Braking distance testing method, system and storage medium

Abstract

The present application discloses a robot braking distance test method, system and storage medium, which relates to the field of robot technology and is applied to a robot braking distance test device. The robot braking distance test device includes a distance measurement module and a brake trigger module. The method includes: if it is determined that the robot to be tested reaches a preset braking point, the brake trigger module is controlled to start to trigger the robot to be tested to perform an emergency braking action; if a confirmation stop message is received from the robot to be tested, the distance measurement module is controlled to move to the stop detection position corresponding to the robot to be tested, and the moving distance of the distance measurement module is obtained; the emergency braking distance is determined according to the moving distance. The present application can improve the accuracy and automation of the braking distance test.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a robot braking distance testing method, system and storage medium. Background Art

[0002] In the robot's working environment, it may collide with operators or other equipment. Accurately testing the braking distance can determine the space required by the robot during emergency braking, so as to rationally plan the working area and set up safety protection facilities to prevent the robot from colliding with operators or other equipment in emergencies.

[0003] In the conventional robot braking distance test process, the tester observes with the naked eye that the robot has reached the specified position, then manually presses the robot's emergency stop switch, and after the robot stops, uses a tape measure to manually measure to obtain the braking distance data. However, due to differences in human reaction speed and the limited accuracy of naked eye observation, manual operation introduces many uncontrollable human factors, which in turn leads to large deviations in the test data and cannot accurately reflect the robot's actual braking performance.

[0004] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of this application is to provide a braking distance testing method, device and storage medium, aiming to solve the technical problem of how to improve the accuracy and automation of braking distance testing.

[0006] To achieve the above purpose, the present application proposes a braking distance test method, which is applied to a robot braking distance test device. The robot braking distance test device includes a distance measurement module and a braking trigger module. The control method includes:

[0007] If it is determined that the robot to be tested reaches the preset braking point, the brake trigger module is controlled to start, so as to trigger the robot to be tested to perform an emergency braking action;

[0008] If the confirmation stop information sent by the robot to be tested is received, the distance measuring module is controlled to move to the stop detection position corresponding to the robot to be tested, and the moving distance of the distance measuring module is obtained;

[0009] An emergency braking distance is determined according to the moving distance.

[0010] In one embodiment, the brake trigger module is a collision plate and a drive motor;

[0011] If it is determined that the robot to be tested reaches a preset braking point, the step of controlling the braking trigger module to start so as to trigger the robot to be tested to perform an emergency braking action includes:

[0012] If it is determined that the robot under test reaches the preset braking point, the driving motor is controlled to extend the collision plate so that the switch device arranged on the body of the robot under test collides with the collision plate, so that the switch device generates a braking signal, and the braking signal is used to control the robot under test to perform an emergency braking action.

[0013] In one embodiment, the robot braking distance testing device further comprises a position detection module;

[0014] Before the step of controlling the brake trigger module to start if it is determined that the robot reaches the preset brake point to trigger the robot to be tested to perform an emergency brake action, the method further includes:

[0015] If the arrival confirmation information sent by the position detection module is received, it is confirmed that the robot to be tested has reached the preset braking point.

[0016] In one embodiment, before the step of controlling the brake trigger module to start if it is determined that the robot reaches a preset brake point to trigger the robot to be tested to perform an emergency brake action, the step further includes:

[0017] Acquire a first speed, and generate a first start instruction according to the first speed, wherein the first start instruction is used to trigger the robot to be tested to run based on the first speed;

[0018] The first start instruction is sent to the robot to be tested.

[0019] In one embodiment, after the step of determining the emergency braking distance according to the moving distance, the method further includes:

[0020] Sending a second return instruction to the ranging module to control the ranging module to return to an initial position of the ranging module;

[0021] Sending a third return instruction to the robot to be tested to control the robot to be tested to return to the robot starting origin;

[0022] The robot braking distance testing method further includes:

[0023] A first return instruction is sent to the driving motor to control the collision plate to return to an initial position of the collision plate.

[0024] In one embodiment, after the step of sending a third return instruction to the robot to be tested to control the robot to be tested to return to the robot starting origin, the method further includes:

[0025] If a confirmation return message sent by the robot to be tested is received, determining whether the preset speed list is empty;

[0026] If it is not empty, obtaining a second speed from the speed list, and generating a second start instruction according to the second speed, wherein the second start instruction is used to trigger the robot to be tested to run based on the second speed;

[0027] The second start instruction is sent to the robot to be tested.

