Robot door knocking test method and device, electronic equipment and product

Abstract

The invention is suitable for the technical field of robots, and provides a door knocking test method and device of a robot, electronic equipment and a product. The door knocking test method of the robot comprises the following steps: acquiring door knocking test data of the robot in each of a plurality of test environments; according to the door knocking test data, determining a failure environment in the multiple test environments; and adjusting parameters when the robot knocks the door in the failure environment. According to the embodiment of the invention, the door knocking effectiveness of the robot can be improved.

Description

Technical Field

[0001] The present application belongs to the field of robotics technology, and in particular relates to a robot knocking test method, device, electronic equipment and product. Background Art

[0002] At present, robots often need to knock on doors when performing some tasks, such as delivering goods to the door or picking up goods at the destination. The knocking function usually relies on the robot's sensors and actuators. The test of the knocking function usually tests the status of the sensors and actuators. In complex application environments, abnormal situations are prone to occur, affecting the effectiveness of the robot's knocking in actual operations. Summary of the invention

[0003] The embodiments of the present application provide a robot door knocking test method, device, electronic device and product, which can solve the problem of low effectiveness of robot door knocking in actual operation in related technologies.

[0004] A first aspect of an embodiment of the present application provides a knocking test method for a robot, comprising: obtaining knocking test data of the robot in each of a plurality of test environments, the knocking test data being obtained by controlling the robot to knock on the door in the corresponding test environment; determining a failure environment in the plurality of test environments based on the knocking test data; and adjusting parameters of the robot when knocking on the door in the failure environment.

[0005] In some embodiments of the first aspect, determining a failure environment among the multiple test environments based on the knock test data includes: determining a knock contact force and a knock volume for each test environment based on the knock test data; and determining a test environment in which the knock contact force is lower than a force threshold, and / or the knock volume exceeds a volume range as the failure environment.

[0006] In some embodiments of the first aspect, adjusting the parameters of the robot when knocking on the door in the failure environment includes: if the knocking volume of the failure environment exceeds a volume range, adjusting the knocking force and / or knocking frequency; if the knocking volume of the failure environment is within the volume range, adjusting the parameters of the robot when knocking on the door according to the classification information of the failure environment.

[0007] In some embodiments of the first aspect, adjusting the parameters of the robot when knocking on the door based on the classification information of the failure environment includes at least one of the following: if the light intensity of the failure environment is greater than an intensity threshold, adjusting the sensor weight of the robot, and the sensor weight is used to weightedly obtain the positioning information of the robot when knocking on the door; if the wind force of the failure environment is greater than the wind force threshold, adjusting the stability parameters of the robot's mechanical arm, and the mechanical arm is used to knock on the door; if the ambient humidity of the failure environment is greater than a humidity threshold, adjusting the knocking force.

[0008] In some embodiments of the first aspect, before adjusting the parameters of the robot when knocking on the door in the failure environment, it also includes: detecting the state of the robot's mechanical arm when knocking on the door in the failure environment; if the mechanical arm cannot reach the target position or cannot be reset, outputting a prompt message.

[0009] In some embodiments of the first aspect, the method of obtaining the knocking test data of the robot in each of multiple test environments includes: in a target test environment among the multiple test environments, if the robot fails to knock on the door, controlling the robot to knock on the door again until the knocking is successful or the number of retries exceeds a threshold value, and determining the knocking test data of the target test environment based on the data from each retry.

[0010] In some embodiments of the first aspect, before obtaining the knocking test data of the robot in each of the multiple test environments, it also includes: controlling the robot to perform fault detection; when the robot is in a fault state, controlling the robot to repair the fault.

[0011] A second aspect of an embodiment of the present application provides a robot knocking test device, comprising: an acquisition unit, used to acquire knocking test data of the robot in each of a plurality of test environments, wherein the knocking test data is obtained by controlling the robot to knock on the door in the corresponding test environment; a determination unit, used to determine a failure environment in the plurality of test environments based on the knocking test data; and an adjustment unit, used to adjust parameters of the robot when knocking on the door in the failure environment.

[0012] A third aspect of an embodiment of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above-mentioned robot knocking test method when executing the computer program.

[0013] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned robot knocking test method are implemented.

