Test method, control device and storage medium

Abstract

The embodiment of the invention relates to the technical field of robots, in particular to a test method, a control device and a storage medium, the method is applied to the control device, and the method comprises the steps that a received test instruction is responded, the test instruction is analyzed, a projection position and a target test pattern corresponding to the projection position are extracted, and the projection position is located in a preset test area; each projection position corresponds to one target test pattern, and controlling the projection device to project the target test pattern corresponding to the projection position at the projection position. According to the embodiment of the invention, the projection device is controlled to project the corresponding target test pattern at the projection position to simulate smudginess or stains, so that the cleaning robot is correspondingly tested, the test time is saved, the test efficiency is improved, and the health and sanitation of the test are ensured.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of robotics technology, and in particular to a testing method, a control device, and a storage medium. Background Art

[0002] Robots are mechanical devices that can automatically perform tasks. They can run pre-programmed programs and complete a variety of different types of tasks. With the development of mobile Internet and artificial intelligence technology, robots are widely used in various places to provide users with services such as navigation, item delivery, reception consultation, collaborative work, and sales of goods.

[0003] In view of the current widespread demand for floor cleaning, dust removal and sweeping in office buildings, supermarkets and basements, cleaning robots have developed rapidly by combining various advanced technologies such as the Internet, artificial intelligence, and path planning. Cleaning robots have an automatic inspection function. They inspect the designated area within a specified time range. When dirt is detected in the designated area, the cleaning robot can reach the dirty area for cleaning and continue to inspect after cleaning is completed.

[0004] In the related art, the test method of the automatic inspection function of the cleaning robot is generally to manually place dirt in the inspection area of ​​the cleaning robot and observe whether the cleaning robot recognizes the dirt and performs cleaning operations. However, this test method requires manual preparation of various real dirt or stains in advance, such as coffee, yogurt, honey, milk tea and beverages, etc., which consumes a lot of preparation time and has low test efficiency. In addition, the dirt or stains are sprinkled on the ground for testing, which is easy to attract flies and pollute the environment, which is unhealthy and unhygienic. Summary of the invention

[0005] In view of this, an object of an embodiment of the present invention is to provide a testing method, a control device and a storage medium to solve the technical problems in the prior art of consuming a lot of testing time and having low testing efficiency when testing a robot.

[0006] To solve the above technical problems, the embodiments of the present invention provide the following technical solutions:

[0007] In a first aspect, an embodiment of the present invention provides a testing method, which is applied to a control device, and the method includes:

[0008] In response to the received test instruction, the test instruction is parsed to extract the projection position and the target test pattern corresponding to the projection position, wherein the projection position is located in a preset test area and each projection position corresponds to a target test pattern;

[0009] The projection device is controlled to project a target test pattern corresponding to the projection position at the projection position.

[0010] In some embodiments, the method further comprises:

[0011] Controlling the camera device to capture and obtain environmental image data within the preset test area, and sending the environmental image data to the control device;

[0012] The control device determines whether the inspection function of the cleaning robot is normal based on the received environmental image data obtained by the camera device.

[0013] In some embodiments, the control device determines whether the inspection function of the cleaning robot is normal based on the received environmental image data captured by the camera device, including:

[0014] Extracting target image data of the cleaning robot from the environmental image data;

[0015] Determining a target appearance duration of the cleaning robot based on the target image data, wherein the target appearance duration is a duration during which the cleaning robot stops at the projection position and performs a cleaning operation on the target test pattern;

[0016] If the target appearance duration is within a preset duration range, it is determined that the inspection function of the cleaning robot is normal.

[0017] In some embodiments, the preset test area is located on the inspection path of the cleaning robot.

[0018] In some embodiments, the projection device includes one, and controlling the projection device to project a target test pattern corresponding to the projection position at the projection position includes:

[0019] If the target test patterns include at least two, determining a projection order according to the projection position and / or the dirt type in each of the target test patterns;

[0020] The projection sequence is sent to the projection device, so that after receiving the projection sequence, the projection device sequentially projects the target test pattern corresponding to each projection position at each projection position according to the projection sequence.

[0021] In some embodiments, determining the projection order according to the projection positions includes:

[0022] According to the sequence numbers of the projection positions, the projection positions are arranged from small to large or from large to small, and the ascending sequence or descending sequence obtained by the arrangement is used as the projection order.

[0023] In some embodiments, determining the projection order according to the dirt category in each of the target test patterns includes:

[0024] According to the dirt category in each of the target test patterns, the projection positions corresponding to each of the target test patterns are arranged, and the sequence obtained by the arrangement is used as the projection sequence.

[0025] In some embodiments, the projection device includes a plurality of projection devices, the number of the projection devices is the same as the number of the projection positions, and each projection device corresponds to a projection position;

[0026] The controlling the projection device to project a target test pattern corresponding to the projection position at the projection position comprises:

[0027] Determining projection data of each of the projection devices, the projection data comprising a projection position and a target test pattern corresponding to the projection position;

[0028] The projection data of each projection device is sent to each corresponding projection device, so that each projection device projects a target test pattern corresponding to each projection position at each projection position according to the projection data after receiving the corresponding projection data.

[0029] In a second aspect, an embodiment of the present invention provides a control device, including:

[0030] A processor and a memory communicatively connected to the processor;

[0031] The memory stores computer program instructions executable by the processor, and when the computer program instructions are called by the processor, the processor executes any one of the test methods proposed in the first aspect.