[0028] In addition, to achieve the above purpose, the present application also proposes a robot braking distance testing method, which is applied to the robot, and the method includes:

[0029] If a start command is received, the running speed corresponding to the start command is obtained;

[0030] Controlling the robot to be tested to run based on the running speed;

[0031] If a brake signal sent by a switch device is received, an emergency brake command is generated to control the robot to be tested to perform an emergency brake action, and the switch device is arranged on the body of the robot to be tested;

[0032] If it is detected that the robot to be tested stops moving, a confirmation stop message is sent to the robot braking distance testing device.

[0033] In one embodiment, after the step of generating an emergency braking command to control the robot to be tested to perform an emergency braking action when a braking signal sent by a switch device is received, the method further includes:

[0034] If it is detected that the robot to be tested is at the robot starting origin, a preparation completion message is generated and sent to the robot braking distance testing device.

[0035] In addition, to achieve the above-mentioned purpose, the present application also proposes a robot braking distance testing system, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the braking distance testing method as described above.

[0036] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the braking distance test method described above are implemented.

[0037] The present application provides a braking distance test method. When it is determined that the robot to be tested has arrived at a preset braking point, a braking trigger module is started to trigger the robot to perform an emergency braking action. Through the automated control of the braking trigger module, the timeliness and accuracy of each braking trigger can be ensured. In order to avoid the tester observing the robot position with the naked eye and manually pressing the emergency stop switch, factors such as the tester's reaction speed, visual error, and consistency of operation lead to inaccurate braking trigger timing, thereby affecting the reliability of the braking distance test result. After the robot completes the emergency braking and sends a confirmation stop message, the ranging module automatically moves to the corresponding stop detection position to obtain its moving distance. It solves the problem of low efficiency of manual measurement, which is prone to various errors due to inaccurate placement of the ruler, reading errors, and differences in the operation of the measurement personnel, and improves the efficiency and accuracy of the measurement results. In summary, in the process of robot braking distance testing, the braking trigger module and the ranging module are used to improve the accuracy and automation of the test, and effectively avoid the inherent disadvantages of the traditional manual testing method. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0039] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0040] Figure 1 A schematic diagram of a process flow provided for the first embodiment of the robot braking distance testing method of the present application;

[0041] Figure 2 A schematic diagram of the structure of a robot braking distance testing device provided in Example 1 of the robot braking distance testing method of the present application;

[0042] Figure 3 A schematic diagram of a flow chart provided for the second embodiment of the robot braking distance testing method of the present application;

[0043] Figure 4 A schematic diagram of a process flow provided for the third embodiment of the robot braking distance testing method of the present application;

[0044] Figure 5 This is a schematic diagram of the structure of the robot braking distance test system of this application;

[0045] Figure 6This is a schematic diagram of the equipment structure of the hardware operating environment involved in the robot braking distance testing method in the embodiment of the present application.

[0046] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0047] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0048] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0049] The main solution of the embodiment of the present application is: if it is determined that the robot under test reaches a preset braking point, the brake trigger module is controlled to start to trigger the robot under test to perform an emergency braking action; if a confirmation stop message is received from the robot under test, the distance measuring module is controlled to move to the stop detection position corresponding to the robot under test, and the moving distance of the distance measuring module is obtained; the emergency braking distance is determined according to the moving distance.

[0050] In the robot's working environment, it may collide with operators or other equipment. Accurately testing the braking distance can determine the space required by the robot during emergency braking, so as to rationally plan the working area and set up safety protection facilities to prevent the robot from colliding with operators or other equipment in emergencies.

[0051] In the conventional robot braking distance test process, the tester observes with the naked eye that the robot has reached the specified position, then manually presses the robot's emergency stop switch, and after the robot stops, uses a tape measure to manually measure to obtain the braking distance data. However, due to differences in human reaction speed and the limited accuracy of naked eye observation, manual operation introduces many uncontrollable human factors, which in turn leads to large deviations in the test data and cannot accurately reflect the robot's actual braking performance.