[0014] A fifth aspect of an embodiment of the present application provides a computer program product. When the computer program product is run on an electronic device, the electronic device executes the steps of the above-mentioned robot knocking test method.

[0015] In an implementation manner of the present application, by acquiring knocking test data obtained when the robot knocks on the door in each of multiple test environments, knocking simulation tests can be performed in different test environments, and based on the knocking test data, the parameters of the robot when knocking on the door in the failure environment of the multiple test environments can be adjusted to ensure that the robot can effectively knock on the door in each test environment, thereby improving the effectiveness of the robot's knocking on the door. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0017] Figure 1 This is a schematic diagram of the implementation flow of a robot knocking test method provided in an embodiment of the present application;

[0018] Figure 2 It is a structural schematic diagram of a robot door knocking test device provided in an embodiment of the present application;

[0019] Figure 3 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work are protected by the present application.

[0021] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0022] In the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0023] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0024] At present, robots often need to knock on doors when performing some tasks, such as delivering goods to the door or picking up goods at the destination. The knocking function usually relies on the robot's sensors and actuators. The test of the knocking function usually tests the status of the sensors and actuators. In complex application environments, abnormal situations are prone to occur, affecting the effectiveness of the robot's knocking in actual operations.

[0025] In view of this, the present application proposes a robot door knocking test method, which can ensure that the robot can effectively knock on the door in each test environment, thereby improving the effectiveness of the robot's door knocking.

[0026] In order to illustrate the technical solution of the present application, a specific embodiment is provided below for illustration.

[0027] Figure 1 The present invention provides a schematic diagram of the implementation process of a robot knocking test method provided in an embodiment of the present invention, which can be applied to an electronic device. The electronic device can be a computer, a mobile phone, or other intelligent device for controlling or communicating with the robot, or it can be the robot itself.

[0028] Specifically, the above-mentioned robot knocking test method may include the following steps S101 to S103.

[0029] Step S101, obtaining knocking test data of the robot in each of multiple test environments.

[0030] The knocking test data is obtained by controlling the robot to knock on the door in the corresponding test environment. In other words, the robot can be controlled to perform the knocking action in each test environment, and the parameters of the robot during the knocking process and the knocking results can be recorded to obtain the knocking test data in the corresponding test environment.

[0031] Step S102, determining a failure environment in a plurality of test environments according to the knock test data.

[0032] Among them, the failure environment refers to an environment in which the robot fails to knock on the door among multiple test environments. For each test environment, it can be determined whether the robot knocks on the door successfully based on the knocking test data to determine whether it is a failure environment. The test environment in which the robot fails to knock on the door can be marked as a failure environment. The test environment in which the robot successfully knocks on the door can be marked as a valid environment.

[0033] Step S103, adjusting the parameters of the robot when knocking on the door in the failure environment.

[0034] In the implementation of the present application, for the failure environment, it is necessary to adjust the parameters of the robot when knocking on the door, so that the robot can effectively knock on the door in the failure environment. The parameters when knocking on the door refer to the parameters involved in the process of the robot knocking on the door, which may include knocking parameters such as knocking force and knocking frequency, and may also include parameters for adjusting the stability or state of the robot arm (actuator), parameters for adjusting unit data, etc.

[0035] In an implementation manner of the present application, by acquiring knocking test data obtained when the robot knocks on the door in each of multiple test environments, knocking simulation tests can be performed in different test environments, and based on the knocking test data, the parameters of the robot when knocking on the door in the failure environment of the multiple test environments can be adjusted to ensure that the robot can effectively knock on the door in each test environment, thereby improving the effectiveness of the robot's knocking on the door.

[0036] In some embodiments of the present application, before obtaining the knocking test data of the robot in each of the multiple test environments, it also includes: controlling the robot to perform fault detection; when the robot is in a fault state, controlling the robot to repair the fault.

[0037] Specifically, the status of all key components of the robot can be monitored in real time, and once an abnormality is detected, a diagnosis is immediately made. For faults that can be automatically recovered, the faulty components are immediately repaired or restarted. For example, when an abnormal output of a sensor is detected, the sensor can be recalibrated to ensure that the sensor is working properly. If a fault occurs in the robot arm control unit, the robot can be controlled to restart the robot arm control unit to restore its normal function. In this way, it can be ensured that the test data obtained by the robot during the test process will not be affected by the failure of the robot's key components.