[0032] In a third aspect, an embodiment of the present invention provides a computer-readable storage medium, on which is stored computer program instructions executable by a processor, and when the computer program instructions are called by the processor, the processor executes any one of the test methods proposed in the first aspect.

[0033] Beneficial effects of the embodiments of the present invention: Different from the prior art, the test method provided by the embodiments of the present invention is applied to a control device, and the method includes: responding to a received test instruction, parsing the test instruction, extracting a projection position and a target test pattern corresponding to the projection position, wherein the projection position is located in a preset test area, each projection position corresponds to a target test pattern, and controlling the projection device to project the target test pattern corresponding to the projection position at the projection position.

[0034] The embodiment of the present invention controls the projection device to project the corresponding target test pattern at the projection position to simulate dirt or stains, thereby performing corresponding tests on the cleaning robot, saving test time, improving test efficiency, and ensuring the health and hygiene of the test. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following is a brief introduction to the drawings required for the description of the prior art or the embodiments. Obviously, the drawings described below only illustrate certain embodiments of the present invention and should not be regarded as limiting the scope of protection. For those of ordinary skill in the art, other related drawings can also be obtained based on these drawings without creative work.

[0036] Figure 1 is a schematic diagram of an application scenario for testing a cleaning robot in some embodiments of the present invention;

[0037] Figure 2 is a schematic diagram of application scenarios for testing cleaning robots in other embodiments of the present invention;

[0038] Figure 3 is a schematic diagram of the structure of a control device provided by some embodiments of the present invention;

[0039] Figure 4 is a flow chart of a testing method provided by some embodiments of the present invention;

[0040] Figure 5 is a flow chart of a testing method provided by other embodiments of the present invention;

[0041] Figure 6 is a schematic diagram of application scenarios for testing a cleaning robot in other embodiments of the present invention;

[0042] Figure 7 is a schematic diagram of the structure of a testing device provided by some embodiments of the present invention;

[0043] Figure 8 It is a schematic diagram of the structure of the testing device provided in other embodiments of the present invention. DETAILED DESCRIPTION

[0044] In order to make the purpose and advantages of the embodiments of the present invention easier to understand, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The detailed description of the embodiments of the present invention in the drawings below does not limit the scope of protection claimed by the present invention, but only represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0045] It should be noted that, if no conflict is constituted, the various technical features involved in the embodiments of the present invention described below can be combined with each other, and are all within the scope of protection of the present invention. In addition, although the functional modules are divided in the device or structural schematic diagram, and the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in a different order than the module division in the device, or in a different order than in the flow chart. In addition, the "first", "second", "third" and other similar expressions used herein do not limit the data and execution order, but are only for the purpose of convenience of explanation and to distinguish between the same or similar items with basically the same functions and effects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features.

[0046] Unless otherwise defined, the technical terms and scientific terms used in this specification have the same meanings as those generally understood by those of ordinary skill in the art of the present invention. The terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. It should be understood that the term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0047] See also Figure 1 , Figure 1 A schematic diagram of an application scenario for testing a cleaning robot in some embodiments of the present invention is schematically shown.

[0048] Specifically, Figure 1 As shown, the application scenario includes a cleaning robot 300, a projection device 200 and a control device 100, wherein the control device 100 is connected to the projection device 200 through a network. It can be understood that examples of the network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0049] After receiving the test instruction, the control device 100 responds to the test instruction and parses the test instruction to extract projection data, wherein the projection data includes the projection position and the target test pattern corresponding to the projection position (ie, the projection position and the target test pattern projected at each projection position).

[0050] After obtaining the projection position and the target test pattern corresponding to the projection position, the control device 100 controls the projection device 200 to project the corresponding target test pattern at the projection position within the preset test area 150, and performs corresponding tests on the cleaning robot 300 by simulating dirt or stains through the target test pattern.

[0051] For example, in some embodiments, the test performed on the cleaning robot 300 is to test whether the inspection function of the cleaning robot 300 is normal. The cleaning robot 300 travels along the inspection path L, detects and identifies the target test pattern projected at the projection position through the sensors equipped with itself (such as a camera, a laser radar, and an infrared sensor, etc.), and performs a cleaning operation on the target test pattern, so as to determine whether the inspection function of the cleaning robot 300 is normal. If the cleaning robot 300 fails to detect and identify the target test pattern projected at the projection position, or detects and identifies the target test pattern projected at the projection position but does not perform a cleaning operation on the target test pattern, it is determined that the inspection function of the cleaning robot 300 is abnormal.

[0052] It should be understood that the projection position (eg Figure 1 The projection positions of the target test pattern 201 and the target test pattern 202 are located in the preset test area 150, and the preset test area 150 is located on the inspection path L of the cleaning robot 300, so that the target test pattern can be projected on the inspection path L of the cleaning robot 300 to ensure that whether the inspection function of the cleaning robot 300 can be tested is normal.

[0053] It is easy to understand that in some embodiments, the cleaning robot 300 can also be subjected to other corresponding tests by using dirt or stains simulated by the target test pattern, or by using the target test pattern to simulate other types of virtual objects. For example, the cleaning effect and cleaning efficiency of the cleaning robot 300 can also be evaluated by testing the duration of the cleaning robot 300 performing the cleaning operation on the target test pattern.

[0054] It should be understood that Figure 1 In the application scenario shown, the control device 100 is a laptop computer, which does not impose any restrictions on the structure, type, quantity, etc. of the control device in other application scenarios or embodiments. For example, in some other application scenarios or embodiments, the control device can also be a desktop computer, a tablet computer, a smart phone, a personal digital assistant, a single-chip microcomputer, a microcontroller, or other suitable types of equipment or devices. The control device in some other application scenarios or embodiments can also be a laptop computer. Figure 1 The notebook computers shown may include more or fewer components or may have Figure 1 Laptops shown in different configurations.

