Testing method and testing device for learning ability of robot system

Abstract

The invention provides a method and device for testing the learning ability of a robot system, and relates to the technical field of robot performance testing. The invention discloses a method for testing the learning ability of a robot system. The method comprises the following steps: setting a plurality of test action elements of the robot system; based on the plurality of test action elements, setting test tasks of a plurality of learning capabilities; and based on the test tasks of the plurality of learning capabilities, respectively constructing corresponding test devices so as to test the robot system. According to the embodiment of the invention, systematic standardized testing of the learning ability of the robot system is realized.

Description

Technical Field

[0001] The present application relates to the technical field of robot performance testing, and in particular to a method and device for testing the learning ability of a robot system. Background Art

[0002] The performance indicators of a robot or robotic arm are indicators used to evaluate the performance of a robot or robotic arm system in specific tasks or functions, and can be used to evaluate the performance of the robot or robotic arm system in terms of accuracy, efficiency, speed, reliability, energy consumption, etc.

[0003] In the current evaluation standards for robots or robotic arms, there is no system for judging the learning ability of robots or robotic arms, whether in the design performance indicators of robots or robotic arms or in industry testing standards.

[0004] With the development of intelligent robots or robotic arms, robots or robotic arms are required to have certain learning capabilities in various application fields. Without a complete evaluation standard, it is impossible to judge the learning capabilities of various types and models of robots or robotic arms. Summary of the invention

[0005] According to one aspect of the present application, a method for testing the learning ability of a robot system is provided, comprising: setting a plurality of test action primitives of the robot system, the plurality of test action primitives comprising a grasping action primitive, a carrying action primitive, a touching action primitive, a pressing action primitive, a pushing and pulling action primitive, a plugging and unplugging action primitive, a twisting action primitive and / or a throwing action primitive; based on the plurality of test action primitives, setting a plurality of learning ability test tasks, the plurality of learning ability test tasks comprising an interface plugging and unplugging task, a transmission module assembly task, a flexible cable harness task, a drive assembly task, a valve twisting task and / or a throwing task; based on the plurality of learning ability test tasks, respectively constructing corresponding test devices to test the robot system; wherein, based on the plurality of test action primitives, setting a plurality of learning ability test tasks comprises: Based on the grasping action primitive, the carrying action primitive, the push-pull action primitive and the plug-in action primitive, the interface plug-in task is set; based on the grasping action primitive, the carrying action primitive, the touching action primitive, the pressing action primitive, the push-pull action primitive, the plug-in action primitive and the twisting action primitive, the transmission module assembly task is set; based on the grasping action primitive, the carrying action primitive, the touching action primitive, the pressing action primitive, the push-pull action primitive and the plug-in action primitive, the flexible cable harness task is set; based on the grasping action primitive, the carrying action primitive, the touching action primitive, the pressing action primitive and the plug-in action primitive, the drive assembly task is set; based on the grasping action primitive, the carrying action primitive, the touching action primitive, the pressing action primitive and the plug-in action primitive, the valve twisting task is set; and / or based on the grasping action primitive, the touching action primitive and the throwing action primitive, the throwing task is set.

[0006] According to some embodiments, corresponding test devices are constructed based on multiple learning ability test tasks to test the robot system, including: constructing a first test device based on the interface plugging and unplugging task; based on the first test device, testing the learning ability of the robot system according to preset interface plugging and unplugging test rules.

[0007] According to some embodiments, corresponding test devices are constructed based on multiple learning ability test tasks to test the robot system, including: constructing a second test device based on the transmission module assembly task; based on the second test device, testing the learning ability of the robot system according to preset transmission module assembly test rules.

[0008] According to some embodiments, corresponding test devices are constructed based on multiple learning ability test tasks to test the robot system, including: constructing a third test device based on the flexible cable harness task; based on the third test device, testing the learning ability of the robot system according to preset flexible cable harness test rules.

[0009] According to some embodiments, corresponding test devices are constructed based on multiple learning ability test tasks to test the robot system, including: constructing a fourth test device based on the drive assembly task; based on the fourth test device, testing the learning ability of the robot system according to preset drive assembly test rules.

[0010] According to some embodiments, corresponding test devices are constructed based on multiple learning ability test tasks to test the robot system, including: constructing a fifth test device based on the valve tightening task; based on the fifth test device, testing the learning ability of the robot system according to preset valve tightening test rules.

[0011] According to some embodiments, corresponding test devices are constructed based on multiple learning ability test tasks to test the robot system, including: constructing a sixth test device based on the throwing task; based on the sixth test device, testing the learning ability of the robot system according to preset throwing test rules.

[0012] According to one aspect of the present application, a testing device is provided, which is used as the first testing device in the aforementioned method, comprising: a bottom substrate, fixed to the surface of a test bench, the lower surface of the bottom substrate being in contact with the surface of the test bench; a top substrate, arranged opposite to the bottom substrate; a support member, fixed between the upper surface of the bottom substrate and the lower surface of the top substrate; a testing element, fixedly connected to the upper surface of the top substrate; a testing circuit, fixedly connected to the upper surface of the top substrate; wherein the testing element comprises a plurality of types of interfaces, and the same type of interfaces among the plurality of types of interfaces are connected by wires to form a plurality of connecting lines corresponding to the plurality of types of interfaces respectively; and the testing circuit comprises a power supply and an indicator light.

[0013] According to some embodiments, the multiple types of interfaces include an RJ45 network interface, a 4-core aviation interface, a 9-core Dsub connector, a USB connector, a power interface, and / or a coaxial cable interface.

[0014] According to some embodiments, when the robot system is connected to the same type of interface in the test element, the connection lines corresponding to the same type of interface are connected, the test circuit forms a loop, and the indicator light is on.