[0052] In order to solve the above problems, the present application provides a braking distance test method. When it is determined that the robot to be tested has arrived at a preset braking point, a braking trigger module is started to trigger the robot to perform an emergency braking action. Through the automatic control of the braking trigger module, the timeliness and accuracy of each braking trigger can be ensured. In order to avoid the tester observing the robot position with the naked eye and manually pressing the emergency stop switch, factors such as the tester's reaction speed, visual error, and consistency of operation lead to inaccurate braking trigger timing, thereby affecting the reliability of the braking distance test result. After the robot completes the emergency braking and sends a confirmation stop message, the ranging module automatically moves to the corresponding stop detection position to obtain its moving distance. It solves the problem of low efficiency of manual measurement, which is prone to various errors due to inaccurate placement of the ruler, reading errors, and differences in the operation of the measurement personnel, and improves the efficiency and accuracy of the measurement results. In summary, in the process of robot braking distance testing, the braking trigger module and the ranging module are used to improve the accuracy and automation of the test, and effectively avoid the inherent disadvantages of the traditional manual testing method.

[0053] It should be noted that the execution subject of this embodiment can be a computing service device with network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, a server, a server cluster, etc., or an electronic device or device capable of realizing the above functions. The following takes the braking distance test device as an example to illustrate this embodiment and the following embodiments.

[0054] Based on this, the present application embodiment provides a braking distance test method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the braking distance testing method of the present application.

[0055] In this embodiment, the braking distance testing method includes steps S100 to S300:

[0056] Step S100: If it is determined that the robot under test reaches a preset braking point, the brake trigger module is controlled to start, so as to trigger the robot under test to perform an emergency braking action.

[0057] It should be noted that the preset braking point refers to the position of the robot to be tested detected by the robot braking distance testing equipment.

[0058] Please refer to Figure 2In a feasible implementation, the brake trigger module includes a drive motor and a collision plate. The step of controlling the brake trigger module to start up to trigger the robot to be tested to perform an emergency braking action includes: if it is determined that the robot to be tested reaches the preset braking point, controlling the drive motor to extend the collision plate so that a switch device disposed on the body of the robot to be tested collides with the collision plate, so that the switch device generates a brake signal, and the brake signal is used to control the robot to be tested to perform an emergency braking action.

[0059] In this embodiment, the switch device provided on the body of the robot to be tested can be a micro switch or a pressure sensor. When the switch device is a micro switch, when the collision plate hits the robot to be tested, pressure is generated on the micro switch, closing its internal contacts, thereby generating an electrical signal as a brake signal. Alternatively, when the switch device is a pressure sensor, the pressure generated by the collision changes the resistance value or capacitance value of the sensor, which is converted into a standard digital or analog electrical signal by a signal conditioning circuit and sent to the robot's control system as a brake signal.

[0060] In this embodiment, the brake trigger module includes a drive motor and a collision plate. The position of the robot to be tested is detected by the position detection module in the robot braking distance test device (hereinafter referred to as the test device). When the robot position detection module detects the robot to be tested, it is considered that the robot to be tested has reached the preset braking point. At this time, the position detection module detects and sends a signal to the test device, and feedback indicates that the robot has been detected. After receiving the feedback signal, the test device sends a start command to the drive motor to control the drive motor to push out and open the collision plate. When the robot to be tested hits the collision plate, the switch device set on the body of the robot to be tested is triggered, and the switch device generates a brake signal and sends the brake signal to the robot control system. After receiving the brake signal, the robot control system issues an emergency brake command, starts the braking device (such as an electromagnetic brake or a mechanical brake), etc., so that the wheels of the robot stop rotating quickly, so that the robot to be tested starts emergency braking.

[0061] In this embodiment, the collision plate is designed to be extendable and retractable. When the brake does not need to be triggered, the collision plate can be retracted, thereby preventing the robot from accidentally colliding with the collision plate and being damaged during normal operation.

[0062] In another feasible implementation, the brake trigger module can also be composed of a swingable pendulum and an angle sensor. The pendulum is installed near a preset braking point via a rotating shaft. The angle sensor is installed at the rotating shaft of the pendulum to detect the swing angle of the pendulum. When the robot collides with the pendulum, the pendulum will swing. The angle sensor monitors the swing angle of the pendulum in real time. When the swing angle exceeds a certain threshold, it means that the robot has triggered the device. At this time, the angle sensor converts the angle signal into a brake signal and sends it to the robot control system, causing the robot to perform an emergency brake action.