[0055] See also Figure 2 , Figure 2 Schematic diagrams of application scenarios for testing cleaning robots in other embodiments of the present invention are shown.

[0056] like Figure 2 As shown, the application scenario includes a cleaning robot 300, a projection device 200, a control device 100 and a camera device 400, wherein the control device 100 is respectively connected to the projection device 200 and the camera device 400 through a network. It is understood that examples of the network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0057] During the process of the control device 100 testing the cleaning robot 300 to determine whether the inspection function of the cleaning robot 300 is normal, after the control device 100 controls the projection device 200 to project the corresponding target test pattern at the projection position, in order to determine whether the inspection function of the cleaning robot 300 is normal, the control device 100 controls the camera device 400 to capture and obtain the environmental image data within the preset test area 150, and sends the captured environmental image data to the control device 100. The control device 100 processes the environmental image data to determine whether the inspection function of the cleaning robot 300 is normal.

[0058] In the embodiment of the present invention, the cleaning robot 300 may be a mobile robot based on the SLAM system, for example, a sweeping robot, a vacuuming robot, a mopping robot, and a floor washing robot. In some feasible embodiments, the camera device 400 may be a camera, a camera, a monitor, or any other suitable type of equipment or device. The projection device 200 may be a projector, a digital projection device, a laser scanning projector, or any other suitable equipment or device. It can be understood that those skilled in the art may set the control device 100, the projection device 200, and the camera device 400 at any suitable position according to actual needs, as long as the control device 100, the projection device 200, and the camera device 400 are set, and the control device 100 and the projection device 200 do not cause occlusion or other influence on the camera device 400 to obtain the environmental image data in the preset test area 150. The embodiment of the present invention does not make any limitation to this.

[0059] To facilitate understanding of the testing method provided by the embodiment of the present invention, the control device provided by the embodiment of the present invention is firstly introduced in detail.

[0060] See also Figure 3 , Figure 3 The structural diagram of the control device 100 provided in some embodiments of the present invention is schematically shown.

[0061] like Figure 3 As shown, the control device 100 includes at least one processor 110 and a memory 120 that are communicatively connected. Figure 3 In the example, the bus system 130 is connected to a processor. The various components in the control device 100 are coupled together through the bus system 130, and the bus system 130 is used to realize the connection and communication between these components. It is easy to understand that the bus system 130 includes not only a data bus, but also a power bus, a control bus, and a status signal bus. However, for the sake of clarity and brevity, Figure 3 In the figure, various buses are labeled as bus system 130. It can be understood that Figure 3 The structure shown in the embodiment is only for illustration and does not impose any limitation on the structure of the control device 100. For example, the control device 100 may also include Figure 3 More or fewer components as shown, or with Figure 3 Different configurations shown.

[0062] Specifically, the processor 110 is used to provide computing and control capabilities to control the control device 100 to perform corresponding tasks. For example, the control device 100 is controlled to perform any one of the test methods provided in the embodiments of the present invention, or to perform any one of the steps in any possible implementation of any one of the test methods provided in the embodiments of the present invention. Those skilled in the art will appreciate that the processor 110 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0063] The memory 120, 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, for example, programs, instructions and modules corresponding to the test method in the embodiment of the present invention. In some embodiments, the memory 120 may include a storage program area and a storage data area, and the storage program area may store an operating system, an application required for at least one function; the storage data area may store data created according to the use of the processor 110, etc. The processor 110 executes various functional applications and data processing of the control device 100 by running the non-transitory software programs, instructions and modules stored in the memory 120, so as to implement any test method provided in the embodiment of the present invention, or execute any step in any possible implementation of any test method provided in the embodiment of the present invention. Among them, the memory 120 may include a high-speed random access memory, and may also include a non-transitory memory. For example, at least one disk storage device, a flash memory device or other non-transitory solid-state storage device. In some embodiments, the memory 120 may also include a memory remotely arranged relative to the processor 110, and these remote memories may be connected to the processor 110 through a communication network. It can be understood that examples of the above-mentioned communication network include but are not limited to the Internet, corporate intranet, local area network, mobile communication network and combinations thereof.

[0064] It can be understood from the above that the implementation and execution subject of any test method provided in the embodiment of the present invention can be any suitable type of control device with certain computing and control capabilities, for example, it can be implemented by the above control device 100. In some feasible implementations, any test method provided in the embodiment of the present invention can be implemented by a processor calling computer program instructions stored in a memory.

[0065] The testing method provided by the embodiment of the present invention will be described in detail below in conjunction with exemplary applications and implementations of the control device provided by the embodiment of the present invention.

[0066] See also Figure 4 , Figure 4 The flowchart of the testing method provided by some embodiments of the present invention is schematically shown.

[0067] Those skilled in the art will appreciate that the test method provided in the embodiment of the present invention can be applied to the above control device (eg, the control device 100). Specifically, the test method is executed by one or at least two processors of the control device.

[0068] like Figure 4 As shown, the test method includes but is not limited to the following steps S100-S200:

[0069] S100: In response to a received test instruction, parsing the test instruction, extracting a projection position and a target test pattern corresponding to the projection position, wherein the projection position is located in a preset test area, and each projection position corresponds to a target test pattern.