[0015] According to one aspect of the present application, a test device is provided, which is used as a second test device in the aforementioned method, comprising: a bottom substrate, fixed to the surface of a test bench, and the lower surface of the bottom substrate is in contact with the surface of the test bench; a top substrate, arranged opposite to the bottom substrate; a support member, fixed between the upper surface of the bottom substrate and the lower surface of the top substrate; a test element, comprising: a synchronous belt transmission module, including a first synchronous belt pulley and a second synchronous belt pulley; a chain transmission module, including a first sprocket and a second sprocket; a gear transmission module, including a first gear, a second gear and a third gear, the second gear being meshed with the first gear and the third gear respectively; wherein the first synchronous belt pulley, the first sprocket, the first gear, the second gear and the third gear are all installed with bearings, and are fixed to the upper surface of the top substrate by corresponding bearing supports; the second synchronous belt pulley is arranged at the top of the first gear, and the second synchronous belt pulley rotates coaxially with the first gear; the second sprocket is arranged at the top of the third gear, and the second sprocket rotates coaxially with the third gear.

[0016] According to some embodiments, the synchronous belt transmission module also includes a synchronous belt and a synchronous belt tensioner; the first synchronous belt pulley and the second synchronous belt pulley are connected by a synchronous belt; the synchronous belt tensioner is arranged between the first synchronous belt pulley and the second synchronous belt pulley, and is fixed to the upper surface of the top substrate; the synchronous belt passes through the synchronous belt tensioner.

[0017] According to some embodiments, the chain transmission module also includes a chain and a chain tensioner; the first sprocket and the second sprocket are connected by a chain; the chain tensioner is arranged between the first sprocket and the second sprocket and fixed to the upper surface of the top substrate; the chain passes through one side of the chain tensioner.

[0018] According to one aspect of the present application, a testing device is provided, which is used as a third testing device in the aforementioned method, including: a substrate, fixed to the surface of a test bench, the lower surface of the substrate is in contact with the surface of the test bench; a testing element, fixedly connected to the upper surface of the substrate, the testing element including: a plurality of wiring harnesses; a plurality of fixing holes, respectively corresponding to the plurality of wiring harnesses; a plurality of wire clamps, respectively corresponding to the plurality of wiring harnesses; a plurality of positioning pins; a retaining wall, perpendicular to the substrate and fixedly connected to the substrate, the plurality of fixing holes are arranged on both sides of the retaining wall, and the plurality of wire clamps and the plurality of positioning pins are arranged on one side of the retaining wall.

[0019] According to one aspect of the present application, a test device is provided, which is used as the fourth test device in the aforementioned method, comprising: a substrate, fixed to the surface of the test bench, the lower surface of the substrate is in contact with the surface of the test bench; a mounting panel, perpendicular to the substrate and fixedly connected to the substrate, the mounting panel comprising a first through hole, a second through hole and a third through hole; a test element, comprising: a motor, mounted on one side of the mounting panel by bolts, and the output shaft of the motor is exposed to the other side of the mounting panel through the first through hole; a first-axis fixed circular pulley, connected to the output shaft of the motor on the other side of the mounting panel; a movable shaft, capable of moving up and down in a vertical direction along the second through hole; a circular pulley with a bearing, connected to the movable shaft through the second through hole on the other side of the mounting panel; a bearing support containing a bearing, fixed to one side of the mounting panel; a second-axis fixed circular pulley, connected to the bearing support containing a bearing through the third through hole.

[0020] According to some embodiments, the first shaft fixed round pulley, the second shaft fixed round pulley and the round pulley with bearing are connected by a belt.

[0021] According to one aspect of the present application, a testing device is provided, which is used as the fifth testing device in the aforementioned method, comprising: a substrate fixed to the surface of the test bench, the lower surface of the substrate being in contact with the surface of the test bench; a testing element fixedly connected to the upper surface of the substrate; wherein the testing element comprises a fire hydrant valve and a plurality of different types of rotary tube valves; the direction of the rotary tube valve comprises a horizontal direction and a vertical direction.

[0022] According to one aspect of the present application, a testing device is provided, which is used as the sixth testing device in the aforementioned method, comprising: a bracket, fixed to the surface of the test bench; a testing element, comprising: a throwing ball; a throwing target, the distance between the throwing ball and the throwing target being a preset distance, the throwing target being fixed to the bracket, and a corresponding scoring area being drawn on the throwing target.

[0023] According to the embodiments of the present application, different categories of task tests can be performed through a variety of typical task scenarios to achieve systematic and standardized testing of the learning ability of the robot system, and by testing relevant indicators, a basis and guidance can be provided for improving and optimizing the performance of the robot system, thereby effectively improving the robot system's autonomous learning ability and its operation level in unstructured application scenarios.

[0024] It should be understood that the foregoing general description and the following detailed description are exemplary only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application.

[0026] Figure 1 A flowchart showing a method for testing the learning ability of a robot system according to an exemplary embodiment of the present application is shown.

[0027] Figure 2 A schematic diagram of a first testing device according to an exemplary embodiment of the present application is shown.

[0028] Figure 3 A schematic diagram showing a second testing device according to an exemplary embodiment of the present application is shown.

[0029] Figure 4 A schematic diagram showing a third testing device according to an exemplary embodiment of the present application is shown.

[0030] Figure 5 A schematic diagram showing a fourth testing device according to an exemplary embodiment of the present application is shown.

[0031] Figure 6 A schematic diagram of a fifth testing device according to an exemplary embodiment of the present application is shown.

[0032] Figure 7 A schematic diagram of a sixth testing device according to an exemplary embodiment of the present application is shown. DETAILED DESCRIPTION

[0033] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this application will be comprehensive and complete and will fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar parts, and thus their repeated description will be omitted.

[0034] The described features, structures or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical scheme of the present application may be put into practice without one or more of these specific details, or other modes, components, materials, devices or operations may be adopted. In these cases, known structures, methods, devices, realizations, materials or operations will not be shown or described in detail.

[0035] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0036] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0037] The present application provides a method and device for testing the learning ability of a robot system, which can implement a systematic and standardized test of the learning ability of the robot system.