[0038] In some embodiments of the present application, the robot can be controlled to perform knocking tests in different test environments. The test environment can be classified according to the material of the door (such as wooden door, steel door, glass door), temperature and humidity conditions, light intensity, noise level, etc. In each test environment, indicators such as whether the knocking is successful, the knocking force, frequency, volume, user response time, and frequency of failure can be recorded to form knocking test data.

[0039] In some embodiments of the present application, obtaining knocking test data of the robot in each of multiple test environments may include: in a target test environment among the multiple test environments, if the robot fails to knock on the door, controlling the robot to knock on the door again until the knocking is successful or the number of retries exceeds a threshold value, and determining the knocking test data of the target test environment based on the data from each retry.

[0040] Specifically, the target test environment can be any one of a plurality of test environments. If the robot successfully knocks on the door in the target test environment, the knocking test data of the target test environment can be obtained according to the data of this knocking. If the knocking fails, the robot needs to be controlled to retry until the knocking succeeds or the number of retries exceeds a threshold value (e.g., 5 times), and the knocking test data of the target test environment is determined according to the data of each retry. In this way, the knocking test data can be made more reliable.

[0041] In some embodiments of the present application, determining a failure environment in multiple test environments based on the knock test data may include: determining the knock contact force and the knock volume for each test environment based on the knock test data, and determining a test environment in which the knock contact force is lower than a force threshold and / or the knock volume is outside a volume range as a failure environment.

[0042] The knocking contact force reflects whether the robot is in effective contact with the door surface when knocking on the door. It can be collected by a sensor for detecting feedback force or based on user feedback data. If the knocking contact force is lower than the force threshold, it means that the robot is not in effective contact with the door surface.

[0043] The knocking volume reflects whether the knocking can meet the user's perception needs, and can be obtained through the data of the sound receiving device or user feedback. If the knocking volume exceeds the volume range, it means that the knocking volume is too small or too large. If the knocking volume is too small, the user cannot effectively perceive the robot knocking on the door. If the knocking volume is too large, it means that the robot may have deviations in the knocking control process, resulting in excessive knocking force. For example, the user's feedback information on the knocking volume can be obtained by controlling the robot to interact with the user, so that the adjusted parameters can meet the user's needs.

[0044] For each test environment, if the knock contact force is lower than the force threshold, and / or the knock volume exceeds the volume range, it can be determined as a failure environment.

[0045] Correspondingly, in some other embodiments of the present application, a test environment in which the knocking contact force is greater than or equal to the force threshold and the knocking volume is within the volume range can be determined as a valid environment.

[0046] In some embodiments of the present application, before adjusting the parameters of the robot when knocking on the door in a failure environment, it may also include: detecting the state of the robot's mechanical arm when knocking on the door in a failure environment, and outputting a prompt message if the mechanical arm cannot reach the target position or cannot be reset.

[0047] Specifically, if the robotic arm cannot reach the required target position, or the robotic arm cannot be reset, it means that a fault occurs in the robotic arm during the test. At this time, the robot can be controlled to cut off power and output a prompt message, requesting maintenance personnel to repair the robotic arm fault, thereby enhancing the robot's operating stability.

[0048] If the robot arm can reach the target position and reset, the parameters of the robot can be adjusted when knocking on the door in the failure environment.

[0049] When adjusting the parameters of the robot when knocking on the door in the failure environment, the cause of the failure can be analyzed. Specifically, the knocking test data can carry the time point of the knocking failure, the test environment conditions, the sensor status, the position of the robot arm, etc. For the failure environment, one or more inspection analyses can be performed based on the knocking test data.

[0050] Specifically, the above inspection and analysis may include one or more of the following:

[0051] 1. Sensor status check, which is used to check whether there are any abnormalities in the data of the lidar, vision system, and force sensor. For example, whether the distance detected by the lidar is as expected, and whether the force sensor detects abnormal pressure values.

[0052] 2. Path and position deviation check, which is used to check the navigation data to determine whether there is path deviation or positioning error that causes the robot to fail to reach the target position.

[0053] 3. Test environment check, which is used to determine whether the environmental conditions of the test environment, such as light intensity, temperature, humidity, etc., are within the normal range, and whether there are unexpected obstacles in front of the door, causing the robot to fail to touch the door effectively.

