Non-contact electronic skin performance testing method

Abstract

The invention discloses a non-contact electronic skin performance testing method. Comprising the following steps: 1) controlling an obstacle to move towards to-be-tested electronic skin along a set direction and path by moving a sliding table; 2) acquiring obstacle position information in real time through distance measuring equipment, and calculating an actual distance value; 3) acquiring a sensing signal which is output by the to-be-tested electronic skin and represents the position of the sensed obstacle, and converting the sensing signal into a response distance value; and 4) calculating the detection precision of the non-contact electronic skin according to the actual distance value and the response distance value so as to obtain the distance measurement sensing performance of the electronic skin. According to the method, the performance of the non-contact electronic skin can be comprehensively, quickly and accurately evaluated, a guarantee is provided for safe and reliable operation of a robot, and the problem that a method for testing performance indexes of the non-contact electronic skin is lacked in the field of robots at present is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot testing, and particularly relates to a non-contact electronic skin performance testing method. Background Art

[0002] With the continuous development of robot technology, a series of co-bot robots such as collaborative robots, exoskeleton robots, and humanoid robots that can safely interact with humans have attracted more and more attention. In the research of such robots, non-contact electronic skin, as a sensitive element that can sense the contact of humans or other objects, is of great significance for realizing safe human-robot interaction. However, the current non-contact electronic skin performance testing methods are not perfect, and it is impossible to comprehensively, accurately, and quickly evaluate its performance, which limits its application and development in the field of co-bot robots. Therefore, it is necessary to provide a non-contact electronic skin performance testing method that can effectively solve the above problems. Summary of the Invention

[0003] Aiming at the deficiencies of the above methods, the purpose of the present invention is to provide a non-contact electronic skin performance testing method, propose key performance indicators reflecting the non-contact electronic skin for robots, and corresponding testing methods, so as to achieve standardized test evaluation and comprehensively, accurately, and quickly evaluate the performance of non-contact electronic skin.

[0004] The technical solution adopted by the present invention to solve its technical problems is as follows:

[0005] A non-contact electronic skin performance testing method, which performs the following steps to detect the non-contact ranging and sensing performance of the electronic skin, including the following steps:

[0006] 1) Control an obstacle to move towards the electronic skin to be tested along a set direction and path through a moving stage;

[0007] 2) Real-time collect the position information of the obstacle through a ranging device and calculate the actual distance value;

[0008] 3) Collect the sensing signal output by the electronic skin to be tested, which characterizes the position of the sensed obstacle, and convert it into a response distance value;

[0009] 4) Calculate the non-contact detection accuracy according to the actual distance value and the response distance value; thereby judge the ranging and sensing performance of the electronic skin.

[0010] The moving stage is a two-dimensional or three-dimensional displacement stage, and a motor is provided thereon to drive the obstacle to move in a given direction.

[0011] The material of the obstacle is one or several of metal, plastic, wood, or glass.

[0012] The set direction is an equal circumferential angle centered on the e-skin, and the set path is to move towards the e-skin from far to near.

[0013] The moving distance of the obstacle cannot exceed the maximum sensing distance.

[0014] The non-contact ranging performance depends on the accuracy of the actual distance value of the obstacle and the response distance value of the e-skin sensing the obstacle.

[0015] The detection accuracy of the e-skin is obtained by calculating the average value of the response distance in turn after repeating several measurements at a point. Standard deviation ΔD and detection accuracy standard deviation SD are obtained, and the e-skin detection accuracy D = ΔD + 3S D 。

[0016] A non-contact e-skin performance testing device includes a loading platform, a moving slide, an obstacle, a ranging device, and a host computer; the loading platform is used to place the e-skin to be tested, the moving slide is used to install the obstacle and drive it to move towards the e-skin along the set path, the obstacle is used to simulate a person or an object approaching the e-skin, the ranging device is connected to the host computer to receive a control signal and collect the position coordinates of the obstacle, and the output interface of the e-skin to be tested is connected to the host computer to output the obstacle sensing position signal sensed by it; the host computer is provided with a memory, a processor, and a front-end interface. The memory stores a program. When the processor loads the program, it executes the method steps described in any one of claims 1-7, collects the obstacle sensing position signal of the e-skin, and realizes the non-contact ranging evaluation test of the e-skin. The front-end interface is used for the user to input test instructions or visually display the process and result data of the e-skin in the non-contact ranging performance test to the user.