[0038] A method and device for testing the learning ability of a robot system according to an embodiment of the present application will be described in detail below with reference to the accompanying drawings.

[0039] Figure 1 A flowchart showing a method for testing the learning ability of a robot system according to an exemplary embodiment of the present application is shown.

[0040] like Figure 1 As shown, in step S1000, a plurality of test action primitives of the robot system are set.

[0041] After analyzing the general motion capability of the robot system, the basic motions of the robot system are simplified into multiple test motion primitives.

[0042] According to some embodiments, the plurality of test action primitives include a grasping action primitive, a carrying action primitive, a touching action primitive, a pressing action primitive, a pushing and pulling action primitive, a plugging and pulling action primitive, a twisting action primitive and / or a throwing action primitive.

[0043] In step S2000, multiple learning ability test tasks are set based on multiple test action primitives.

[0044] After determining multiple test action primitives, multiple test tasks of different difficulty levels are set through analysis of the application scenarios and indicator system of the robot system to test the learning ability of the robot system.

[0045] According to some embodiments, an interface plugging and unplugging task may be set based on a grasping action primitive, a carrying action primitive, a pushing and pulling action primitive, and a plugging and unplugging action primitive.

[0046] The interface plugging and unplugging task is used to comprehensively quantify the skill learning ability of the robot system's collaborative assembly operations during the process of the robot system performing assembly and disassembly of common interfaces (such as network interface, aviation interface, Dsub connector, USB connector, power interface, etc.).

[0047] The test indicators of the interface plugging and unplugging tasks include the type of operated object, completion time, completion speed, reliability analysis, completion degree, success rate, failure rate, overall task difficulty, power level required for the task, task sophistication, way of using the arm, programming method, fault diagnosis and repair capabilities, and working environment.

[0048] According to some embodiments, the transmission module assembly task may be set based on a grasping action primitive, a carrying action primitive, a touching action primitive, a pressing action primitive, a pushing and pulling action primitive, a plugging and unplugging action primitive, and a screwing action primitive.

[0049] The transmission module assembly task is used to comprehensively quantify the skill learning ability of the robot system's collaborative assembly operations during the process of the robot system performing assembly and disassembly of transmission modules (such as belt drive modules, chain drive modules, and gear drive modules, etc.).

[0050] The test indicators of the transmission module assembly task include the type of operated object, completion time, completion speed, reliability analysis, completion degree, success rate, failure rate, overall task difficulty, power level required for the task, task sophistication, way of using the arm, programming method, fault diagnosis and repair capabilities, and working environment.

[0051] According to some embodiments, the flexible cable harness task may be set based on a grasping action primitive, a carrying action primitive, a touching action primitive, a pressing action primitive, a pushing and pulling action primitive, and a plugging and unplugging action primitive.

[0052] The flexible cable harnessing task is used to comprehensively quantify the flexible cable operation skill learning ability of the robot system during the process of the robot system performing assembly and disassembly of flexible cables (such as flat cables, round cables and hoses, etc.).

[0053] The test indicators of the flexible cable harness task include the type of operated object, completion time, completion speed, reliability analysis, completion degree, success rate, failure rate, overall task difficulty, power level required for the task, task sophistication, way of using the arm, programming method, fault diagnosis and repair capabilities and working environment.

[0054] According to some embodiments, the driving assembly task may be set based on a grasping action primitive, a carrying action primitive, a touching action primitive, a pressing action primitive, and a plugging and unplugging action primitive.

[0055] The drive assembly task is used to comprehensively quantify the skill learning ability of the robot system's drive module assembly during the process of the robot system performing assembly and disassembly of drive modules (such as drive motors, transmission wheels and belts, etc.).

[0056] The test indicators of driven assembly tasks include the type of operated objects, completion time, completion speed, reliability analysis, completion degree, success rate, failure rate, overall task difficulty, power level required for the task, task sophistication, way of using the arm, programming method, fault diagnosis and repair capabilities, and working environment.

[0057] According to some embodiments, a valve tightening task may be set based on a grasping action primitive, a touching action primitive, a pressing action primitive, and a tightening action primitive.

[0058] The valve turning task is used to comprehensively quantify the switch control skill learning ability of the robot system in the process of the robot system performing the opening and closing of various types of valves (such as fire hydrant valves).

[0059] The test indicators of the valve tightening task include the type of operated object, completion time, completion speed, reliability analysis, completion degree, success rate, failure rate, overall task difficulty, power level required for the task, task precision, way of using the arm, programming method, fault diagnosis and repair capabilities and working environment.

[0060] According to some embodiments, a throwing task may be set based on a grasping action primitive, a touching action primitive, and a throwing action primitive.

[0061] The throwing task is used to comprehensively quantify the throwing operation skill learning ability of the robot system in the process of the robot system performing the throwing of various types of objects (such as basketballs and baseballs, etc.).

[0062] The test indicators of the throwing task include the type of operated object, completion time, completion speed, reliability analysis, completion degree, success rate, failure rate, overall task difficulty, power level required for the task, task sophistication, way of using the arm, programming method, fault diagnosis and repair capabilities, and working environment.

[0063] In step S3000, corresponding test devices are constructed based on multiple learning ability test tasks to test the robot system.

[0064] After determining a plurality of learning ability test tasks, different test devices are constructed according to different test tasks to perform corresponding learning ability tests on the robot system.

[0065] According to some embodiments, a first test device is constructed based on an interface plugging and unplugging task.

[0066] Furthermore, based on the first testing device, the corresponding learning ability of the robot system is tested according to the preset interface plugging and unplugging test rules.

[0067] According to some embodiments, a second test device is constructed based on a transmission module assembly task.

[0068] Furthermore, based on the second testing device, the corresponding learning ability of the robot system is tested according to the preset transmission module assembly test rules.

[0069] According to some embodiments, a third test device is constructed based on a flexible cable harness task.

[0070] Furthermore, based on the third testing device, the corresponding learning ability of the robot system is tested according to the preset flexible cable harness testing rules.