[0054] 4. Robot arm status analysis: used to check whether the robot arm has position misalignment or movement obstruction, and analyze current, voltage and other parameters to determine whether the motor is in a healthy state.

[0055] In some embodiments of the present application, since the knocking test data of the failure environment is obtained based on the data of multiple retries, cluster analysis or machine learning models can be used to analyze whether there are common causes in the multiple retries, so as to adjust the parameters during knocking to avoid similar failures.

[0056] In some embodiments of the present application, if the cause of the failure cannot be analyzed, a fault report can be generated to notify the technician to perform manual intervention. The technician can further analyze the problem by viewing the log, video recording, and the fault report generated by the system.

[0057] For the above different reasons for failure, corresponding adjustment strategies can be adopted.

[0058] In some embodiments of the present application, adjusting the parameters of the robot when knocking on the door in a failure environment may include: if the knocking volume in the failure environment exceeds the volume range, adjusting the knocking force and / or knocking frequency.

[0059] Specifically, if the knock volume in the failure environment is greater than the upper limit of the volume range, the knock force and / or knock frequency can be reduced to reduce noise. If the knock volume in the failure environment is less than the lower limit of the volume range, the knock force and / or knock frequency can be increased to ensure that the knock volume is loud enough. In some embodiments, the knock volume can be obtained based on user feedback data or by receiving sound in a test environment through a sound receiving device, which can reduce interference in a night environment and ensure that the user can hear it in a noisy environment.

[0060] In other embodiments of the present application, adjusting the parameters of the robot when knocking on the door in a failure environment may include: if the knocking volume of the failure environment is within the volume range, adjusting the parameters of the robot when knocking on the door according to the classification information of the failure environment.

[0061] Specifically, according to the classification information of the failure environment, adjusting the parameters of the robot when knocking on the door may include at least one of the following:

[0062] 1. If the light intensity of the failure environment is greater than the intensity threshold, adjust the robot's sensor weight. The sensor weight is used to weight the robot's positioning information when knocking on the door. Specifically, if the aforementioned failure reason is that knocking on the door fails in a strong light environment, that is, when the light intensity is strong, the detection accuracy of the visual sensor is reduced, which will lead to position deviation, and the robot cannot move to the accurate target position to perform the knocking action. At this time, the robot's sensor weight can be adjusted to increase the sensor weight of non-visual sensors such as radars and infrared sensors, and reduce the sensor weight of visual sensors, so that the robot can obtain more accurate positioning information when fusing sensor data.

[0063] 2. If the wind force in the failure environment is greater than the wind force threshold, the stability parameter of the robot's mechanical arm is adjusted. Weight, the above mechanical arm is used to knock on the door. Specifically, if the aforementioned failure reason is that the door knocking fails in a strong wind environment, that is, the wind force in the failure environment is greater than the wind force threshold, the stability parameter of the robot's mechanical arm can be adjusted to increase the buffer when knocking on the door to cope with the impact of wind force.

[0064] 3. If the ambient humidity of the failure environment is greater than the humidity threshold, adjust the knocking force. Specifically, if the aforementioned failure reason is that the knocking fails in a high humidity environment, the knocking force can be adjusted to avoid the problem of unsatisfactory knocking effect caused by expansion of the door material.

[0065] In some implementations of the present application, a fault report may be generated based on the cause of the failure, the fault report may include a description of the problem, the cause of the failure, measures taken, and a suggested further processing plan, and may be sent to a technical support team.

[0066] In some embodiments of the present application, for any test environment, if user feedback is received, the parameters of the knocking can be adjusted according to the feedback. Specifically, the knocking waiting time can be adjusted or the knocking force can be changed according to the user's needs to improve user satisfaction and system responsiveness.

[0067] In this way, for each failure environment, the environmental classification of the failure environment and the parameters used when knocking can be recorded, and the parameters used when knocking under the environmental classification can be adjusted and saved after adjustment. For each valid environment, the environmental classification of the valid environment and the parameters used when knocking can be recorded and saved directly. During the actual knocking process of the robot, the environmental classification of the actual environment can be detected, and the corresponding knocking parameters can be read to control the robot to perform the knocking action, thereby improving the adaptability of the robot under different conditions and the consistency of the knocking effect.