[0070] Specifically, the control device determines that a test instruction is received through a network monitoring service, responds to the received test instruction, parses the test instruction using a parser, and extracts specific information from the test instruction, namely, the projection position and the target test pattern corresponding to the projection position, wherein each projection position corresponds to a target test pattern, and the projection position is located in a preset test area.

[0071] It should be understood that the projection position can be represented by coordinates or other suitable methods, and the position information represented by coordinates or other suitable methods in the test instruction is extracted to obtain the projection position. In some embodiments, the target test pattern (such as a checkerboard, a dot pattern, a line pattern, etc.) can be stored in a local storage of the control device, the cloud or a server in a suitable format (such as an image file, matrix data). When extracting the target test pattern, the target test pattern is obtained from the local storage of the control device, the cloud or the server according to the name of the target test pattern, the identification code or other identification used to uniquely represent the target test pattern, thereby extracting the target test pattern.

[0072] In some embodiments, the projection position is set at a preset test area, and the preset test area is located on the inspection path of the cleaning robot, so that the target test pattern can be projected on the inspection path of the cleaning robot. When the cleaning robot travels along the inspection path, it can be determined whether the cleaning robot is parked at the projection position, and the target test pattern at the projection position is cleaned, thereby testing to determine whether the inspection function of the cleaning robot is normal.

[0073] S200: Controlling the projection device to project a target test pattern corresponding to the projection position at the projection position.

[0074] Specifically, after extracting the projection position and the target test pattern corresponding to the projection position, the projection position is converted into coordinates or parameters recognizable by the projection device, and the target test pattern data corresponding to each projection position is loaded. According to the size, shape and projection angle of the target test pattern, the parameters of the projection device are set, for example, the focal length, direction and position of the projection device are adjusted to ensure that the target test pattern can be correctly and clearly projected to the corresponding projection position.

[0075] In some embodiments, the parameters of the projection device, the projection position, and the target test pattern corresponding to the projection position are transmitted to the projection device through a suitable method (such as Wi-Fi, Bluetooth, etc.). After the projection device receives the parameters of the projection device, the projection position, and the target test pattern corresponding to the projection position, the control system of the projection device adjusts the projection parameters of the projection device and projects the target test pattern corresponding to each projection position at each projection position.

[0076] In some embodiments, the projection device includes a, e.g. Figure 1 or Figure 2 As shown, only one projection device (ie, projection device 200) is arranged in the preset test area, and the target test pattern is projected at multiple projection positions respectively by the single projection device.

[0077] In some embodiments, controlling the projection device to project a target test pattern corresponding to the projection position at the projection position specifically includes but is not limited to the following steps S210-S220:

[0078] S210: If the target test patterns include at least two, determine the projection order according to the projection position and / or the dirt type in each target test pattern.

[0079] Specifically, the dirt categories in the target test pattern include oil, dust, coffee, milk tea, juice, yogurt, etc. The target test pattern is used to simulate various types of dirt or stains such as oil, dust, coffee, milk tea, juice, yogurt, etc.

[0080] Exemplarily, if the target test pattern includes at least two, the projection order of at least two corresponding projection positions is determined. In some embodiments, the control device determines the projection order according to the working path, sequence number and layout of the at least two projection positions. For example, the projection positions can be sorted according to the sequence numbers to obtain a sorting sequence, and the sorting sequence is determined to be the projection order of the at least two projection positions.

[0081] In some embodiments, the projection order is determined according to the dirt category in the target test pattern, the degree of difficulty in dirt treatment, and the difficulty of dirt projection, etc. For example, to ensure the effectiveness of the test, the target test pattern of the oil category is projected first, the target test pattern of the coffee category is projected second, and the test pattern of the dust category is projected last. A priority is assigned to each target test pattern of the dirt category, and the projection positions corresponding to the target test patterns are sorted according to the priority of the target test patterns to obtain a sorted sequence, and the sorted sequence is determined to be the projection order of at least two projection positions.

[0082] In some embodiments, the projection order of at least two projection positions is comprehensively determined based on the projection position and the type of dirt in the target test pattern, and the impact of the projection position and the type of dirt in the target test pattern on the projection order is comprehensively considered to obtain a more reasonable projection order to ensure the effectiveness and efficiency of the test.

[0083] In some embodiments, the projection order is determined according to the projection positions, including but not limited to the following steps S2101:

[0084] S2101: Arrange the projection positions from small to large or from large to small according to the sequence numbers of the projection positions, and use the ascending sequence or descending sequence obtained by the arrangement as the projection order.

[0085] Specifically, after obtaining the projection position and the target test pattern corresponding to the projection position, each projection position has a corresponding unique serial number, wherein the serial number of the projection position can be represented by an integer (such as 1, 2, and 3, etc.) or other suitable identifiers.

[0086] In some embodiments, all projection positions are arranged from small to large according to the unique serial numbers corresponding to the projection positions to obtain an ascending sequence, and the ascending sequence is used as the projection order, thereby obtaining the projection order of at least two projection positions.

[0087] In some embodiments, all projection positions are arranged from large to small according to the unique serial numbers corresponding to the projection positions to obtain a descending sequence, and the descending sequence is used as the projection order, thereby obtaining the projection order of at least two projection positions.

[0088] For example, assuming that there are four projection positions: projection position A, projection position B, projection position C, and projection position D, the four projection positions have serial numbers: 3, 1, 4, 2, and the four projection positions are arranged from small to large according to the serial numbers of the projection positions, obtaining an ascending sequence of 1, 2, 3, 4, and the projection order is projection position B→projection position D→projection position A→projection position C. If the four projection positions are arranged from large to small according to the serial numbers of the projection positions, obtaining a descending sequence of 4, 3, 2, 1, the projection order is projection position C→projection position A→projection position D→projection position B.