[0071] According to some embodiments, a fourth test device is constructed based on the drive assembly task.

[0072] Furthermore, based on the fourth testing device, the corresponding learning ability of the robot system is tested according to the preset drive assembly test rules.

[0073] According to some embodiments, a fifth test device is constructed based on a valve tightening task.

[0074] Furthermore, based on the fifth testing device, the corresponding learning ability of the robot system is tested according to the preset valve tightening test rules.

[0075] According to some embodiments, a sixth test device is constructed based on a throwing task.

[0076] Furthermore, based on the sixth testing device, the corresponding learning ability of the robot system is tested according to the preset throwing test rules.

[0077] According to the embodiments of the present application, a systematic standardized test of the learning ability of the robot system can be implemented, providing a basis and guidance for improving and optimizing the performance of the robot system, and effectively enhancing the autonomous learning ability of the robot system.

[0078] Figure 2 A schematic diagram of a first testing device according to an exemplary embodiment of the present application is shown.

[0079] like Figure 2 As shown, the first test device 10 includes a bottom substrate 110 , a top substrate 120 , a support 130 , a test element 140 , and a test circuit 150 .

[0080] The bottom substrate 110 is fixed on the surface of the test bench, wherein the lower surface of the bottom substrate 110 is in contact with the surface of the test bench.

[0081] The top substrate 120 is disposed opposite to the bottom substrate 110 .

[0082] The support member 130 is fixed between the upper surface of the bottom substrate 110 and the lower surface of the top substrate 120 .

[0083] The testing element 140 is fixedly connected to the upper surface of the top substrate 120 .

[0084] According to some embodiments, the test element 140 includes multiple types of interfaces, including an RJ45 network interface, a 4-core aviation interface, a 9-core Dsub connector, a USB connector, a power interface, and / or a coaxial cable interface.

[0085] like Figure 2 In the first test device 10 shown, the test element 140 includes a pair of RJ45 network interfaces 1410, a pair of 4-core aviation interfaces (4-core aviation interface male head 1420, 4-core aviation interface female head 1421), a pair of 9-core Dsub connectors (9-core Dsub connector male head 1430, 9-core Dsub connector female head 1431), a pair of USB connectors 1440, a pair of power interfaces (3-wire power interface 1450, 2-wire power interface 1451) and a pair of coaxial cable interfaces 1460.

[0086] According to some embodiments, interfaces of the same type among the multiple types of interfaces included in the test element 140 are connected by wires to form multiple connection lines 1470 corresponding to each type of interface.

[0087] The test circuit 150 is fixedly connected to the upper surface of the top substrate 120 .

[0088] According to some embodiments, the test circuit 150 includes a power supply ( Figure 2 ), multiple connecting lines 1470 and indicator lights 1510.

[0089] According to some embodiments, when the robot system is connected to the same type of interface in the test element 140 , the connection line 1470 corresponding to the connected same type of interface is turned on, the test circuit 150 forms a loop, and the indicator light 1510 is lit.

[0090] According to some embodiments, the skill learning ability of the robot system for collaborative assembly operation can be tested by the first testing device 10 according to the preset interface plug-in test rules. The preset interface plug-in test rules include the following steps:

[0091] S100 , the robot system identifies the type and position of the test element 140 , and plans the assembly / disassembly sequence of the test element 140 .

[0092] S110 , the robot system sequentially performs assembly / disassembly tasks of the test element 140 .

[0093] S120, repeat steps S100 to S110 until the robot system completes the assembly / disassembly of the RJ45 network interface, 4-core aviation interface, 9-core Dsub connector, USB connector, power interface and / or coaxial cable interface in the test element 140, and records the completion time to determine whether the robot system exceeds the predetermined completion time.

[0094] S130 , repeating steps S100 to S120 10 times in a loop, and calculating the success rate, completion speed, average value, standard deviation and 95% confidence interval of the completion degree of the robot system completing the assembly / disassembly of the test element 140 .

[0095] According to some embodiments, after the robot system completes the interface plugging and unplugging task, the robot system's corresponding test action primitives and the comprehensive level of its learning ability are evaluated through a preset intelligent evaluation model based on the task difficulty information, various basic performance indicators and task intelligence indicators, and combined with an evaluation scoring table.

[0096] Figure 3 A schematic diagram showing a second testing device according to an exemplary embodiment of the present application is shown.

[0097] like Figure 3 As shown, the second test device 20 includes a bottom substrate 210 , a top substrate 220 , a support member 230 and a test element 240 .

[0098] The bottom substrate 210 is fixed to the surface of the test bench, wherein the lower surface of the bottom substrate 210 is in contact with the surface of the test bench.

[0099] The top substrate 220 is disposed opposite to the bottom substrate 210 .

[0100] The support member 230 is fixed between the upper surface of the bottom substrate 210 and the lower surface of the top substrate 220 .

[0101] According to some embodiments, the test element 240 includes a synchronous belt transmission module 2410 , a chain transmission module 2420 , and a gear transmission module 2430 .

[0102] The synchronous belt transmission module 2410 includes a first synchronous belt pulley 2411 and a second synchronous belt pulley 2412, wherein the first synchronous belt pulley 2411 is equipped with a bearing ( Figure 3 not shown), and through the corresponding bearing support ( Figure 3 ) is fixed to the upper surface of the top substrate 220.

[0103] The synchronous belt transmission module 2410 further includes a synchronous belt 2413 and a synchronous belt tensioner 2414 .

[0104] The first synchronous pulley 2411 and the second synchronous pulley 2412 are connected by a synchronous belt 2413 .

[0105] The synchronous belt tensioner 2414 is disposed between the first synchronous belt pulley 2411 and the second synchronous belt pulley 2412 and fixed to the upper surface of the top base plate 220. The synchronous belt 2413 passes through the synchronous belt tensioner 2414.