[0068] It should be noted that, for the sake of simplicity of description, the aforementioned method embodiments are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited to the described order of actions, because according to the present application, certain steps can be performed in other orders.

[0069] like Figure 2 Shown is a schematic structural diagram of a robot door knocking test device 200 provided in an embodiment of the present application, wherein the robot door knocking test device 200 is configured on an electronic device.

[0070] Specifically, the robot knocking test device 200 may include:

[0071] An acquisition unit 201 is used to acquire knocking test data of the robot in each of a plurality of test environments, wherein the knocking test data is obtained by controlling the robot to knock on the door in the corresponding test environment;

[0072] A determination unit 202, configured to determine a failure environment in the multiple test environments according to the knock test data;

[0073] The adjustment unit 203 is used to adjust the parameters of the robot when knocking on the door in the failure environment.

[0074] In some embodiments of the present application, the determination unit 202 may be specifically used to: determine the knocking contact force and the knocking volume of each test environment based on the knocking test data; and determine the test environment in which the knocking contact force is lower than the force threshold, and / or the knocking volume exceeds the volume range as the failure environment.

[0075] In some embodiments of the present application, the adjustment unit 203 may be specifically used to: if the knocking volume of the failure environment exceeds the volume range, adjust the knocking force and / or knocking frequency; if the knocking volume of the failure environment is within the volume range, adjust the parameters of the robot when knocking according to the classification information of the failure environment.

[0076] In some embodiments of the present application, the adjustment unit 203 can be specifically used to implement at least one of the following: if the light intensity of the failure environment is greater than an intensity threshold, the sensor weight of the robot is adjusted, and the sensor weight is used to weightedly obtain the positioning information of the robot when knocking on the door; if the wind force of the failure environment is greater than the wind force threshold, the stability parameter of the robot's mechanical arm is adjusted, and the mechanical arm is used to knock on the door; if the ambient humidity of the failure environment is greater than the humidity threshold, the knocking force is adjusted.

[0077] In some embodiments of the present application, the robot knocking test device 200 also includes a prompt unit, which is specifically used to: detect the state of the robot's mechanical arm when knocking on the door in the failure environment; if the mechanical arm cannot reach the target position or cannot be reset, output a prompt message.

[0078] In some embodiments of the present application, the acquisition unit 201 can be specifically used for: in the target test environment of the multiple test environments, if the robot fails to knock on the door, controlling the robot to knock on the door again until the knocking is successful or the number of retries exceeds a threshold value, and determining the knocking test data of the target test environment based on the data of each retry.

[0079] In some embodiments of the present application, the robot knocking test device 200 also includes a fault processing unit, which is specifically used to: control the robot to perform fault detection; when the robot is in a fault state, control the robot to repair the fault.

[0080] It should be noted that, for the convenience and simplicity of description, the specific working process of the above-mentioned robot knocking test device 200 can be referred to Figure 1 The corresponding process of the method will not be repeated here.

[0081] like Figure 3 , which is a schematic diagram of an electronic device provided in an embodiment of the present application. Specifically, the electronic device 3 may include: a processor 30, a memory 31, and a computer program 32 stored in the memory 31 and executable on the processor 30, such as a robot knock test program. When the processor 30 executes the computer program 32, the steps in the above-mentioned robot knock test method embodiments are implemented, such as Figure 1 Alternatively, when the processor 30 executes the computer program 32, the functions of each module / unit in the above-mentioned device embodiments are realized, for example Figure 2 The functions of the acquisition unit 201, the determination unit 202 and the adjustment unit 203 are shown.

[0082] The computer program may be divided into one or more modules / units, which are stored in the memory 31 and executed by the processor 30 to complete the present application. The one or more modules / units may be a series of computer program instruction segments capable of completing specific functions, which are used to describe the execution process of the computer program in the electronic device.

[0083] For example, the computer program can be divided into: an acquisition unit, a determination unit, and an adjustment unit. The specific functions of each unit are as follows: an acquisition unit, used to acquire the knocking test data of the robot in each of the multiple test environments, wherein the knocking test data is obtained by controlling the robot to knock on the door in the corresponding test environment; a determination unit, used to determine the failure environment in the multiple test environments according to the knocking test data; and an adjustment unit, used to adjust the parameters of the robot when knocking on the door in the failure environment.

