Automatic pile returning test method and system for robot

Abstract

The invention relates to a robot automatic pile returning test method and system, a robot is placed in a test scene comprising a charging pile, a pile finding point and one or more target points for pile returning test, and the method comprises the following steps: the robot starts from the charging pile and goes to a corresponding preset target point; after the target point is reached, a pile returning instruction is issued to the robot, the robot conducts pile returning action from the target point, the pile returning action process is tested, and whether the pile returning action is successful or not is judged; after the robot goes on the pile, the real-time pose of the robot and the charging state of the robot are obtained, and whether pile returning succeeds or not is judged through comparison of the real-time pose and a control instruction and feedback of the charging pile state; and summarizing and recording success or failure results of each pile returning task in the pile returning test process, comparing the pile returning performance data with historical version data, and judging whether the pile returning performance is degraded or not. Compared with the prior art, the test requirements of diversified scenes can be met, and the test efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot testing equipment, and in particular to a robot automatic return-to-pile testing system and method. Background Art

[0002] As the popularity of service robots is getting higher and higher, the ability of mobile service robots to automatically return to the charging pile for charging needs to be stable and reliable.

[0003] For example, the testing method for the automatic charging success rate of robots and the service life of charging piles disclosed in Chinese Patent Application CN201911205870.1. The testing content that can be achieved by the current conventional testing system is relatively rigid, unable to meet the testing requirements of the current diverse scenarios of robot return to the pile, and the testers cannot quickly and intuitively obtain the test results. Summary of the Invention

[0004] The object of the present invention is to overcome the defects of the above-mentioned existing technologies and provide a robot automatic return-to-pile testing system and method.

[0005] The object of the present invention can be achieved by the following technical solutions:

[0006] As the first aspect of the present invention, a robot automatic return-to-pile testing method is provided. The method places the robot in a testing scenario including a charging pile, a pile-finding point, and one or more target points for return-to-pile testing. The testing steps include:

[0007] The robot departs from the charging pile to the corresponding preset target point according to the testing setting rules;

[0008] When the robot reaches the target point, a return-to-pile instruction is sent to the robot. The robot performs a return-to-pile action from the target point and tests the process of the return-to-pile action to determine whether the return-to-pile action is successful. The return-to-pile action includes pile-finding and pile-up;

[0009] When the robot piles up, the real-time pose and charging state of the robot are obtained. By comparing the real-time pose with the control instruction and the feedback of the charging pile state, it is determined whether the return to the pile is successful;

[0010] During the return-to-pile testing process, the success or failure results of each return-to-pile task are summarized and recorded, and the return-to-pile performance data is compared with the historical version data to determine whether the return-to-pile performance has deteriorated.

[0011] As a preferred technical solution, when performing the testing, the return-to-pile testing method applies no load, full load, or random load according to the scenario application to the robot.

[0012] As a preferred technical solution, judgments are respectively made during the pile-finding and pile-mounting links in the process of the robot returning to the pile. Environmental positioning information is obtained through the sensors of the robot, and the information is recorded and compared with the threshold value to judge the accuracy and completion degree of the process of returning to the pile.

[0013] As a preferred technical solution, the test process of the pile-returning action is as follows:

[0014] Judge whether the robot arrives at the pile-finding point on time. If it does not arrive at the pile-finding point on time, record the failure to return to the pile-finding point and record the number of failures.

[0015] The robot performs pile recognition operation through sensors at the pile-finding point. After confirming the position of the charging pile, the robot performs the pile-returning operation; if the charging pile is not scanned on time, record the failure to find the pile and record the number of failures.

[0016] As a preferred technical solution, the judgment of whether the pile-returning is successful is as follows:

[0017] After the robot successfully mounts the pile, obtain the real-time pose of the robot. Through the real-time pose and the control instruction, judge whether the robot is successfully docked with the pile. If it fails, record the charging failure and record the number of failures.

[0018] And according to the feedback of the charging pile status, judge whether the charging is successful within the charging verification time. If it fails, record the charging failure and record the number of failures.

[0019] As a preferred technical solution, the judgment of successful pile docking is as follows:

[0020] Whenever the robot completes the pile-returning action, record the deviation between the central position of the robot's charging port and the central position of the charging interface of the charging pile based on the scale mark, and measure the offset angle between the robot and the charging pile.

[0021] When the deviation of the robot docking with the charging pile is less than the set distance and the angle deviation is within the set angle threshold, it is judged that the pile docking in the pile-returning test is successful.