[0106] The chain transmission module 2420 includes a first sprocket 2421 and a second sprocket 2422, wherein the first sprocket 2421 is provided with a bearing ( Figure 3 not shown), and through the corresponding bearing support ( Figure 3 ) is fixed to the upper surface of the top substrate 220.

[0107] The chain transmission module 2420 also includes a chain 2423 and a chain tensioner 2424 .

[0108] The first sprocket 2421 and the second sprocket 2422 are connected by a chain 2423 .

[0109] The chain tensioner 2424 is disposed between the first sprocket 2421 and the second sprocket 2422 and is fixed to the upper surface of the top base plate 220. The chain 2423 passes through one side of the chain tensioner 2424.

[0110] The gear transmission module 2430 includes a first gear 2431, a second gear 2432 and a third gear 2433, wherein the second gear 2432 is meshed with the first gear 2431 and the third gear 2433 respectively.

[0111] The first gear 2431, the second gear 2432 and the third gear 2433 are all equipped with bearings ( Figure 3 not shown), and through the corresponding bearing support ( Figure 3 ) is fixed to the upper surface of the top substrate 220.

[0112] The second synchronous pulley 2412 is disposed on the top of the first gear 2431 , and the second synchronous pulley 2412 rotates coaxially with the first gear 2431 .

[0113] The second sprocket 2422 is disposed on the top of the third gear 2433 , and the second sprocket 2422 and the third gear 2433 rotate coaxially.

[0114] According to some embodiments, when the robot system has assembled the test element 240, when a rotational drive is applied to any one of the test elements among the first synchronous pulley 2411, the second synchronous pulley 2412, the first sprocket 2421, the second sprocket 2422, the first gear 2431, the second gear 2432 and the third gear 2433, the other test elements among the first synchronous pulley 2411, the second synchronous pulley 2412, the first sprocket 2421, the second sprocket 2422, the first gear 2431, the second gear 2432 and the third gear 2433 can be driven to rotate.

[0115] According to some embodiments, the robot system may be tested for its skill learning ability of collaborative assembly operations by the second testing device 20 according to the preset transmission module assembly test rules. The preset transmission module assembly test rules include the following steps:

[0116] S200 , the robot system identifies the type and position of the test element 240 , and plans the assembly / disassembly sequence of the test element 240 .

[0117] S210 , the robot system sequentially performs assembly / disassembly tasks of the test element 240 .

[0118] S220 , the robot system performs alignment and insertion of the first synchronous pulley 2411 , the second synchronous pulley 2412 , the first sprocket 2421 , the second sprocket 2422 , the first gear 2431 , the second gear 2432 , and the third gear 2433 .

[0119] S230, the robot system installs the synchronous belt 2413 and the chain 2423, and performs corresponding operations such as grasping, placing, wrapping and / or tightening, gear meshing and releasing / re-grasping of the synchronous belt 2413 and the chain 2423.

[0120] S240, the robot system adjusts the tension of the synchronous belt 2413 through the synchronous belt tensioner 2414, and adjusts the tension of the chain 2423 through the chain tensioner 2424.

[0121] S250 , repeating steps S200 to S240 10 times in a loop, and calculating the success rate, completion speed, average value, standard deviation and 95% confidence interval of the completion degree of the robot system completing the assembly / disassembly of the test element 240 .

[0122] According to some embodiments, after the robot system completes the transmission module assembly task, the robot system's corresponding test action primitives and the comprehensive level of its learning ability are evaluated through a preset intelligent evaluation model based on the task difficulty information, various basic performance indicators and task intelligence indicators, and combined with an evaluation scoring table.

[0123] Figure 4 A schematic diagram showing a third testing device according to an exemplary embodiment of the present application is shown.

[0124] like Figure 4 As shown, the third testing device 30 includes a substrate 310 and a testing element 320 .

[0125] The substrate 310 is fixed on the surface of the test bench, wherein the lower surface of the substrate 310 is in contact with the surface of the test bench.

[0126] The testing element 320 is fixedly connected to the upper surface of the substrate 310 .

[0127] According to some embodiments, the test element 320 includes a plurality of wiring harnesses. Figure 4 In the third test device shown, the test element 320 includes a round wire ( Figure 4 Not shown), round tube ( Figure 4 Not shown) and flat cable ( Figure 4 not shown).

[0128] According to some embodiments, the test element 320 includes a plurality of fixing holes corresponding to a plurality of wiring harnesses. Figure 4 In the third test device shown, the test element 320 includes a round wire fixing hole 3210 , a round tube fixing hole 3211 and a flat cable fixing hole 3212 .

[0129] According to some embodiments, the test element 320 includes a plurality of wire clips corresponding to a plurality of wire harnesses. Figure 4 In the third test device shown, the test element 320 includes a round wire clamp 3220 , a round tube clamp 3221 , and a flat cable clamp 3222 .

[0130] According to some embodiments, the test element 320 includes a plurality of positioning pins 3230 .

[0131] According to some embodiments, the test element 320 includes a retaining wall 3240 . The retaining wall 3240 is perpendicular to the substrate 310 and fixedly connected to the substrate 310 .

[0132] In such Figure 4In the third test device shown, multiple fixing holes (including round wire fixing holes 3210, round tube fixing holes 3211 and flat cable fixing holes 3212) are distributed on both sides of the retaining wall 3240, and multiple wire clamps (including round wire clamps 3220, round tube wire clamps 3221 and flat cable clamps 3222) and multiple positioning pins 3230 are distributed on one side of the retaining wall 3240.

[0133] According to some embodiments, a plurality of fixing holes (including round wire fixing holes 3210, round tube fixing holes 3211 and flat cable fixing holes 3212) may be set on the surface of one side of the retaining wall 3240, and a plurality of wire clamps (including round wire clamps 3220, round tube wire clamps 3221 and flat cable clamps 3222) may be relatively set on the surface of the other side.

[0134] According to some embodiments, the robotic system Figure 4 The winding route shown in the direction of the middle arrow operates any one of the various wire harnesses (such as round wires, round tubes and flat cables) to pass through the corresponding fixing holes distributed on one side of the retaining wall 3240, and through the corresponding fixing holes set on the surface of the retaining wall 3240, so that the wire harness bypasses the retaining wall 3240.