[0089] In some embodiments, the projection order is determined according to the dirt category in each target test pattern, including but not limited to the following steps S2102:

[0090] S2102: Arrange the projection positions corresponding to the target test patterns according to the dirt categories in the target test patterns, and use the sequence obtained by the arrangement as the projection sequence.

[0091] Specifically, the priority of each dirt category is pre-set, and the target test pattern corresponding to the dirt category with a high priority is processed first, that is, it is ranked first in the sorting. The dirt categories include oil, impurities (such as coffee, juice, milk tea, yogurt, packaging bags, paper towels, etc.) and dust. Oil is the dirt that is more difficult to clean, and its priority is set to the highest first level. Impurities are dirt that is easier to clean, and its priority is set to the second highest second level. Dust is the dirt that is easiest to clean, and its priority is set to the lowest third level.

[0092] In some embodiments, after acquiring the projection position and the target test pattern corresponding to the projection position, the control device identifies and determines the type of dirt in each target test pattern, and arranges the projection positions corresponding to each target test pattern according to the priority of the dirt type in each target test pattern to obtain a sequential sequence, and uses the arranged sequential sequence as the projection sequence.

[0093] For example, in some embodiments, the relationship between the projection position and the dirt category and priority of the target test pattern corresponding to the projection position is shown in Table 1 below:

[0094] Table 1:

[0095] Projection location Target test pattern Dirt Category Priority A Oil stain pattern Oil pollution First level B Coffee pattern Impurities Second level C Juice pattern Impurities Second level D Dust pattern dust Third Level

[0096] According to the dirt category in each target test pattern in Table 1 above, the projection positions corresponding to each target test pattern are arranged to obtain a sequence of projection position A→projection position B→projection position C→projection position D, or projection position A→projection position C→projection position B→projection position D, and this sequence is used as the projection order.

[0097] S220: Sending the projection sequence to the projection device, so that after receiving the projection sequence, the projection device sequentially projects the target test pattern corresponding to each projection position at each projection position according to the projection sequence.

[0098] Specifically, after determining the projection order, a projection order list is generated, and the projection order list includes information such as the projection order, projection position, target test pattern, and dirt category. In some embodiments, the projection order list is shown in Table 2 below:

[0099] Table 2:

[0100] Projection order Projection location Target test pattern Dirt Category 1 A Oil stain pattern Oil pollution 2 B Coffee pattern Impurities 3 C Juice pattern Impurities 4 D Milk tea pattern Impurities 5 E Dust pattern dust

[0101] Then the control device sends the projection sequence list to the projection device through a suitable communication method (such as Wi-Fi, Bluetooth or USB). After receiving the projection sequence list, the projection device projects the target test patterns corresponding to each projection position in turn at each projection position according to the order in the received projection sequence list. For example, the projection sequence is as shown in Table 2 above. The projection device projects the corresponding oil stain pattern at projection position A, then projects the corresponding coffee pattern at projection position B, then projects the corresponding juice pattern at projection position C, then projects the corresponding milk tea pattern at projection position D, and finally projects the corresponding dust pattern at projection position E.

[0102] In some embodiments, the projection device includes multiple projection devices, the number of projection devices is the same as the number of projection positions, each projection device corresponds to a projection position, and during testing, the multiple projection devices are controlled to simultaneously project corresponding target test patterns on multiple projection positions, thereby improving the test efficiency. For example, see Figure 6 , Figure 6 The system includes two projection devices (ie, projection device 210 and projection device 220). During testing, projection device 210 and projection device 220 are controlled to simultaneously project corresponding target test patterns (ie, target test pattern 201 and target test pattern 202) at two projection positions.

[0103] It is understandable that when multiple projection devices are set in a preset test area, it is necessary to ensure that the multiple projection devices do not affect each other's projection target test patterns, and that the multiple projection devices do not affect the camera device's acquisition of environmental image data of the preset test area. Under the premise of meeting the above requirements, the multiple projection devices can be set at any suitable position in the preset test area according to actual needs, and the embodiments of the present invention do not impose any limitations on this.

[0104] In some embodiments, controlling the projection device to project a target test pattern corresponding to the projection position at the projection position specifically includes but is not limited to the following steps S230-S240:

[0105] S230: Determine projection data of each projection device, where the projection data includes a projection position and a target test pattern corresponding to the projection position.

[0106] Specifically, the control device allocates a projection position corresponding to each projection device and a target test pattern at the projection position, that is, determines the projection data of each projection device, the projection data including the projection position and the target test pattern corresponding to the projection position. For example, assuming that there are four projection positions, the corresponding relationship between the projection device, the projection position, and the target test pattern is shown in Table 3 below:

[0107] Table 3:

[0108] Projection device Projection location Target test pattern G1 A Oil stain pattern G2 B Juice pattern G3 C Milk tea pattern G4 D Dust pattern

[0109] It can be seen from Table 3 above that the projection data of projection device G1 is projection position A and the oil pattern corresponding to projection position A, the projection data of projection device G2 is projection position B and the juice pattern corresponding to projection position B, the projection data of projection device G3 is projection position C and the milk tea pattern corresponding to projection position C, and the projection data of projection device G4 is projection position D and the dust pattern corresponding to projection position D.