[0022] As a preferred technical solution, the judgment of whether the pile-returning performance degenerates is as follows:

[0023] Summarize and record the success or failure results of each pile-returning task in the process of the pile-returning test. The collected and summarized test data include: the total number of preset pile-returning tests, the relative position information of the preset pile-returning target point to the initial position point of the robot, record the number of failures in the pile-returning test and count the corresponding reasons for the failures in the pile-returning test.

[0024] Statistical data on the time from the target point to successful pile-returning and the number of successful pile-returning in a certain number of pile-returning tasks are used as the pile-returning performance data of this version, including the pile-returning success rate and the pile-returning efficiency.

[0025] For subsequent version iterations, back-to-pile tests are carried out, and various data of the back-to-pile for each version are statistically analyzed and compared with historical data to determine whether the back-to-pile performance has deteriorated.

[0026] As a second aspect of the present invention, a robot automatic back-to-pile test system is provided. The system implements the robot automatic back-to-pile test method as described above, specifically including:

[0027] Control module: Preset the number of tests, control the robot to perform the back-to-pile action according to the preset number of tests, move to the corresponding preset target point according to the test setting rules, and then perform the back-to-pile action from the target point, including finding the pile and getting on the pile;

[0028] Judgment module: Make judgments respectively during the pile-finding and pile-getting processes in the back-to-pile process. Obtain the environmental positioning information through the robot's sensors, record the information and compare it with the threshold value to judge the accuracy and completion degree of the back-to-pile process; after getting on the pile, obtain the real-time pose of the robot and the charging state of the robot, and judge whether the back-to-pile is successful through the comparison of the real-time pose and the control instruction and the feedback of the charging pile state;

[0029] Abnormal monitoring module: During the back-to-pile test process, summarize and record the success or failure results of each back-to-pile task. The test data collected and summarized includes: the total preset number of back-to-pile tests, the relative position information of the preset back-to-pile target point to the initial position point of the robot, record the number of back-to-pile test failures and count the corresponding reasons for back-to-pile test failures;

[0030] Statistics module: Statistically analyze the back-to-pile success rate, and compare the back-to-pile performance data with the data of historical versions to judge whether the back-to-pile performance has deteriorated.

[0031] As a preferred technical solution, the ground of the test site of the test system adopts floors of various materials, including but not limited to marble, wooden floor, carpet and epoxy floor.

[0032] As a preferred technical solution, a laser pen is arranged along the central axial direction of the charging port on the robot, and a scale mark is arranged at the central position of the charging interface of the charging pile.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] 1) The robot automatic back-to-pile test method designed by the present invention divides the back-to-pile test into three stages: respectively testing the navigation and terrain passing ability of the robot from the target point to the pile-finding point, testing the pile-finding ability of the robot at the pile-finding point, and testing the pile-pairing performance of the robot at the charging pile. For each stage, test conditions and targets can be set separately. It can meet the test requirements of diverse scenarios and improve the test efficiency.

[0035] 2) The test site arranged in the present invention has floors of various different materials, including but not limited to marble, wooden floor, carpet, epoxy floor, etc. The target points are randomly distributed in the test scenario to simulate the robot's pile-returning performance in a complex environment. And during the test, the robot 1 can be applied with no-load, full-load or random load according to the scene application as required for testing. It meets the diverse requirements for the pile-returning performance test.

[0036] 3) A mark is set at the exact center in front of the charging port of the mobile robot in the present invention, and a scale mark is correspondingly set at the central position of the charging interface of the charging pile. After the robot completes the pile-returning action, record how many millimeters the center of the robot's mark differs from the center of the pile scale mark each time, and measure the deviation angle difference between the robot and the charging pile, so as to intuitively obtain the test results. Description of the Drawings

[0037] Figure 1 is a flow chart of a method for automatically testing the pile-returning of a robot according to the present invention;

[0038] Figure 2 is a schematic diagram of a system for automatically testing the pile-returning of a robot according to the present invention;

[0039] Figure 3 is a flow chart of the mobile robot returning to the pile in the present invention;

[0040] Figure 4 is a partial schematic diagram of the charging interface between the mobile robot and the charging pile of the present invention;

[0041] As shown in the figure, the reference numerals are: 1, mobile robot; 11, charging port; 12, laser pointer; 2, charging pile; 21, scale; 31, pile-finding point; 32, target point. Detailed Embodiments

[0042] The present invention will be described in detail below with reference to the drawings and specific embodiments. This embodiment is implemented on the premise of the technical solution of the present invention, and gives the detailed implementation manner and specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0043] Embodiment 1