[0135] Furthermore, the robot system operating harness passes through the corresponding wire clamps arranged relatively on the surface of the other side of the retaining wall 3240, and passes through the corresponding wire clamps distributed on the other side of the retaining wall 3240, and then bypasses multiple positioning pins 3230, and passes through the corresponding fixing holes distributed on the other side of the retaining wall 3240.

[0136] According to some embodiments, the third testing device 30 may be used to test the robot system's flexible cable operation skill learning ability according to a preset flexible cable harness test rule. The preset flexible cable harness test rule includes the following steps:

[0137] S300, the robotic system acquires / processes the loose cable components.

[0138] S310, the robot system starts wiring according to a preset winding route, and during the wiring process, the multiple fixing holes and multiple wire clamps in the test element 320 are kept open, and the stiffness of the cable is kept within a preset range.

[0139] S320, the robotic system performs weaving / placement of loose components so that the robotic system can accurately place the cables in the cable clamps in different directions.

[0140] S330 , the robot system switches and / or releases and reacquires the cable, releasing and re-grasping the cable to pass through the plurality of fixing holes and the plurality of wire clamps in the test element 320 .

[0141] S340, repeating steps S300 to S330 10 times in a loop, and calculating the success rate, completion speed, and average value, standard deviation, and 95% confidence interval of the cable operation of the robot system.

[0142] According to some embodiments, after the robot system completes the flexible cable harnessing task, the comprehensive level of the robot system's corresponding test action primitives and learning ability is evaluated through a preset intelligent evaluation model based on the task difficulty information, various basic performance indicators and task intelligence indicators, and combined with an evaluation scoring table.

[0143] Figure 5 A schematic diagram showing a fourth testing device according to an exemplary embodiment of the present application is shown.

[0144] like Figure 5 As shown, the fourth test device 40 includes a substrate 410 , a mounting panel 420 and a test element 430 .

[0145] The substrate 410 is fixed on the surface of the test bench, wherein the lower surface of the substrate 410 is in contact with the surface of the test bench.

[0146] The mounting panel 420 is perpendicular to the substrate 410 and is fixedly connected to the substrate 410. The mounting panel 420 includes a first through hole 4210 ( Figure 5 ), the second through hole 4211 and the third through hole 4212 ( Figure 5 not shown).

[0147] According to some embodiments, the test element 430 includes a motor 4310, a first axis fixed circular pulley 4311, a moving axis 4312 ( Figure 5 ), a round pulley 4313 with a bearing, a second shaft fixed round pulley 4314 and a bearing support ( Figure 5 not shown).

[0148] The motor 4310 is connected by bolts ( Figure 5 43) is mounted on one side of the mounting panel 420, and the output shaft ( Figure 5 ) through the first through hole 4210 ( Figure 5 420).

[0149] The first shaft fixed circular pulley 4311 is connected to the output shaft ( Figure 5 ) connection.

[0150] Moving axis 4312( Figure 5 The mounting plate 420 (not shown) passes through the second through hole 4211 from one side of the mounting panel 420 and is able to move up and down in the vertical direction along the second through hole 4211.

[0151] The round belt pulley 4313 with bearing is connected to the moving shaft 4312 ( Figure 5 ) connection.

[0152] Bearing support with bearing( Figure 5 420).

[0153] The second shaft fixed circular belt pulley 4314 passes through the third through hole 4212 ( Figure 5 ) and a bearing support ( Figure 5 ) connection.

[0154] According to some embodiments, the first shaft fixed round pulley 4311, the second shaft fixed round pulley 4314 and the round pulley with bearing 4313 are connected by a belt ( Figure 5 The round belt pulley 4313 with bearing moves with the moving shaft 4312 (not shown). Figure 5 (not shown) moves up and down in the vertical direction to adjust the belt ( Figure 5 The tension of the sintered carbon foam is not shown.

[0155] According to some embodiments, the robot system may be tested for its ability to learn the skills of driving module assembly by the fourth testing device 40 according to the preset driving assembly test rules. The preset driving assembly test rules include the following steps:

[0156] S400 , the robot system identifies the type and position of the test component 430 , and plans the assembly / disassembly sequence of the test component 430 .

[0157] S410 , the robot system sequentially performs assembly / disassembly tasks of the test element 430 .

[0158] S420, the robot system performs alignment of the bolt holes of the motor 4310 and bolt installation, as well as alignment of the first axis fixed circular pulley 4311, the movable axis 4312, the circular pulley with bearing 4313, and the second axis fixed circular pulley 4314.

[0159] S430, the robot system installs belts so that the first-axis fixed circular pulley 4311, the second-axis fixed circular pulley 4314 and the circular pulley with bearing 4313 are connected by belts.

[0160] S440, the robot system adjusts the tension of the belt by moving the movable shaft 4312 and the circular pulley 4313 with bearing.

[0161] S450, repeating steps S400 to S440 10 times in a loop, and calculating the success rate, completion speed, and average value, standard deviation, and 95% confidence interval of the robot system driven assembly.

[0162] According to some embodiments, after the robot system completes the driving assembly task, the robot system's corresponding test action primitives and the comprehensive level of its learning ability are evaluated through a preset intelligent evaluation model based on the task's difficulty information, various basic performance indicators and task intelligence indicators, and combined with an evaluation scoring table.

[0163] Figure 6 A schematic diagram of a fifth testing device according to an exemplary embodiment of the present application is shown.

[0164] like Figure 6 As shown, the fifth test device 50 includes a substrate 510 and a test element 520 .

[0165] The substrate 510 is fixed on the surface of the test bench, wherein the lower surface of the substrate 510 is in contact with the surface of the test bench.

[0166] The testing element 520 is fixedly connected to the upper surface of the substrate 510 .