[0063] Step S200: If the confirmation stop information sent by the robot to be tested is received, the distance measuring module is controlled to move to the stop detection position corresponding to the robot to be tested, and the moving distance of the distance measuring module is obtained.

[0064] Step S300, determining an emergency braking distance according to the moving distance.

[0065] It should be noted that the stop detection position refers to the position where the ranging module stops moving. The stop detection position can be the front end of the body of the robot to be tested, or it can be the rear end of the body of the robot to be tested. When the stop detection position is the front end of the body of the robot to be tested, the moving distance is added to the distance between the ranging module and the brake control module, which is the emergency braking distance. When the stop detection position is the rear end of the body of the robot to be tested, the moving distance is added to the distance between the ranging module and the brake control module, plus the body width of the robot to be tested, which is the emergency braking distance.

[0066] In the present embodiment, the ranging module is a movable infrared device and a drive motor. After the robot to be tested performs an emergency braking action and stops moving. The robot control system sends a command to the test equipment to control the ranging module to start moving along the direction of the robot's movement. When the infrared mobile device moves to the front end of the robot, the front end part of the robot (such as the front panel, bumper and other structures) will directly block the propagation path of the infrared rays, thereby blocking the infrared rays. When the infrared mobile device continues to move and reaches the rear end of the robot, the rear end part of the robot (such as the rear baffle, the rear end of the shell, etc.) blocks the infrared rays again. Therefore, if the infrared rays are blocked once, the infrared device moves to the front end of the body of the robot to be tested. If the infrared rays are blocked twice, the infrared device moves to the rear end of the body of the robot to be tested.

[0067] In this embodiment, an encoder is installed on the drive motor shaft. When the motor drives the infrared mobile device to move, the encoder generates a series of pulses. By counting the pulses and the known conversion relationship between pulses and distances, the moving distance D of the infrared mobile device can be obtained. After confirming the emergency braking distance based on the moving distance D, the test equipment sends the emergency braking distance to the cloud server for storage.

[0068] For example, the width of the robot is w, and the distance between the infrared mobile module and the brake control module is d. The infrared mobile device moves 1 mm for every n pulses generated by the encoder. When the infrared mobile device moves from the initial position to the first time when the infrared rays are blocked, the encoder counts N1 pulses, then the distance moved at this time is D1 = N1 / n, and the emergency braking distance L = D1+d. When the infrared mobile device moves from the initial position to the second time when the infrared rays are blocked, the encoder counts N2 pulses, and the distance moved is D2 = N2 / n, then the emergency braking distance L = D2+d+w.

[0069] In this embodiment, verification can be performed through D1 and D2. Under normal circumstances, since the distance from the front end to the rear end of the robot (i.e., the body width of the robot) is fixed, and the distance between the infrared mobile device and the brake control module is known. The difference between D1 and D2 should be approximately equal to the body width of the robot, plus the slight displacement of the infrared mobile device during the brake triggering process due to the robot braking (this displacement is relatively small). If the difference between this difference and the body width of the robot is greater than the preset error range, it is considered that the test device has an error. When it is considered that an error has occurred, multiple tests can be performed and the values ​​of D1 and D2 are recorded each time. If the error range is always exceeded in multiple tests and the difference is relatively stable, it is considered that there is a problem with the calibration of the encoder and the encoder needs to be recalibrated. At the same time, the D1 and D2 obtained from each test are compared with the data when the previous test was normal. If it is found that the new data is significantly different from the old data, in addition to checking the encoder, it is necessary to check whether there are obstacles in the moving path of the infrared mobile device and whether the mechanical structure of the mobile platform is deformed.