[0044] As one of the implementation manners of the present invention, the present invention proposes a method for testing the automatic pile-returning ability of a robot, which can realize the diversified robot pile-returning performance test in multiple scenarios, and can automatically summarize the pile-returning success rate data and output a test report, greatly improving the test efficiency and data reliability. As Figure 1 shown, the steps of this method include:

[0045] S1. Build a test scenario in a specified area, such as Figure 2As shown in the figure, the test scenario specifically includes a robot 1, a charging pile 2, a pile-finding point 31, and one or more preset target points 32. The operation site has multiple types of floors with different materials, including but not limited to marble, wooden floor, carpet, epoxy floor, etc. The multiple preset target points 32 can be randomly arranged on floors with different materials, and a specified load is applied to the robot 1, including no-load, full-load, or a random load is applied according to the scenario application for testing. In this embodiment, a rectangular area with a length of 4m and a width of 3m is built, and the charging pile 2 is fixed in the middle position against the wall, serving as a special scenario for testing the pile-return performance, and multiple target points 32 are set in the scenario.

[0046] S2. Preset the number of tests, and control the robot to perform pile-return tests within the built test scenario according to the preset number of tests. As Figure 3 shown, the process of the pile-return test is as follows:

[0047] S2.1 The robot 1 first departs from the charging pile 2 and goes to the corresponding preset target point 32 according to the test setting rules;

[0048] S2.2 When the robot 1 reaches the target point 32, a pile-return instruction is sent to it, and the robot 1 performs a pile-return action from the target point 32. The pile-return action includes finding the pile and getting on the pile. Judgments are made separately during the pile-finding and getting-on-pile links in the pile-return process. Environmental positioning information is obtained through the sensors of the robot 1, and information is recorded and compared with the threshold value to judge the accuracy and completion degree of the pile-return process.

[0049] Specifically, under the condition of good positioning, the robot 1 first reaches the pile-finding point 31 to narrow the range of the pile-return action. If it fails to reach the pile-finding point 31 on time, record the failure to return to the pile-finding point 31 and record the number of failures.

[0050] The robot 1 performs pile recognition operations at the pile-finding point 31 through sensors (such as lasers / infrared). In this embodiment, the shape of the pile is used to judge whether it is a pile. After confirming the position of the charging pile 2, the robot 1 performs a pile-return operation. If the charging pile is not scanned on time, record the failure to find the pile and record the number of failures.

[0051] S2.3 After the robot 1 gets on the pile, obtain the real-time pose of the robot, judge whether the robot 1 has successfully got on the pile by comparing the pose with the control instruction, and judge whether the charging is successful within the charging verification time according to the feedback of the charging pile status. If it fails, record the charging failure and record the number of failures. The charging status of the robot 1 includes charging when not fully charged and being on the pile when fully charged.

[0052] Specifically, a scale mark is set at the central position of the charging interface of the charging pile 2, and a mark is also set at the exact center in front of the charging port 11 of the mobile robot 1. After the robot 1 completes the action of returning to the pile, record how many millimeters the mark on the robot is different from the center of the pile scale mark each time, and measure the offset angle between the robot 1 and the charging pile 2, and record the difference. The standard for successful pile return in the pile return test is that the left and right deviation of the robot docking the charging pile is ≤ ±40 mm, and the angle deviation is within 5°.

[0053] S2.4 Output data, including the pile return timeliness of fixed scenarios and target points.

[0054] S3. Summarize and record the success or failure results of each pile return task during the pile return test. At the same time, collect and summarize the test data of the robot health information, including: the total number of preset pile return tests, the relative position information of the preset pile return target point to the initial position of the robot (the initial position is the position of the charging pile 2 where the robot 1 is located), record the number of failed pile return tests and count the corresponding reasons for failed pile return tests. Throw an exception to the user test interface in real time and record it in the test report based on the timestamp.

[0055] Statistically analyze the time from the target point to successful pile return and the number of successful pile returns in a certain number of pile return tasks (such as 1000 times) as the pile return performance data (pile return success rate and pile return timeliness) of this version. This test is carried out in subsequent version iterations, and line charts are generated by comparing the data of each version to assist testers in comparing whether the pile return performance has deteriorated; statistically analyze various pile return data and compare it with historical data to judge whether the pile return performance has deteriorated.

[0056] Statistically analyze the pile return success rate and synchronously input it into the storage medium tool. After the test, summarize the pile return success rate data and export data reports and reports.