[0167] According to some embodiments, the test element 520 includes a fire hydrant valve 5210 and a plurality of different types of rotary tube valves 5211. The directions of the rotary tube valves 5211 include a horizontal direction and a vertical direction.

[0168] According to some embodiments, the fifth testing device 50 may be used to test the skill learning ability of the robot system for switch control according to the preset valve twisting test rules. The preset valve twisting test rules include the following steps:

[0169] S500, the robot system sequentially screws all valves in the test element 520 until all valves in the test element 520 are screwed to a preset state, and records the completion time to determine whether the robot system exceeds the preset task time.

[0170] S510, repeat step S500 10 times, and record the completion time and number of successes of the robot system.

[0171] S520, calculating the success rate, failure rate, and frequency of screwing of the robot system on the valve in the test element 520, and calculating the mean screwing speed of the robot system on the valve in the test element 520 and its corresponding 95% confidence interval.

[0172] According to some embodiments, after the robot system completes the valve tightening task, the comprehensive level of the robot system's corresponding test action primitives and learning ability is evaluated through a preset intelligent evaluation model based on the task difficulty information, various basic performance indicators and task intelligence indicators, and combined with an evaluation scoring table.

[0173] Figure 7 A schematic diagram of a sixth testing device according to an exemplary embodiment of the present application is shown.

[0174] like Figure 7 As shown, the sixth test device 60 includes a bracket 610 and a test element 620 .

[0175] The bracket 610 is fixed on the surface of the test bench.

[0176] According to some embodiments, the test element 620 includes a throwing ball 6210 and a throwing target 6211. The throwing target 6211 is fixed to the bracket 610, and the distance between the throwing ball 6210 and the throwing target 6211 is a preset distance.

[0177] According to some embodiments, the throwing ball 6210 may be a standard-sized basketball, baseball, etc.

[0178] According to some embodiments, the throwing target 6211 is drawn with a corresponding scoring area ( Figure 7 not shown).

[0179] According to some embodiments, the robot system may be tested for its throwing skill learning ability by the sixth testing device 60 according to a preset throwing test rule. The preset throwing test rule includes the following steps:

[0180] S600, the robot system grabs and throws the ball 6210 with one hand or two hands.

[0181] S610, the robot system throws a throwing ball 6210 in a preset direction toward a throwing target 6211 at a preset distance (e.g., 5 m) from the robot system.

[0182] S620, record the throwing accuracy of the robot system and record the score and completion time.

[0183] S630, repeating steps S600 to S620 10 times in a loop, and calculating the average value, standard deviation and 95% confidence interval of the throwing success rate, completion speed and completion degree of the robot system.

[0184] According to some embodiments, after the robot system completes the throwing task, the comprehensive level of the robot system's corresponding test action primitives and learning ability is evaluated through a preset intelligent evaluation model based on the task difficulty information, various basic performance indicators and task intelligence indicators, and combined with an evaluation scoring table.

[0185] The embodiments of the present application are described in detail above, and the description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, changes or deformations made by those skilled in the art based on the idea of ​​the present application, the specific implementation method and the scope of application of the present application, all belong to the scope of protection of the present application. In summary, the content of this specification should not be construed as limiting the present application.

Claims

1. A method for testing the learning ability of a robot system, characterized in that: include: Setting a plurality of test action primitives of the robot system, wherein the plurality of test action primitives include a grasping action primitive, a carrying action primitive, a touching action primitive, a pressing action primitive, a pushing and pulling action primitive, a plugging and pulling action primitive, a twisting action primitive and / or a throwing action primitive; Based on the multiple test action primitives, multiple learning ability test tasks are set, and the multiple learning ability test tasks include interface plug-in and unplug tasks, transmission module assembly tasks, flexible cable harness tasks, drive assembly tasks, valve screwing tasks and / or throwing tasks; Based on the multiple learning ability test tasks, corresponding test devices are respectively constructed to test the robot system; Wherein, based on the multiple test action primitives, multiple learning ability test tasks are set, including: Setting the interface plugging and unplugging task based on the grasping action primitive, the carrying action primitive, the pushing and pulling action primitive, and the plugging and unplugging action primitive; The transmission module assembly task is set based on the grasping action primitive, the carrying action primitive, the touching action primitive, the pressing action primitive, the pushing and pulling action primitive, the plugging and unplugging action primitive, and the twisting action primitive; The flexible cable harness task is set based on the grasping action primitive, the carrying action primitive, the touching action primitive, the pressing action primitive, the pushing and pulling action primitive, and the plugging and unplugging action primitive; The driving assembly task is set based on the grasping action primitive, the carrying action primitive, the touching action primitive, the pressing action primitive and the plugging and unplugging action primitive; Based on the grasping action primitive, the touching action primitive, the pressing action primitive and the twisting action primitive, setting the valve twisting task; and / or The throwing task is set based on the grasping action primitive, the touching action primitive and the throwing action primitive.

2. The method according to claim 1, characterized in that: Based on the multiple learning ability test tasks, corresponding test devices are respectively constructed to test the robot system, including: Based on the interface plugging and unplugging task, construct a first testing device; Based on the first testing device, the learning ability of the robot system is tested according to preset interface plugging and unplugging test rules.

3. The method according to claim 1, characterized in that Based on the multiple learning ability test tasks, corresponding test devices are respectively constructed to test the robot system, including: Based on the transmission module assembly task, construct a second test device; Based on the second testing device, the learning ability of the robot system is tested according to the preset transmission module assembly test rules.

4. The method according to claim 1, characterized in that: Based on the multiple learning ability test tasks, corresponding test devices are respectively constructed to test the robot system, including: Based on the flexible cable harness task, construct a third test device; Based on the third testing device, the learning ability of the robot system is tested according to preset flexible cable harness testing rules.

5. The method according to claim 1, characterized in that Based on the multiple learning ability test tasks, corresponding test devices are respectively constructed to test the robot system, including: Based on the drive assembly task, construct a fourth test device; Based on the fourth testing device, the learning ability of the robot system is tested according to the preset drive assembly test rules.