[0070] In this embodiment, the present application provides a braking distance test method. When it is determined that the robot to be tested has arrived at a preset braking point, the braking trigger module is started to trigger the robot to perform an emergency braking action. Through the automatic control of the braking trigger module, the timeliness and accuracy of each braking trigger can be ensured. In order to avoid the tester observing the robot position with the naked eye and manually pressing the emergency stop switch, the tester's reaction speed, visual error, and consistency of operation, etc., lead to inaccurate braking trigger timing, thereby affecting the reliability of the braking distance test result. After the robot completes the emergency braking and sends a confirmation stop message, the ranging module automatically moves to the corresponding stop detection position to obtain its moving distance. It solves the problem of low efficiency of manual measurement, which is prone to various errors due to inaccurate placement of the ruler, reading errors, and differences in the operation of the measurement personnel, and improves the efficiency and accuracy of the measurement results. In summary, in the process of robot braking distance testing, the braking trigger module and the ranging module are used to improve the accuracy and automation of the test, and effectively avoid the inherent disadvantages of the traditional manual testing method.

[0071] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 3 The robot braking distance testing device further comprises a position detection module. Before step S100, the robot braking distance testing method further comprises step S01:

[0072] Step S01: If the arrival confirmation information sent by the position detection module is received, it is confirmed that the robot to be tested has reached the preset braking point.

[0073] In this embodiment, the position detection module can be a laser distance sensor, an ultrasonic sensor, a visual sensor (such as a camera, etc.), an electromagnetic induction sensor, a photoelectric encoder, etc. When the position detection module detects the robot to be tested, it sends a signal to the control system of the test equipment to feedback that the robot to be tested has been detected.

[0074] Optionally, the position detection module is an infrared laser ranging sensor. The laser ranging sensor continuously emits laser pulses in the direction of the robot to be tested. After encountering the surface of the robot, it is reflected back and captured by the receiving module of the sensor. The distance between the sensor and the robot is calculated based on the round-trip time from the emission to the reception of the laser pulse, and the measurement data is transmitted to the controller connected thereto (such as a PLC, a single-chip microcomputer, etc.). The controller samples and analyzes the data transmitted by the sensor according to a preset time interval (for example, 10 milliseconds). When the distance values ​​obtained by continuous multiple samplings (such as 5 times) are within the error range of the preset braking point distance value (for example, ±5 cm), it is determined that the robot has reached the preset braking point. At this time, the controller sends a feedback signal to the test equipment that the robot to be tested has been detected.

[0075] Optionally, the position detection module is an ultrasonic sensor. The sensor continuously emits and receives ultrasonic waves, and transmits the obtained distance data to the controller. The controller filters the received data to remove abnormal values ​​caused by factors such as environmental noise, and then uses algorithms such as mean filtering or sliding window filtering to smooth the data to improve the stability and reliability of the data. When the processed distance value is less than or equal to the distance of the preset braking point, the controller determines that the robot has reached the preset braking point and sends a feedback signal to the test equipment that the robot to be tested has been detected.

[0076] Optionally, the position detection module is a camera. The camera captures images at a certain frame rate (such as 30 frames per second). The preprocessed image is analyzed according to the image recognition algorithm to identify the robot to be tested in the image. A feature-based recognition method can be used, such as extracting the contour features, color features, shape features, etc. of the robot, or using a deep learning algorithm (such as a convolutional neural network) for target detection and recognition. When the robot target is identified, a further image processing algorithm (such as edge detection, corner point detection, etc.) converts the pixel coordinates in the image into actual physical space coordinates, thereby obtaining the precise position information of the robot relative to the preset braking point. When the position of the robot meets the preset braking condition (for example, the distance between the front center position of the robot and the preset braking point is less than a certain threshold), a feedback signal of detecting the robot to be tested is sent to the test equipment.

[0077] Optionally, the position detection module is an electromagnetic induction sensor. An electromagnetic induction coil that generates an alternating magnetic field is buried in the ground or at a specific location around a preset braking point. When the robot to be tested enters the effective induction area of ​​the magnetic field, the induction metal sheet of the robot body cuts the magnetic field lines, thereby generating an induced electromotive force in the induction metal sheet. This induced electromotive force will cause the generation of an induced current, and then generate a secondary magnetic field, which will be detected by an electromagnetic induction sensor installed nearby. The electromagnetic induction sensor converts the detected magnetic field change signal into an electrical signal and transmits it to the controller. When the controller receives the signal sent by the sensor indicating that the robot has entered the magnetic field area of ​​the braking point, it sends a feedback signal to the test equipment indicating that the robot to be tested has been detected.

[0078] In a feasible implementation manner, after step S300, steps S400 to S500 are also included:

[0079] Step S400: sending a second return instruction to the distance measurement module to control the distance measurement module to return to the initial position of the distance measurement module.