[0110] In some embodiments, the control device comprehensively determines the projection data of each projection device based on the performance of the projection device, the difficulty of projecting the target test pattern, the distance between the projection device and the projection position, etc. For example, if a certain projection device is close to the projection position, but it is difficult for the projection device to project the target test pattern corresponding to the projection position, then it is determined that the projection device is not suitable for projecting the target test pattern at the projection position, and a projection device that is close to the projection position and can project the target test pattern corresponding to the projection position is searched again, and the projection position and the target test pattern corresponding to the projection position are used as the projection data of the searched projection device.

[0111] S240: Sending projection data of each projection device to each corresponding projection device, so that each projection device projects a target test pattern corresponding to each projection position at each projection position according to the projection data after receiving the corresponding projection data.

[0112] Specifically, after determining the projection data of each projection device, the projection data of each projection device is sent to the corresponding projection devices through a suitable communication method (such as Wi-Fi, Bluetooth, NFC or USB, etc.). After receiving the respective projection data, each projection device simultaneously performs a projection operation, that is, according to the projection data, it simultaneously projects the corresponding target test pattern at the projection position it is responsible for, so that each projection device simultaneously projects the target test pattern corresponding to each projection position at each projection position, so that the efficiency of testing whether the inspection function of the cleaning robot is normal can be improved.

[0113] In some embodiments, a camera device is set in a preset test area, and the control device is connected to the camera device. The camera device is used to capture and obtain environmental image data in the preset test area. The control device determines whether the inspection function of the cleaning robot is normal based on the environmental image data captured by the camera device.

[0114] See also Figure 5 , Figure 5 The flowchart of the testing method provided by other embodiments of the present invention is schematically shown.

[0115] like Figure 5 As shown, the test method also includes but is not limited to the following steps S300-S400:

[0116] S300: Control the camera device to capture environmental image data within a preset test area, and send the environmental image data to the control device.

[0117] In some embodiments, a camera device is set in a preset test area to ensure that the camera device can cover the entire preset test area, capture and obtain image data that needs to be monitored, and the camera device is communicatively connected to the control device, for example, via Wi-Fi, Bluetooth or USB.

[0118] Specifically, the control device sends a shooting instruction to the camera device. After receiving the shooting instruction, the camera device responds to the shooting instruction, starts working, and captures environmental image data in a preset test area. The environmental image data can be photos, video streams, etc. The environmental image data includes various environmental information in the preset test area, such as ground conditions, the position and status of the cleaning robot, etc.

[0119] In some embodiments, after capturing and acquiring environmental image data within a preset test area, the camera device preprocesses the collected environmental image data (e.g., denoising, compressing or encoding, etc.), and sends the environmental image data to the control device via a network or communication interface (e.g., Wi-Fi, Bluetooth or local area network). After receiving the environmental image data, the control device analyzes and processes the environmental image data.

[0120] S400: The control device determines whether the inspection function of the cleaning robot is normal based on the received environmental image data captured by the camera device.

[0121] Specifically, the control device receives the environmental image data sent by the camera device, and the environmental image data can be in the format of an image or a video stream. The control device processes the environmental image data through image analysis technology (such as computer vision, deep learning model, etc.), extracts the features related to the cleaning robot, and thus evaluates whether the cleaning robot performs the inspection task normally, that is, whether the inspection function of the cleaning robot is normal.

[0122] In some embodiments, if the extracted features related to the cleaning robot show that the cleaning robot works according to a predetermined path, completes the predetermined cleaning task, and no malfunction occurs, indicating that the cleaning robot performs the task normally and completes the cleaning of the area to be cleaned, then it is determined that the inspection function of the cleaning robot is normal.

[0123] In some embodiments, if the extracted features related to the cleaning robot show that the cleaning robot fails to properly avoid obstacles, deviates from the predetermined path, misses the area to be cleaned, collides, and / or fails to work in a normal manner (for example, gets stuck, stagnates, and tilts, etc.), etc., indicating that the cleaning robot has not performed the task normally and has not completed the cleaning of the area to be cleaned, it is determined that the inspection function of the cleaning robot is abnormal.

[0124] In some embodiments, the control device determines whether the inspection function of the cleaning robot is normal based on the received environmental image data captured by the camera device, specifically including but not limited to the following steps S410-S430:

[0125] S410: Extract target image data including the cleaning robot from the environmental image data.

[0126] Specifically, the control device extracts target image data from the environmental image data by utilizing image processing technology (e.g., computer vision, deep learning model, etc.), wherein the target image data is image data of the cleaning robot included in the environmental image data.

[0127] In some embodiments, a target detection algorithm (such as YOLO, SSD, and Faster R-CNN algorithms, etc.) can be used to detect and identify the cleaning robot in the environmental image data, and accurately locate the contour, position, etc. of the cleaning robot in the environmental image data, and then extract the target image data including the cleaning robot from the environmental image data. For example, the environmental image data includes 100 frames of image data, of which 50 frames of image data include the cleaning robot, and the 50 frames of image data including the cleaning robot are extracted to obtain the target image data.

[0128] S420: Determine the target appearance duration of the cleaning robot based on the target image data, wherein the target appearance duration is the duration that the cleaning robot stops at the projection position and performs a cleaning operation on the target test pattern.

[0129] S430: If the target appearance duration is within the preset duration range, it is determined that the inspection function of the cleaning robot is normal.