[0017] The present invention has the following beneficial effects and advantages:

[0018] After adopting the method of the present invention, it is possible to comprehensively, quickly, and accurately evaluate the performance of the non-contact e-skin, providing guarantee for the safe and reliable operation of the robot. The performance indicators that can reflect the non-contact e-skin are proposed, including the sensing distance and the detection accuracy. The sensing distance represents the maximum distance that the e-skin can detect, and the detection accuracy represents the sensing distance accuracy of the e-skin. The non-contact e-skin should be able to identify obstacles made of human body, wood, metal, or plastic materials. The standardized test method proposed by the present invention improves the consistency and effectiveness of the test, and solves the problem of the lack of a method for testing the performance indicators of the non-contact e-skin in the current robot field. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a flowchart of the method of the present invention;

[0020] Figure 2 Schematic diagram of the test device of the present invention;

[0021] Figure 3 Flowchart of the implementation of a non-contact electronic skin performance testing method of the present invention;

[0022] In the figure, 1 - host computer; 2 - electronic skin to be tested; 3 - loading platform; 4 - electronic skin fixing tooling; 5 - ranging device; 6 - moving slide; 7 - obstacle. Specific implementation manner

[0023] To make the above objects, features and advantages of the present invention more obvious and understandable, the following further describes the specific implementation method of the present invention in detail with reference to the drawings. Many specific details are set forth in the following description in order to fully understand the present invention, but the present invention can be implemented in many other ways different from those described herein. Those skilled in the art can make similar improvements without departing from the connotation of the invention. Therefore, the present invention is not limited by the specific implementations disclosed below.

[0024] As Figure 1 shown, it is a non-contact electronic skin performance testing method of this embodiment. It includes the following steps:

[0025] 1) Control the obstacle to move towards the electronic skin to be tested along a set direction and path through the moving slide;

[0026] 2) During the movement of the obstacle, collect the position information of the obstacle in real time through the ranging device and calculate the actual distance value; collect the induction signal output by the electronic skin to be tested, which characterizes the position of the sensed obstacle, and convert it into a response distance value;

[0027] 3) Calculate the non-contact detection accuracy according to the actual distance value and the response distance value; thereby judge the ranging induction performance of the electronic skin.

[0028] As Figure 2As shown in the figure, a non-contact electronic skin performance testing device of this embodiment includes a loading platform, a moving slide, an obstacle, a ranging device, a host computer, and an electronic skin fixing tooling; the loading platform fixes the electronic skin to be tested through the electronic skin fixing tooling 4, the moving slide is used to install the obstacle and drive it to move towards the electronic skin along a set path, the obstacle is used to simulate a person or an object approaching the electronic skin, the ranging device is connected to the host computer to receive a control signal and collect the position coordinates of the obstacle, and the output interface of the electronic skin to be tested is connected to the host computer to output the obstacle sensing position signal sensed by it; the host computer is provided with a memory, a processor, and a front-end interface. A program is stored in the memory. When the processor loads the program, it executes the following method steps: collecting the obstacle sensing position signal of the electronic skin to achieve non-contact ranging evaluation and testing of the electronic skin. The front-end interface is used for the user to input test instructions or intuitively display to the user the process and result data of the electronic skin in the non-contact ranging performance test.

[0029] As Figure 3 shown, the specific steps of the method of the present invention are as follows:

[0030] A non-contact electronic skin performance testing method of this embodiment.

[0031] First, fix the electronic skin at the initial position of the testing device. The testing device can provide a specified displacement in the vertical direction and a specified angle rotation in the horizontal direction, and can collect the distance data detected by the electronic skin. The dynamic characteristics (such as the sampling speed) of the data acquisition device should be high enough to ensure a sufficient description of the measured characteristics, and the accuracy error should not exceed 25% of the measured characteristic value.

[0032] Secondly, fix or install a test obstacle at the end of the testing device. The types of obstacles include a large cylinder simulating a human torso and a small cylinder simulating a human arm or leg, specifically including:

[0033] 1) A large metal cylinder (height 600 mm, diameter 200 mm), a small metal cylinder (height 400 mm, diameter 70 mm)

[0034] 2) A large plastic cylinder (height 600 mm, diameter 200 mm), a small plastic cylinder (height 400 mm, diameter 70 mm)

[0035] 3) A large wooden cylinder (height 600 mm, diameter 200 mm), a small wooden cylinder (height 400 mm, diameter 70 mm)

[0036] 4) A large glass cylinder (height 600 mm, diameter 200 mm), a small glass cylinder (height 400 mm, diameter 70 mm).