[0080] Step S500: sending a third return instruction to the robot under test to control the robot under test to return to the robot starting origin.

[0081] In this embodiment, after the emergency braking distance is obtained, the test device sends a second return instruction to the distance measuring module to control the distance measuring module to return to the initial position of the distance measuring module. Optionally, a limit switch is set at the initial position of the distance measuring module. When the distance measuring module triggers the limit switch, it indicates that the initial position has been reached. Optionally, it is also possible to determine whether the distance measuring module has returned to the initial position by sensor detection. When it is confirmed that the distance measuring module has returned to the initial position, the distance measuring module sends a position recovery confirmation signal to the test device, informing the test device that it is ready for the next test operation, and at the same time, it enters the standby state and waits for the next work instruction.

[0082] In this embodiment, after the ranging module is restored to the initial position of the ranging module, the test device sends a third return instruction to the control system of the robot to be tested to control the robot to return to the robot starting origin. When the robot reaches the starting origin, a return to origin confirmation signal is sent to the test device through the communication module to inform the test device that it has successfully returned. The robot to be tested enters a standby state or waits for the next round of test start instructions.

[0083] In a feasible implementation manner, the robot braking distance testing method further includes: sending a first return instruction to the driving motor to control the collision plate to return to an initial position of the collision plate.

[0084] In this embodiment, there is no limit on the time for retracting the collision plate, as long as it is before the robot under test returns to the starting origin to avoid another collision when the robot under test returns to the starting far point. The time when the test equipment sends the first return command can be after obtaining the emergency braking distance, or after the robot under test encounters a collision. The test equipment sends the first return command to the drive motor. The drive motor controller adjusts the driving current direction of the motor according to the received command to reverse the motor and drive the collision plate to retract.

[0085] Optionally, in order to accurately control the collision plate to return to the initial position, a position detection device, such as a rotary encoder or a linear displacement sensor, is installed on the drive motor. When the motor reverses to drive the collision plate back, the position detection device feeds back the position information of the collision plate to the drive motor controller in real time. The motor controller compares the received position information with the preset initial position data of the collision plate. When the difference between the two is within the allowable error range, it is determined that the collision plate is close to the initial position.

[0086] Based on the first embodiment of the present application, in the third embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 4 , before step S100, it also includes steps A100 to A200:

[0087] Step A100, obtaining a first speed, and generating a first start instruction according to the first speed, wherein the first start instruction is used to trigger the robot to be tested to run based on the first speed.

[0088] Step A200: sending the first start instruction to the robot to be tested.

[0089] In this embodiment, the control system of the test device reads each speed value from the stored speed value list in sequence, and sends it as the target speed to the robot to be tested. In the first test, the test device obtains the first speed of the speed list in the order of the list. A first start instruction is generated according to the first speed, and the first start instruction is sent to the robot to be tested. After receiving the first start instruction, the robot to be tested parses the first control instruction. After obtaining the first speed, the control system of the robot to be tested adjusts the driving parameters of the motor so that the robot accelerates or decelerates to the target speed and maintains stable operation at the first speed. After determining the emergency braking distance, the braking distance value is associated with the current test speed value and stored, for example, in a two-dimensional array or database table, one dimension of which is the speed value and the other dimension is the corresponding braking distance value.

[0090] In a feasible implementation manner, the robot braking distance testing method further includes:

[0091] If a confirmation return message sent by the robot to be tested is received, it is determined whether the preset speed list is empty.

[0092] If it is not empty, a second speed is obtained from the speed list, and a second start instruction is generated according to the second speed, where the second start instruction is used to trigger the robot to be tested to run based on the second speed.

[0093] The second start instruction is sent to the robot to be tested.

[0094] In this embodiment, in the control system of the test equipment, a set of different robot running speed values ​​are pre-set, and the speed value can be determined according to the actual application scenario, performance requirements and relevant standards of the robot, for example, it can be set to 1m / s, 2m / s, 3m / s, 4m / s, 5m / s, etc. The running speed value is stored in the memory of the control system or a specific storage area for subsequent cyclic calls. After completing the braking distance test at one speed, the control system of the test equipment determines whether the test of all preset speed values ​​has been completed. If there are still untested speed values, continue to read the next speed value from the speed value list, and repeat the above-mentioned speed setting, robot operation, brake triggering and braking distance measurement process until the test of all speed values ​​is completed.