[0130] Specifically, the control device uses a motion detection or target tracking algorithm (such as Kalman filter, Meanshift, KLT tracker) to track the cleaning robot in the target image data. In each frame of the target image data, it detects and confirms whether the cleaning robot stays at the projection position, and calculates the duration of the cleaning robot stopping at the projection position. If the cleaning robot stops at the projection position and performs a cleaning operation on the target test pattern projected on the projection position, the control device starts timing from the time the cleaning robot stops at the projection position, and ends timing after the cleaning robot performs a cleaning operation on the target test pattern projected on the projection position (that is, when the cleaning robot leaves the projection position), and subtracts the first time corresponding to the start of timing from the second time corresponding to the end of timing to obtain the target appearance duration.

[0131] In some embodiments, the target appearance duration is compared with a preset duration range. If the target appearance duration is within the preset duration range, it indicates that the cleaning robot has performed a reasonable cleaning task at the projection position, and the inspection function of the cleaning robot is determined to be normal. If the target appearance duration is not within the preset duration range, it indicates that the cleaning robot may have an abnormality or malfunction and has failed to correctly perform a reasonable cleaning task at the projection position, and the inspection function of the cleaning robot is determined to be abnormal.

[0132] It is understandable that those skilled in the art can set a reasonable preset time range based on empirical data and actual needs, etc., as the standard time for the cleaning robot to stay at the projection position to perform cleaning operations. For example, in some embodiments, the preset time range can be 10-25s, 30-40s, 50-60s or any other suitable time range, and the embodiments of the present invention do not impose any limitation on this.

[0133] To summarize, the test method provided by an embodiment of the present invention is applied to a control device, including: responding to a received test instruction, parsing the test instruction, extracting a projection position and a target test pattern corresponding to the projection position, wherein the projection position is located in a preset test area, each projection position corresponds to a target test pattern, and controlling the projection device to project the target test pattern corresponding to the projection position at the projection position.

[0134] The embodiment of the present invention controls the projection device to project the corresponding target test pattern at the projection position to simulate dirt or stains, thereby performing corresponding tests on the cleaning robot, saving test time, improving test efficiency, and ensuring the health and hygiene of the test.

[0135] The embodiment of the present invention further provides a testing device, wherein the testing device may be a software module, the software module includes a number of instructions stored in a memory, and a processor may access the memory and call the instructions for execution to complete the testing methods described in the above-mentioned various embodiments.

[0136] In some embodiments, the test device can also be constructed by hardware devices. For example, the test device can be constructed by one or more chips, and each chip can work in coordination with each other to implement the test methods described in the above embodiments. In some embodiments, the test device can also be constructed by various logic devices, such as a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a single-chip microcomputer, a field programmable gate array (FPGA), an ARM (Acorn RISC Machine) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, or any combination of these devices or components.

[0137] See also Figure 7 , Figure 7 The structural diagram of the test device 700 provided in some embodiments of the present invention is schematically shown. It is easy to understand that the test device 700 can be configured in the control device.

[0138] Specifically, Figure 7 As shown, the test device 700 includes an extraction module 710 and a projection module 720. The extraction module 710 is used to respond to the received test instruction, parse the test instruction, extract the projection position and the target test pattern corresponding to the projection position, wherein the projection position is located in a preset test area, and each projection position corresponds to a target test pattern. The projection module 720 is used to control the projection device to project the target test pattern corresponding to the projection position at the projection position.

[0139] In some embodiments, see Figure 8 The testing device 700 further includes a shooting module 730 and a determination module 740. The shooting module 730 is used to control the camera device to capture environmental image data in a preset test area and send the environmental image data to the control device. The determination module 740 is used for the control device to determine whether the inspection function of the cleaning robot is normal based on the environmental image data captured by the camera device.

[0140] In some embodiments, the determination module 740 is specifically used to: extract the target image data of the cleaning robot included in the environmental image data, and determine the target appearance time of the cleaning robot based on the target image data, wherein the target appearance time is the time it takes for the cleaning robot to dock at the projection position and perform a cleaning operation on the target test pattern; if the target appearance time is within the preset time range, it is determined that the inspection function of the cleaning robot is normal.

[0141] In some embodiments, the preset test area is located on the inspection path of the cleaning robot.

[0142] In some embodiments, the projection device includes a projection module 720 that is specifically used to: if the target test patterns include at least two, determine the projection order according to the projection position and / or the type of dirt in each target test pattern, and send the projection order to the projection device, so that after receiving the projection order, the projection device projects the target test patterns corresponding to each projection position at each projection position in turn according to the projection order.

[0143] In some embodiments, the projection module 720 is further specifically configured to: arrange the projection positions from small to large or from large to small according to the sequence numbers of the projection positions, and use the ascending sequence or descending sequence obtained by the arrangement as the projection order.

[0144] In some embodiments, the projection module 720 is further specifically used to: arrange the projection positions corresponding to the target test patterns according to the dirt categories in the target test patterns, and use the sequence obtained by the arrangement as the projection sequence.

[0145] In some embodiments, the projection device includes multiple projection devices, the number of projection devices is the same as the number of projection positions, and each projection device corresponds to a projection position. The projection module 720 is specifically used to: determine the projection data of each projection device, the projection data includes the projection position and the target test pattern corresponding to the projection position, and send the projection data of each projection device to each corresponding projection device, so that after receiving the corresponding projection data, each projection device projects the target test pattern corresponding to each projection position at each projection position at the same time according to the projection data.

[0146] It should be noted that, for the sake of simplicity and brevity of description, the above-mentioned test device 700 can execute the functional modules and beneficial effects corresponding to the test method provided in the embodiment of the present invention, and the technical details not fully described in the embodiment of the test device 700 can refer to the test method provided in the embodiment of the present invention. The specific working process of the above-mentioned test device 700 can also refer to the specific execution process corresponding to the test method provided in the above-mentioned embodiment of the present invention, and will not be described one by one here.

