if a collision occurs. However, in the actual application environment of mobile robots, robots need to perform corresponding work tasks under the superposition of multiple harsh working conditions. Only by evaluating the obstacle avoidance capability of robots under a single working condition, it is impossible to accurately evaluate the obstacle avoidance performance of robots, which to some extent affects the improvement of the safety and performance level of service robots.

[0003] The above description of the background technology is only for facilitating an in-depth understanding of the technical solution of the present invention (such as the technical means used, the technical problems solved and the technical effects produced), and should not be regarded as an admission or any form of implication that the information constitutes prior art already known to those skilled in the art. Summary of the invention

[0004] The present invention aims to solve the above technical problems at least to a certain extent. To this end, the present invention aims to provide a method for testing the dynamic obstacle avoidance of a mobile robot in a narrow lane.

[0005] The technical solution adopted by the present invention is:

[0006] A method for testing a mobile robot's narrow-path dynamic obstacle avoidance, comprising:

[0007] S1. Preset the robot's starting point A and ending point B on the test road surface, and preset the robot's linear motion target trajectory when there are no obstacles;

[0008] S2. Arrange narrow doors evenly on both sides of the preset linear motion target track, arrange obstacles on the preset linear motion target track, and arrange flexible film sensors on the surface of the obstacles;

[0009] S3. Set the initial distance between two opposite single narrow doors. If the robot cannot pass through this width, increase the distance between the narrow doors until the robot can pass through, and record the final pass width.

[0010] S4. Start the robot's autonomous navigation to the target position, use the motion capture system to track and record the robot's trajectory, and output whether the robot has completed the moving task and reached the target point; determine whether the robot collides with an obstacle during the test based on the output results of the flexible film sensor, and output the test results.

[0011] Preferably, the test results include:

[0012] The robot successfully completed the passage task without any contact or collision with any obstacles during the passage process, and recorded the passage time and passage width;

[0013] The robot successfully completes the passage task and collides with obstacles during the passage process, recording the passage time, passage width, and collision force;

[0014] If the robot fails to complete the passage task, the set passage width is recorded; if it collides with an obstacle during the process, the collision force is recorded.

[0015] Preferably, the distance between adjacent obstacles is 5 times the length of the robot. The initial distance between two opposite single narrow doors is 1.1 times the minimum passing width of the robot.

[0016] Preferably, the narrow door comprises a test wall, a retractable adjustable door panel is provided on one side of the test wall, and a movable roller is provided at the bottom of the test wall. The obstacle is a cylinder, and the flexible film sensor is attached to the surface of the cylinder. The motion capture system comprises a plurality of cameras, and the plurality of cameras are located around the linear motion target track.

[0017] The beneficial effects of the present invention are:

[0018] A narrow-path dynamic obstacle avoidance and passage test method for a mobile robot provided by the present invention can evaluate core indicators such as the robot's dynamic obstacle avoidance capability, contact collision force, and passage capability when multiple harsh working conditions such as narrow doors, obstacles, and different complex road surfaces are superimposed. It can more accurately measure the robot's obstacle avoidance performance and collision force in a realistic working environment, provide technical support for the improvement and innovation of the mobile robot's motion performance capabilities, and promote further improvement in the mobile robot's motion safety level. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The present invention is a flow chart of a method for testing a mobile robot's narrow-path dynamic obstacle avoidance.

[0020] Figure 2 It is a schematic diagram of the narrow-path dynamic obstacle avoidance test system for a mobile robot of the present invention. DETAILED DESCRIPTION

[0021] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention. The components of the embodiments of the present invention generally described and shown in the drawings herein may be arranged and designed in a variety of different configurations.

[0022] In the present invention, unless otherwise clearly stipulated and limited, terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal connection of two elements.

[0023] like Figure 1 and Figure 2 As shown, a method for testing a mobile robot's narrow lane dynamic obstacle avoidance in this embodiment includes the following steps:

[0024] S1. On a test road surface suitable for the robot's application conditions (recommended such as flat tiled road surface, carpeted road surface, floor paint road surface, etc. that meet the application conditions of the robot being tested), preset the robot's starting point A and end point B, and preset the robot's linear motion target trajectory when there are no obstacles;

[0025] S2. Narrow doors are evenly arranged on both sides of the preset linear motion target trajectory, obstacles are arranged on the preset linear motion target trajectory, and flexible film sensors are arranged on the surface of the obstacles; the distance between adjacent obstacles is 5 times the length of the robot.