[0095] Optionally, the test equipment can have built-in data analysis software or connect with external data analysis tools to further analyze and process the stored test data. For example, draw a curve of the relationship between braking distance and speed, analyze the mathematical relationship between the two by curve fitting and other methods, and judge whether the robot's braking performance meets the expected rules; calculate the repeatability and stability index of braking distance at different speeds to evaluate the reliability of the robot's braking system; compare the current test data with previous test data or standard data of the same type of robot, etc. And generate a test report based on the results of data analysis, the report content includes basic information of the test (such as test date, test equipment model, model and number of the robot to be tested, etc.), test data summary (list or chart of speed value and braking distance value), and data analysis results (such as analysis of the relationship between braking distance and speed, repeatability and stability evaluation, etc.).

[0096] The present application also provides a robot braking distance testing method, which is applied to the robot, and the method comprises:

[0097] If a start instruction is received, the running speed corresponding to the start instruction is obtained.

[0098] The robot to be tested is controlled to run based on the running speed.

[0099] If a brake signal sent by a switch device is received, an emergency brake command is generated to control the robot to be tested to perform an emergency brake action, and the switch device is arranged on the body of the robot to be tested.

[0100] If it is detected that the robot to be tested stops moving, a confirmation stop message is sent to the robot braking distance testing device.

[0101] If it is detected that the robot to be tested is at the robot starting origin, a preparation completion message is generated and sent to the robot braking distance testing device.

[0102] The robot braking distance testing method applied to a robot provided by the present application adopts the robot braking distance testing method applied to the robot braking distance testing device in the above-mentioned embodiment, which can solve the technical problem of how to improve the accuracy and automation of the braking distance test. Compared with the prior art, the beneficial effects of the robot braking distance testing method applied to a robot provided by the present application are the same as the beneficial effects of the robot braking distance testing method applied to the robot braking distance testing device provided by the above-mentioned embodiment, and the other technical features of the robot braking distance testing method applied to a robot are the same as the features disclosed in the above-mentioned embodiment method, which will not be repeated here.

[0103] The present application provides a robot braking distance test system, which includes: a robot braking distance test device and a robot. Figure 5 The robot includes a communication module and a switch device, and the communication module is connected to the robot braking distance test device. The robot braking distance test device includes a communication module, a position detection module, a distance measurement module and a braking trigger module.

[0104] The robot braking distance testing system also includes at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the braking distance testing method in the above-mentioned embodiment one.

[0105] The present application provides a robot braking distance testing system, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the braking distance testing method in the above-mentioned embodiment one.

[0106] Reference below Figure 6, which shows a schematic diagram of the structure of a robot braking distance test system suitable for implementing the embodiment of the present application. The robot braking distance test system in the embodiment of the present application may include but is not limited to mobile terminals such as robots, unmanned vehicles, vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, servers, server clusters, etc. Figure 6 The robot braking distance testing system shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0107] like Figure 6 As shown, the robot braking distance test system may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the robot braking distance test system are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the robot braking distance test system to communicate with other devices wirelessly or by wire to exchange data. Although the control device with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0108] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0109] The robot braking distance test system provided by the present application adopts the braking distance test method in the above embodiment, which can solve the technical problem of how to improve the accuracy and automation of the braking distance test. Compared with the prior art, the beneficial effects of the robot braking distance test system provided by the present application are the same as the beneficial effects of the braking distance test method provided by the above embodiment, and the other technical features of the robot braking distance test system are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0110] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0111] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0112] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the braking distance test method in the above-mentioned embodiment.

[0113] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0114] The computer-readable storage medium may be included in the robot braking distance test system; or may exist independently without being assembled into the robot braking distance test system.

[0115] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the robot braking distance testing system, the robot braking distance testing system: if it is determined that the robot to be tested reaches a preset braking point, controls the braking trigger module to start, so as to trigger the robot to be tested to perform an emergency braking action; if a confirmation stop information sent by the robot to be tested is received, controls the ranging module to move to the stop detection position corresponding to the robot to be tested, and obtains the moving distance of the ranging module; determines the emergency braking distance according to the moving distance.