6. The method according to claim 1, characterized in that Based on the multiple learning ability test tasks, corresponding test devices are respectively constructed to test the robot system, including: Based on the valve tightening task, construct a fifth test device; Based on the fifth testing device, the learning ability of the robot system is tested according to the preset valve tightening test rules.

7. The method according to claim 1, characterized in that Based on the multiple learning ability test tasks, corresponding test devices are respectively constructed to test the robot system, including: Based on the throwing task, construct a sixth test device; Based on the sixth testing device, the learning ability of the robot system is tested according to preset throwing test rules.

8. A test device used as the first test device in the method according to claim 2, characterized in that: include: A bottom substrate is fixed to the surface of the test bench, and the lower surface of the bottom substrate is in contact with the surface of the test bench; A top substrate, arranged opposite to the bottom substrate; A support member, fixed between the upper surface of the bottom substrate and the lower surface of the top substrate; A test element, fixedly connected to the upper surface of the top substrate; A test circuit is fixedly connected to the upper surface of the top substrate; The test element includes multiple types of interfaces, and interfaces of the same type in the multiple types of interfaces are connected by wires to form multiple connection lines corresponding to the multiple types of interfaces respectively; The test circuit includes a power supply and an indicator light.

9. The testing device according to claim 8, characterized in that: The multiple types of interfaces include an RJ45 network interface, a 4-core aviation interface, a 9-core Dsub connector, a USB connector, a power interface and / or a coaxial cable interface.

10. The testing device according to claim 8, characterized in that: When the robot system is connected to the same type of interface in the test element, the connection line corresponding to the same type of interface is connected, the test circuit forms a loop, and the indicator light is lit.

11. A test device used as the second test device in the method according to claim 3, characterized in that: include: A bottom substrate is fixed to the surface of the test bench, and the lower surface of the bottom substrate is in contact with the surface of the test bench; A top substrate, arranged opposite to the bottom substrate; A support member, fixed between the upper surface of the bottom substrate and the lower surface of the top substrate; Test components, including: A synchronous belt transmission module, comprising a first synchronous belt pulley and a second synchronous belt pulley; A chain transmission module, comprising a first sprocket and a second sprocket; A gear transmission module, comprising a first gear, a second gear and a third gear, wherein the second gear is meshed with the first gear and the third gear respectively; The first synchronous pulley, the first sprocket, the first gear, the second gear and the third gear are all equipped with bearings and fixed to the upper surface of the top substrate through corresponding bearing supports; The second synchronous belt wheel is arranged on the top of the first gear, and the second synchronous belt wheel rotates coaxially with the first gear; The second sprocket is disposed on the top of the third gear, and the second sprocket rotates coaxially with the third gear.

12. The testing device according to claim 11, characterized in that: The synchronous belt drive module also includes a synchronous belt and a synchronous belt tensioner; The first synchronous pulley and the second synchronous pulley are connected by the synchronous belt; The synchronous belt tensioner is disposed between the first synchronous belt pulley and the second synchronous belt pulley and is fixed to the upper surface of the top base plate; The synchronous belt passes through the synchronous belt tensioner.

13. The testing device according to claim 11, characterized in that: The chain transmission module also includes a chain and a chain tensioner; The first sprocket and the second sprocket are connected by the chain; The chain tensioner is disposed between the first sprocket and the second sprocket and is fixed to the upper surface of the top base plate; The chain passes through one side of the chain tensioner.

14. A test device used as the third test device in the method according to claim 4, characterized in that: include: A substrate is fixed to the surface of the test bench, wherein the lower surface of the substrate contacts the surface of the test bench; A test element is fixedly connected to the upper surface of the substrate, and the test element includes: Various wiring harnesses; A plurality of fixing holes, respectively corresponding to the plurality of wiring harnesses; A plurality of wire clips, corresponding to the plurality of wire harnesses respectively; Multiple positioning pins; The retaining wall is perpendicular to the base plate and fixedly connected to the base plate. The plurality of fixing holes are arranged on both sides of the retaining wall. The plurality of wire clips and the plurality of positioning pins are arranged on one side of the retaining wall.

15. A testing device used as the fourth testing device in the method according to claim 5, characterized in that: include: A substrate is fixed to the surface of the test bench, wherein the lower surface of the substrate contacts the surface of the test bench; A mounting panel, which is perpendicular to the substrate and fixedly connected to the substrate, wherein the mounting panel comprises a first through hole, a second through hole and a third through hole; Test components, including: a motor, mounted on one side of the mounting panel by bolts, and an output shaft of the motor is exposed to the other side of the mounting panel through the first through hole; A first shaft fixed circular pulley connected to the output shaft of the motor on the other side of the mounting panel; A movable shaft capable of moving up and down in a vertical direction along the second through hole; A round pulley with a bearing, connected to the movable shaft through the second through hole on the other side of the mounting panel; a bearing support including a bearing, fixed to said one side of said mounting panel; The second shaft fixes the circular pulley and is connected to the bearing support including the bearing through the third through hole.

16. The testing device according to claim 15, characterized in that: The first shaft fixed circular pulley, the second shaft fixed circular pulley and the circular pulley with bearing are connected by a belt.

17. A testing device used as the fifth testing device in the method according to claim 6, characterized in that: include: A substrate is fixed to the surface of the test bench, wherein the lower surface of the substrate contacts the surface of the test bench; A test element, fixedly connected to the upper surface of the substrate; Wherein, the test element includes a fire hydrant valve and a plurality of different types of screw-on pipe valves; The direction of the twist tube valve includes a horizontal direction and a vertical direction.

18. A testing device used as the sixth testing device in the method according to claim 7, characterized in that: include: A bracket, fixed to the surface of the test bench; Test components, including: Throwing the ball; A throwing target, wherein the distance between the throwing ball and the throwing target is a preset distance, the throwing target is fixed to the bracket, and a corresponding scoring area is drawn on the throwing target.

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