[0026] Specifically, the narrow door includes a test wall, one side of which is provided with a retractable adjustable door panel to adjust the width of the narrow door. The test channel should cover no less than 6 times the minimum passing width for automatic adjustment; a movable roller is provided at the bottom of the test wall. The test wall is constructed with multi-layer pine test boards, with a uniform and flat surface, suitable impact and collision resistance, and mainly light gray color. The obstacle is a cylinder used to simulate the human torso, and a flexible film sensor is attached to the surface of the cylinder. The motion capture system consists of multiple cameras, and multiple cameras are located around the linear motion target trajectory. The camera uses a high-speed and high-precision infrared camera, and multiple high-speed and high-precision infrared cameras work together to collect and record the motion trajectory of the robot with a tracking trigger device in real time.

[0027] S3. Set the initial spacing between two opposite single narrow doors. The initial spacing between two opposite single narrow doors is 1.1 times the minimum passing width of the robot. If the robot cannot pass through this width, increase the spacing between the narrow doors until the robot can pass through. Record the final passing width.

[0028] S4. Start the robot's autonomous navigation to the target position, use the motion capture system to track and record the robot's trajectory, and output whether the robot has completed the moving task and reached the target point; determine whether the robot collides with an obstacle during the test based on the output results of the flexible film sensor, and output the test results.

[0029] The test results include three situations:

[0030] The robot successfully completed the passage task without any contact or collision with any obstacles during the passage process, and recorded the passage time and passage width;

[0031] The robot successfully completes the passage task and collides with obstacles during the passage process, recording the passage time, passage width, and collision force;

[0032] If the robot fails to complete the passage task, the set passage width is recorded; if it collides with an obstacle during the process, the collision force is recorded.

[0033] The present invention is not limited to the above-mentioned optional implementation modes. Anyone can derive other various forms of products under the inspiration of the present invention. However, no matter what changes are made in the shape or structure, all technical solutions that fall within the scope defined by the claims of the present invention fall within the protection scope of the present invention.

Claims

1. A method for testing a mobile robot's narrow-path dynamic obstacle avoidance, characterized in that: include: S1. Preset the robot's starting point A and ending point B on the test road surface, and preset the robot's linear motion target trajectory when there are no obstacles; S2. Arrange narrow doors evenly on both sides of the preset linear motion target track, arrange obstacles on the preset linear motion target track, and arrange flexible film sensors on the surface of the obstacles; S3. Set the initial distance between two opposite single narrow doors. If the robot cannot pass through this width, increase the distance between the narrow doors until the robot can pass through, and record the final pass width. S4, start the robot's autonomous navigation to the target location, use the motion capture system to track and record the robot's running trajectory, and output whether the robot has completed the travel task and reached the target point; According to the output result of the flexible film sensor, it is judged whether the robot collides with an obstacle during the test and the test result is output.

2. The method for testing the dynamic obstacle avoidance of a mobile robot in a narrow lane according to claim 1, characterized in that: The test results include: The robot successfully completed the passage task without any contact or collision with any obstacles during the passage process, and recorded the passage time and passage width; The robot successfully completes the passage task and collides with obstacles during the passage process, recording the passage time, passage width, and collision force; If the robot fails to complete the passage task, the set passage width is recorded; if it collides with an obstacle during the process, the collision force is recorded.

3. The method for testing the dynamic obstacle avoidance of a mobile robot in a narrow lane according to claim 1, characterized in that: The distance between adjacent obstacles is 5 times the length of the robot.

4. The method for testing the dynamic obstacle avoidance of a mobile robot in a narrow lane according to claim 1, characterized in that: The initial spacing between two opposite single narrow doors is 1.1 times the minimum passing width of the robot.

5. The method for testing the dynamic obstacle avoidance of a mobile robot in a narrow lane according to claim 1, characterized in that: The narrow door comprises a test wall, one side of the test wall is provided with a telescopic adjustable door panel, and the bottom of the test wall is provided with a movable roller.

6. The method for testing the dynamic obstacle avoidance of a mobile robot in a narrow lane according to claim 1, characterized in that: The obstacle is a cylinder, and the flexible film sensor is attached to the surface of the cylinder.

7. The method for testing the dynamic obstacle avoidance of a mobile robot in a narrow lane according to claim 1, characterized in that: The motion capture system comprises a plurality of cameras, and the plurality of cameras are located around the linear motion target track.

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