[0147] An embodiment of the present invention provides a computer-readable storage medium, on which computer program instructions executable by a processor are stored. When the computer program instructions are called by the processor, the processor executes any one of the test methods provided by the embodiment of the present invention, or executes the steps in any one of the possible implementation methods of any one of the test methods provided by the embodiment of the present invention.

[0148] In some embodiments, the storage medium may be a flash memory, a hard disk, an optical disk, a register, a magnetic surface storage, a removable disk, a CD-ROM, a random access memory (RAM), a read-only memory (ROM), an electrically programmable ROM, and an electrically erasable programmable ROM, or any other form of storage medium known in the technical field, or various devices including one or any combination of the above storage media.

[0149] In some embodiments, computer program instructions may be in the form of a program, software, software module, script or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as a stand-alone program or as a module, component, subroutine or other unit suitable for use in a computing environment.

[0150] As an example, computer program instructions may, but do not necessarily, correspond to a file in a file system, may be stored as part of a file that stores other programs or data, for example, in one or more scripts in a HyperText Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files storing one or more modules, subroutines, or code portions).

[0151] As an example, the computer program instructions may be deployed to be executed on a computing device (including devices such as smart terminals and servers), or on multiple computing devices located at one location, or on multiple computing devices distributed at multiple locations and interconnected by a communication network. It is easy to understand that all or part of the steps of the method described in the embodiments of the present invention may be directly implemented using electronic hardware or processor executable computer program instructions, or a combination of the two.

[0152] Those skilled in the art will appreciate that the embodiments provided by the present invention are only illustrative, and the order of writing the steps in the method of the embodiment does not mean a strict execution order and does not constitute any limitation on the implementation process. The order can be adjusted, merged and deleted according to actual needs, and the modules or sub-modules, units or sub-units in the device or system of the embodiment can be merged, divided and deleted according to actual needs. For example, the division of units is only a logical function division, and there can be other division methods in actual implementation. For another example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed.

[0153] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a general hardware platform, and of course can also be implemented by hardware. Those skilled in the art can understand that all or part of the processes in the above embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. The storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0154] It should be noted that the above embodiments are intended to illustrate the technical concept and features of the present invention, and their purpose is to enable people familiar with this technology to understand the content of the present invention and implement it accordingly, and cannot be used to limit the scope of protection of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiments can be implemented according to the technical solutions recorded in the embodiments of the present invention, or some of the technical features can be equivalently replaced. It can be understood that these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and should be regarded as equal changes and modifications based on the embodiments of the present invention, and should all fall within the scope of the claims of the present invention.

Claims

1. A testing method, applied to a control device, characterized in that: The method comprises: In response to the received test instruction, the test instruction is parsed to extract the projection position and the target test pattern corresponding to the projection position, wherein the projection position is located in a preset test area and each projection position corresponds to a target test pattern; The projection device is controlled to project a target test pattern corresponding to the projection position at the projection position.

2. The method according to claim 1, characterized in that The method further comprises: Controlling the camera device to capture and obtain environmental image data within the preset test area, and sending the environmental image data to the control device; The control device determines whether the inspection function of the cleaning robot is normal based on the received environmental image data obtained by the camera device.

3. The method according to claim 2, characterized in that The control device determines whether the inspection function of the cleaning robot is normal based on the received environmental image data captured by the camera device, including: Extracting target image data of the cleaning robot from the environmental image data; Determining a target appearance duration of the cleaning robot based on the target image data, wherein the target appearance duration is a duration during which the cleaning robot stops at the projection position and performs a cleaning operation on the target test pattern; If the target appearance duration is within a preset duration range, it is determined that the inspection function of the cleaning robot is normal.

4. The method according to claim 1, characterized in that: The preset test area is located on the inspection path of the cleaning robot.

5. The method according to any one of claims 1 to 4, characterized in that: The projection device includes one, and controlling the projection device to project a target test pattern corresponding to the projection position at the projection position includes: If the target test patterns include at least two, determining a projection order according to the projection position and / or the dirt type in each of the target test patterns; The projection sequence is sent to the projection device, so that after receiving the projection sequence, the projection device sequentially projects the target test pattern corresponding to each projection position at each projection position according to the projection sequence.

6. The method according to claim 5, characterized in that Determining a projection order according to the projection positions includes: According to the sequence numbers of the projection positions, the projection positions are arranged from small to large or from large to small, and the ascending sequence or descending sequence obtained by the arrangement is used as the projection order.

7. The method according to claim 5, characterized in that Determining a projection order according to the dirt category in each of the target test patterns includes: According to the dirt category in each of the target test patterns, the projection positions corresponding to each of the target test patterns are arranged, and the sequence obtained by the arrangement is used as the projection sequence.

8. The method according to any one of claims 1 to 4, characterized in that: The projection device comprises a plurality of projection devices, the number of the projection devices is the same as the number of the projection positions, and each projection device corresponds to a projection position; The controlling the projection device to project a target test pattern corresponding to the projection position at the projection position comprises: Determining projection data of each of the projection devices, the projection data comprising a projection position and a target test pattern corresponding to the projection position; The projection data of each projection device is sent to each corresponding projection device, so that each projection device projects a target test pattern corresponding to each projection position at each projection position according to the projection data after receiving the corresponding projection data.

9. A control device, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer program instructions executable by the processor, and when the computer program instructions are called by the processor, the processor executes the testing method according to any one of claims 1 to 8.

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

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