[0057] Embodiment 2

[0058] As another implementation manner of the present invention, in this embodiment, a robot automatic pile return test system applying the method described in Embodiment 1 is provided. As Figure 2 shown, the test system includes: a mobile robot 1, a charging pile 2, and various loads with different weights. The pile finding points 31 and preset target points 32 are arranged in the test site. Among them, the charging pile 2 is randomly arranged within a certain distance range of the pile finding points 31; the preset target points 32 are randomly arranged in the test site. The ground of the test site is made of various materials, including but not limited to marble, wooden floor, carpet, epoxy floor, etc. The test system also includes:

[0059] Control Module: Preset the number of tests, and control the robot 1 to start the automatic pile-return action according to the preset number of tests. The robot 1 will first move to the corresponding preset target point 32 according to the test setting rules, and then perform the pile-return action from the target point 32. This action includes finding the pile and getting on the pile.

[0060] Judgment Module:

[0061] a) During the process of finding the pile and getting on the pile in the pile-return process, make judgments respectively. Through the sensor fusion of the robot 1, output the environmental positioning information, record the information and compare it with the threshold value to judge the accuracy and completion degree of the pile-return process.

[0062] b) After getting on the pile, obtain the real-time pose of the robot 1 and the charging state of the robot 1. Through the comparison of the pose and the control instruction and the feedback of the charging pile state, judge whether the pile-return is successful.

[0063] Abnormal Monitoring Module: During the pile-return test process, summarize and record the success or failure results of each pile-return task. At the same time, collect and summarize the robot health information, throw exceptions to the user test interface in real time and record them in the test report based on the timestamp.

[0064] Statistics Module: Statistically calculate the pile-return success rate, compare the pile-return performance data with the historical version data to judge whether the pile-return performance has degraded. Synchronously input into the storage medium tool with storage function, and summarize the pile-return success rate data after the test is over, and generate data reports and export reports.

[0065] As Figure 4 shown, a scale mark is set at the central position of the charging interface of the charging pile 2, and the scale mark is accurate to millimeters. Specifically, the scale 21 can be pasted on the charging pile 2, or taking the central position of the charging interface as the coordinate origin, draw scale lines on the charging pile 2 along the horizontal direction. Make a mark at the front center of the charging port 11 of the mobile robot 1. In this embodiment, a laser pen 12 is arranged along the central axis direction of the charging port 11 on the mobile robot 1, and the emission direction of the laser pen 12 corresponds to the orientation of the charging port 11, so that the light beam is perpendicularly emitted to the corresponding scale mark on the charging pile 2. Compasses are respectively arranged on the charging pile 2 and the mobile robot 1 to measure the angle of the charging pile 2 and the angle of the machine, which is convenient for judging the deviation distance and angle.

[0066] After the robot 1 completes the pile-return action, record how many millimeters the center of the robot's marked position is different from the center of the pile scale mark each time, and measure the deviation angle between the robot 1 and the charging pile 2, and record the difference value. The standard for passing the pile-return test is that the left-right deviation of the robot docking the charging pile is ≤±40mm, and the angle deviation is within 5°.

[0067] The preferred specific embodiments of the present invention have been described in detail above. It should be understood that those of ordinary skill in the art can make many modifications and variations based on the concept of the present invention without creative efforts. Therefore, all technical solutions that can be obtained by those skilled in the art in the technical field based on the concept of the present invention through logical analysis, reasoning, or limited experiments on the basis of the prior art shall fall within the protection scope determined by the claims.

Claims

1. A robot automatic pile return test method, characterized in that: The method places a robot (1) in a test scene including a charging pile (2), a pile search point (31) and one or more target points (32) to perform a pile return test, and the test steps include: The robot (1) starts from the charging station (2) and moves to the corresponding preset target point (32) according to the test setting rules; After reaching the target point (32), the robot (1) sends a return-to-pile instruction, and the robot (1) performs a return-to-pile action from the target point (32), and tests the return-to-pile action process to determine whether the return-to-pile action is successful, wherein the return-to-pile action includes finding the pile and getting on the pile; After the robot (1) is on the charging pile, the real-time position and posture of the robot and the charging status of the robot are obtained, and by comparing the real-time position and posture with the control instructions and the feedback of the charging pile status, it is determined whether the robot has been successfully returned to the charging pile; During the back-to-pile test, the success or failure results of each back-to-pile task are summarized and recorded, and the back-to-pile performance data is compared with the historical version data to determine whether the back-to-pile performance has degraded.