[0084] The electronic device may include, but is not limited to, a processor 30 and a memory 31. Those skilled in the art will appreciate that Figure 3These are merely examples of electronic devices and do not constitute a limitation of the electronic device. The electronic device may include more or fewer components than those shown in the figure, or a combination of certain components, or different components. For example, the electronic device may also include input and output devices, network access devices, buses, etc.

[0085] The processor 30 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0086] The memory 31 may be an internal storage unit of the electronic device, such as a hard disk or memory of the electronic device. The memory 31 may also be an external storage device of the electronic device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device. Further, the memory 31 may also include both an internal storage unit of the electronic device and an external storage device. The memory 31 is used to store the computer program and other programs and data required by the electronic device. The memory 31 may also be used to temporarily store data that has been output or is to be output.

[0087] It should be noted that, for the convenience and brevity of description, the structure of the above electronic device can also refer to the specific description of the structure in the method embodiment, which will not be repeated here.

[0088] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0089] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0090] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0091] In the embodiments provided in the present application, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic device embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0092] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0093] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0094] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0095] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A door knocking test method of a robot, characterized in that: include: Acquire knocking test data of the robot in each of the multiple test environments, where the knocking test data is obtained by controlling the robot to knock on the door in the corresponding test environment; Determining a failure environment in the plurality of test environments based on the knock test data; Adjust the parameters of the robot when knocking on the door in the failure environment.

2. The door knocking test method of the robot as claimed in claim 1, characterized in that: Determining the failure environment in the multiple test environments according to the knock test data includes: Determining the knock contact force and knock volume of each test environment according to the knock test data; A test environment in which the knocking contact force is lower than a force threshold and / or the knocking volume exceeds a volume range is determined as the failure environment.

3. The door knocking test method of the robot as claimed in claim 1, characterized in that: The adjusting the parameters of the robot when knocking on the door in the failure environment includes: If the knocking volume in the failure environment exceeds the volume range, adjusting the knocking force and / or knocking frequency; If the knocking volume of the failure environment is within the volume range, the parameters of the robot when knocking on the door are adjusted according to the classification information of the failure environment.

4. The robot knocking test method as claimed in claim 3, characterized in that: The adjusting the parameters of the robot when knocking on the door according to the classification information of the failure environment includes at least one of the following: If the light intensity of the failure environment is greater than the intensity threshold, adjusting the sensor weight of the robot, the sensor weight is used to weightedly obtain the positioning information of the robot when knocking on the door; If the wind force in the failure environment is greater than a wind force threshold, adjusting a stability parameter of a mechanical arm of the robot, the mechanical arm being used to knock on the door; If the ambient humidity of the failure environment is greater than a humidity threshold, the knocking force is adjusted.

5. The door knocking test method of a robot according to any one of claims 1 to 4, characterized in that: Before adjusting the parameters of the robot when knocking on the door in the failure environment, the method further includes: Detecting the state of the robot's mechanical arm when knocking on the door in the failure environment; If the robot arm cannot reach the target position or cannot be reset, a prompt message is output.

6. The door knocking test method of a robot according to any one of claims 1 to 4, characterized in that: The obtaining of the knocking test data of the robot in each of the multiple test environments includes: In the target test environment of the multiple test environments, if the robot fails to knock on the door, the robot is controlled to knock on the door again until the knocking is successful or the number of retries exceeds a threshold value, and the knocking test data of the target test environment is determined based on the data from each retry.

7. The door knocking test method of a robot according to any one of claims 1 to 4, characterized in that: Before obtaining the knocking test data of the robot in each of the multiple test environments, the method further includes: controlling the robot to perform fault detection; When the robot is in a fault state, the robot is controlled to perform fault repair.

8. A robot door knocking test device, characterized in that: include: An acquisition unit, used to acquire knocking test data of the robot in each of a plurality of test environments, wherein the knocking test data is obtained by controlling the robot to knock on the door in the corresponding test environment; A determination unit, configured to determine a failure environment in the plurality of test environments according to the knock test data; An adjustment unit is used to adjust the parameters of the robot when knocking on the door in the failure environment.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the robot door knocking test method according to any one of claims 1 to 7 are implemented.

10. A computer program product, characterized in that It comprises a computer program, and when the computer program is executed, the door knocking test method of the robot according to any one of claims 1 to 7 is executed.

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