[0116] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0117] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0118] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0119] The readable storage medium provided in this application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned braking distance test method, and can solve the technical problem of how to improve the accuracy and automation of the braking distance test. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as the beneficial effects of the braking distance test method provided in the above-mentioned embodiment, and will not be repeated here.

[0120] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A robot braking distance testing method, characterized in that: Applied to a robot braking distance test device, the robot braking distance test device includes a distance measurement module and a braking trigger module, and the method includes: If it is determined that the robot to be tested reaches the preset braking point, the brake trigger module is controlled to start, so as to trigger the robot to be tested to perform an emergency braking action; If the confirmation stop information sent by the robot to be tested is received, the distance measuring module is controlled to move to the stop detection position corresponding to the robot to be tested, and the moving distance of the distance measuring module is obtained; An emergency braking distance is determined according to the moving distance.

2. The robot braking distance testing method according to claim 1, characterized in that: The brake trigger module is a collision plate and a drive motor; If it is determined that the robot to be tested reaches a preset braking point, the step of controlling the braking trigger module to start so as to trigger the robot to be tested to perform an emergency braking action includes: If it is determined that the robot under test reaches the preset braking point, the driving motor is controlled to extend the collision plate so that the switch device arranged on the body of the robot under test collides with the collision plate, so that the switch device generates a braking signal, and the braking signal is used to control the robot under test to perform an emergency braking action.

3. The robot braking distance testing method according to claim 1, characterized in that: The robot braking distance testing device also includes a position detection module; Before the step of controlling the brake trigger module to start if it is determined that the robot reaches the preset brake point to trigger the robot to be tested to perform an emergency brake action, the method further includes: If the arrival confirmation information sent by the position detection module is received, it is confirmed that the robot to be tested has reached the preset braking point.

4. The robot braking distance testing method according to claim 1, characterized in that: Before the step of controlling the brake trigger module to start if it is determined that the robot reaches the preset brake point to trigger the robot to be tested to perform an emergency brake action, the method further includes: Acquire a first speed, and generate a first start instruction according to the first speed, wherein the first start instruction is used to trigger the robot to be tested to run based on the first speed; The first start instruction is sent to the robot to be tested.

5. The robot braking distance testing method according to claim 2, characterized in that: After the step of determining the emergency braking distance according to the moving distance, the method further includes: Sending a second return instruction to the ranging module to control the ranging module to return to an initial position of the ranging module; Sending a third return instruction to the robot to be tested to control the robot to be tested to return to the robot starting origin; The robot braking distance testing method further includes: A first return instruction is sent to the driving motor to control the collision plate to return to an initial position of the collision plate.

6. The robot braking distance testing method according to claim 5, characterized in that: After the step of sending a third return instruction to the robot to be tested to control the robot to be tested to return to the robot starting origin, the method further includes: If a confirmation return message sent by the robot to be tested is received, determining whether the preset speed list is empty; If it is not empty, obtaining a second speed from the speed list, and generating a second start instruction according to the second speed, wherein the second start instruction is used to trigger the robot to be tested to run based on the second speed; The second start instruction is sent to the robot to be tested.

7. A robot braking distance testing method, characterized in that: Applied to a robot, the method comprises: If a start command is received, the running speed corresponding to the start command is obtained; Controlling the robot to be tested to run based on the running speed; If a brake signal sent by a switch device is received, an emergency brake command is generated to control the robot to be tested to perform an emergency brake action, and the switch device is arranged on the body of the robot to be tested; If it is detected that the robot to be tested stops moving, a confirmation stop message is sent to the robot braking distance testing device.

8. The robot braking distance testing method according to claim 7, characterized in that: After the step of generating an emergency braking command to control the robot to be tested to perform an emergency braking action if a braking signal sent by the switch device is received, the method further includes: If it is detected that the robot to be tested is at the robot starting origin, a preparation completion message is generated and sent to the robot braking distance testing device.

9. A robot braking distance testing system, characterized in that: The robot braking distance testing system comprises the robot braking distance testing device as described in claims 1 to 6, and the robot as described in claims 7 to 8, and the robot braking distance testing device is communicatively connected with the robot.

10. A storage medium, characterized in that: The storage medium is a readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the robot braking distance testing method as described in any one of claims 1 to 6, or 7 to 8 are implemented.

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