2. A robot automatic return to pile test method according to claim 1, characterized in that: When performing the pile return test method, the robot (1) is subjected to an empty load, a full load, or a random load according to the application scenario.

3. A robot automatic return to pile test method according to claim 1, characterized in that: During the process of the robot (1) returning to the pile, the pile-finding and pile-mounting stages are judged respectively, environmental positioning information is obtained through the sensor of the robot (1), and the information is recorded and compared with a threshold value to judge the accuracy and completion of the process of returning to the pile.

4. A robot automatic return to pile test method according to claim 2, characterized in that: The testing process of the pile return action is as follows: Determine whether the robot (1) arrives at the stake-finding point (31) on time, and if the robot (1) does not arrive at the stake-finding point (31) on time, record the failure of returning to the stake-finding point and record the number of failures; The robot (1) performs a pile identification operation through a sensor when searching for a pile point (31), and after confirming the position of the charging pile (2), the robot (1) performs a pile return operation; if the charging pile is not scanned on time, a pile search failure is recorded, and the number of failures is recorded.

5. A robot automatic return to pile test method according to claim 1, characterized in that: The determination of whether the pile return is successful is as follows: After the robot (1) is successfully mounted on the pole, the real-time position and posture of the robot are obtained, and the real-time position and posture are compared with the control command to determine whether the robot (1) is successfully mounted on the pole. If it fails, the charging failure is recorded, and the number of failures is recorded; And according to the feedback of the charging pile status, it is judged whether the charging is successful within the charging verification time. If it fails, the charging failure is recorded and the number of failures is recorded.

6. A robot automatic return to pile test method according to claim 5, characterized in that: The determination of pile matching success is as follows: Whenever the robot (1) completes the return action to the charging pile, the deviation between the central position of the charging port (11) of the robot (1) and the central position of the charging interface of the charging pile (2) is recorded based on the scale mark, and the offset angle between the robot (1) and the charging pile (2) is measured; When the deviation of the robot (1) docking with the charging pile (2) is less than the set distance and the angle deviation is within the set angle threshold, it is determined that the pile return test is successful.

7. A robot automatic return to pile test method according to claim 1, characterized in that: The determination of whether the pile return performance is degraded is specifically as follows: Summarize and record the success or failure results of each return-to-pile task during the return-to-pile test. The test data collected and summarized include: the total number of preset return-to-pile tests, the position information of the preset return-to-pile target point relative to the initial position of the robot, the number of return-to-pile test failures, and the corresponding reasons for the return-to-pile test failures. The time from the target point to the successful return to the pile and the number of successful returns to the pile in a certain number of return-to-pile tasks are counted as the return-to-pile performance data of this version, including the return-to-pile success rate and return-to-pile time efficiency; All subsequent version iterations are subject to back-staking tests, and various back-staking data of each version are collected and compared with historical data to determine whether the back-staking performance has degraded.

8. A robot automatic pile return test system, characterized in that: The system implements the robot automatic return to pile test method according to any one of claims 1 to 7, specifically comprising: Control module: preset test times, control the robot (1) to perform a pile return action according to the preset test times, move to a corresponding preset target point (32) according to the test setting rules, and then perform a pile return action from the target point (32), including finding the pile and getting on the pile; Judgment module: It makes judgments in the pile-finding and pile-loading stages of the pile-returning process. It obtains environmental positioning information through the robot's sensors, records the information and compares it with the threshold to judge the accuracy and completion of the pile-returning process. After the pile-loading is completed, it obtains the robot's real-time posture and charging status. It judges whether the pile-returning process is successful by comparing the real-time posture with the control instructions and the feedback of the charging pile status. Abnormal monitoring module: During the return-to-pile test, the success or failure results of each return-to-pile task are summarized and recorded. The test data collected and summarized include: the total number of preset return-to-pile tests, the position information of the preset return-to-pile target point relative to the initial position of the robot, the number of return-to-pile test failures, and the corresponding reasons for the return-to-pile test failures; Statistics module: Count the success rate of back-to-pile, and compare the back-to-pile performance data with the historical version data to determine whether the back-to-pile performance has degraded.

9. The robot automatic pile return test system according to claim 8, characterized in that: The floor of the test site of the test system is made of various materials, including but not limited to marble, wooden floor, carpet and epoxy floor.

10. The robot automatic pile return test system according to claim 8, characterized in that: A laser pen (12) is arranged on the robot (1) along the central axial direction of the charging port (11), and a scale mark is arranged at the central position of the charging interface of the charging pile (2).

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