[0037] Next, the test device drives the obstacle to move towards the electronic skin at different angles of 0°, 45°, 90°, 135°, 180°, 225°, 270°, and 315° in sequence. Observe the response of the electronic skin and collect the distance data detected by the electronic skin. Among them, the maximum distance at which the electronic skin can detect valid distance data is the sensing distance. Finally, after the electronic skin responds, the test device drives the obstacle to continue moving, and the moving distance is 80% of the maximum distance that the electronic skin can detect. Each test configuration is repeated 30 times, and the deviation between the actual moving distance of the obstacle and the distance detected by the electronic skin is calculated according to the formula, which is the detection accuracy of the electronic skin.

[0038] The detection accuracy is calculated through the collected data, and the detection accuracy calculation method is as follows:

[0039] The average value of the detected distance measurement is shown in formula (1)

[0040]

[0041] In the formula:

[0042] is the average value of the detected distance measurement;

[0043] D i is the single detected distance measurement value;

[0044] n is the number of repetitions, n = 30.

[0045] The deviation between the average value of the detected distance measurement and the actual moving distance of the obstacle is shown in formula (2)

[0046]

[0047] In the formula:

[0048] ΔD is the deviation between the average value of the detected distance measurement and the actual moving distance of the obstacle;

[0049] D c is the actual moving distance of the obstacle.

[0050] The standard deviation of the detection accuracy is shown in formula (3)

[0051]

[0052] In the formula:

[0053] S D is the standard deviation of the detection accuracy;

[0054] is the average value of the detected distance measurement;

[0055] D iis the single - detection distance measurement value;

[0056] n is the number of repetitions, n = 30.

[0057] The detection accuracy of the electronic skin is shown in Formula (4)

[0058] D = ΔD + 3S D (4)

[0059] In the formula:

[0060] ΔD is the deviation between the average value of the detection - distance measurement and the actual moving distance of the obstacle;

[0061] S D is the standard deviation of the detection accuracy.

[0062] Finally, it should be noted that the above - mentioned is the preferred embodiment of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should be regarded as the protection scope of the present invention.

Claims

1. A non-contact electronic skin performance testing method, characterized in that, Perform the following steps to detect the non-contact ranging sensing performance of the electronic skin, including the following steps: 1) Control the obstacle to move towards the electronic skin to be tested along the set direction and path by moving the sliding table; 2) Collect the position information of the obstacle in real time through the ranging device and calculate the actual distance value; 3) Collect the sensing signal output by the electronic skin to be tested, which characterizes the position of the sensed obstacle, and convert it into a response distance value; 4) Calculate the non-contact detection accuracy according to the actual distance value and the response distance value; thereby judging the ranging sensing performance of the electronic skin.

2. The non-contact electronic skin performance testing method according to claim 1, characterized in that, The moving sliding table is a two-dimensional or three-dimensional displacement table, and a motor is provided thereon to drive the obstacle to move in a given direction.

3. The non-contact electronic skin performance testing method according to claim 1, characterized in that, The material of the obstacle is one or several of metal, plastic, wood or glass.

4. The non-contact electronic skin performance testing method according to claim 1, characterized in that, The set direction is an equal circumferential angle centered on the electronic skin, and the set path is to move towards the electronic skin from far to near.

5. The non-contact electronic skin performance testing method according to claim 1, characterized in that, The moving distance of the obstacle cannot exceed the maximum sensing distance.

6. The non-contact electronic skin performance testing method according to claim 1, characterized in that, The non-contact ranging performance depends on the accuracy of the actual distance value of the obstacle and the response distance value of the electronic skin sensing the obstacle.

7. The non-contact electronic skin performance testing method according to claim 6, characterized in that, The detection accuracy of the electronic skin is calculated by repeating several measurements at a single point and then calculating the average response distance in sequence the standard deviation ΔD, and the standard deviation SD of the detection accuracy. The detection accuracy D of the electronic skin is obtained as D = ΔD + 3S D .

8. A non-contact electronic skin performance testing device, characterized in that, It includes a loading platform, a moving sliding table, an obstacle, a ranging device, and a host computer; the loading platform is used to place the electronic skin to be tested, the moving sliding table is used to install the obstacle and drive it to move towards the electronic skin along the set path, the obstacle is used to simulate a person or an object approaching the electronic skin, the ranging device is connected to the host computer to receive the control signal and collect the position coordinates of the obstacle, and the output interface of the electronic skin to be tested is connected to the host computer to output the obstacle sensing position signal sensed by it; the host computer is provided with a memory, a processor, and a front-end interface. The memory stores a program. When the processor loads the program, it executes the method steps described in any one of claims 1-7, collects the obstacle sensing position signal of the electronic skin, and realizes the non-contact ranging evaluation test of the electronic skin. The front-end interface is used for the user to input test instructions or visually display the process and result data of the electronic skin in the non-contact ranging performance test to the user.

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