Leg type robot test strategy deployment method, test method and test system

Abstract

According to the legged robot test strategy deployment method, the test method and the test system, diversified terrains and scenes can be simulated through the sub-test blocks arranged in a matrix mode, the moving track, the movable sensor and the obstacle, different test requirements are met, the limitation of static design of a test environment in the prior art is overcome, and the test efficiency is improved. And the increasingly flexible and complicated test requirements are met. And through the support of an interactive interface and a knowledge base, a user can conveniently configure a test strategy, including setting of test scene size, elements and a combination relationship, adjustment of test index parameters and the like. The system can generate a two-dimensional schematic diagram and a three-dimensional test scene simulation diagram according to user configuration, so that the user is helped to intuitively understand a test scene layout, and a test strategy is further optimized.

Description

Technical Field

[0001] The present application relates to the field of robots, and more particularly, to a method for deploying a test strategy for a legged robot, a test method, and a test system. Background Art

[0002] Legged robots achieve autonomous movement on complex terrains through bionic leg structures and have important application values in fields such as disaster rescue, field exploration, and industrial inspection. The core tasks of its test system are to verify the algorithm robustness and evaluate the mechanical structure reliability. Current test technologies need to address key challenges such as highly restored environmental simulation, multi-dimensional data synchronous acquisition, and verification of dynamic obstacle response capabilities to support the implementation of high-value scenarios such as disaster rescue and field exploration.

[0003] In the prior art, its technical solutions often adopt a test system combining standardized static obstacles (such as cubes, slopes, etc.) with a hard and flat ground, such as defining a restricted test area of 5m×5m to 10m×10m. Then, within this restricted test area, based on a preset path or manual remote control instructions, basic indicators such as the number of collisions, task time, and pose deviation are recorded. Summary of the Invention

[0004] The purpose of the present application is to provide a method for deploying a test strategy for a legged robot, a test method, and a test system to improve the adaptability to test requirements and test efficiency.

[0005] To achieve the above purpose, the technical solutions adopted in the embodiments of the present application are as follows: In a first aspect, an embodiment of the present application provides a method for deploying a test strategy for a legged robot, the method including: Obtaining test requirement information through an interaction interface; the test requirement information includes: test site size, elements, and combination relationships; the elements represent the obstacle objects to be simulated; the combination relationship is the spatial relationship between each of the elements; Generating a corresponding two-dimensional schematic diagram according to the test site parameters; Deploying corresponding elements at various positions of the two-dimensional schematic diagram through the interaction interface; Generating a three-dimensional test scene simulation diagram according to the two-dimensional schematic diagram, the parameters of each of the elements, and the combination relationship parameters; Configuring test strategies for each test module in the three-dimensional test scene simulation diagram through the interaction interface; Matching corresponding movable sensors according to any of the test modules; Configuring control strategies for each of the movable sensors through the interaction interface.

[0006] Optionally, the step of obtaining test requirement information through the interaction interface includes: Display an interaction interface through the interaction interface; Obtain the test site size, the elements, and the combination relationship input by the user through the interaction interface.

[0007] Optionally, the step of generating a corresponding two-dimensional schematic diagram according to the test site parameters includes: Obtain the default parameters corresponding to each target element from the knowledge base; Generate a corresponding two-dimensional schematic diagram according to the default parameters corresponding to all the target elements, all the target elements, and the combination relationship.

[0008] Optionally, the step of deploying corresponding elements at various positions of the two-dimensional schematic diagram through the interaction interface includes: The interaction interface outputs a software tool library, and the software tool library includes element plugins corresponding to all the elements; Determine the corresponding target element from the software tool library through the interaction interface in response to the user's selection operation; Deploy the corresponding target element at the target position of the two-dimensional schematic diagram through the interaction interface in response to the user's deployment operation.

[0009] Optionally, it further includes: Adjust any of the target elements through the interaction interface.

[0010] Optionally, the step of configuring test strategies for each test module in the three-dimensional test scene simulation diagram through the interaction interface includes: Configure corresponding test index parameters for each test module through the sub-configuration interface of the interaction interface.

[0011] Optionally, the step of matching corresponding movable sensors according to each test strategy includes: Configure corresponding movable sensors and their position distributions for any of the test modules through the interaction interface.

[0012] Optionally, it further includes: Configure target positions, movement paths, and test conditions for each movable obstacle in the three-dimensional test scene through the interaction interface respectively; Control each movable obstacle to move to the corresponding target position.

[0013] Optionally, it further includes: Send the corresponding test strategy to each test module; Send the corresponding control strategy to each of the movable sensors, and control each of the movable sensors to move to the corresponding target position.

[0014] In a second aspect, an embodiment of the present application provides a method for testing a legged robot. The method for testing a legged robot is deployed on a test system. The test system includes: a test area, a moving track, a sub-test block, a movable sensor, and a host computer. Among them, the test area includes at least one test module, and each test module is used to simulate the target elements required for testing; the target elements represent the obstacle objects required for testing; the test system is deployed through the method for deploying the legged robot test strategy in the first aspect or any one of its possible implementation manners. The method includes: When the robot under test starts autonomous movement at the test start point in the test area, trigger the data collection of the corresponding test module. When the movement position of the robot under test triggers the test of the movable obstacle, trigger the movable obstacle to move on the corresponding movement path based on the test conditions, and perform corresponding data collection. When the robot under test starts autonomous movement at the test start point in the test area, trigger the action capture of the robot under test. Report the collected data and the action capture data to the host computer. Perform data analysis based on the collected data, the action capture data, and the historical test data, and output the analysis result on the interaction interface.

[0015] Optionally, before the robot under test starts autonomous movement at the test start point in the test area, it further includes: Each of the test modules receives the test strategy sent by the lower computer. Each of the test modules controls the spatial position according to the corresponding test strategy to simulate the obstacle object represented by the corresponding target pixel.

[0016] Optionally, before the robot under test starts autonomous movement at the test start point in the test area, it further includes: Each of the movable sensors receives the control strategy sent by the lower computer. The lower computer controls each of the movable sensors to move to the corresponding target position.

[0017] Optionally, before the robot under test starts autonomous movement at the test start point in the test area, it further includes: Each movable obstacle receives the corresponding target position, movement path, and the test conditions. The lower computer controls each movable obstacle to move to the corresponding target position.

[0018] In a third aspect, an embodiment of the present application provides a test system, which includes a test area, a moving track, sub-test blocks, a movable sensor, and a host computer. Among them, the test area includes at least one test module, and each test module is used to simulate the target elements required for testing; the target elements represent the obstacle objects required for testing; the test system is deployed by the legged robot test strategy deployment method of the first aspect or any one of its possible implementation manners; The test system completes the test of the robot under test through the legged robot test strategy deployment method of the second aspect or any one of its possible implementation manners.

[0019] Compared with the prior art, a legged robot test strategy deployment method, a test method, and a test system provided by the embodiments of the present application can simulate diverse terrains and scenarios through matrix-arranged sub-test blocks, moving tracks, movable sensors, and obstacles, meet different test requirements, overcome the limitations of static design of the prior art test environment, and adapt to increasingly flexible and complex test requirements. And with the support of the interaction interface and the knowledge base, users can conveniently configure test strategies, including setting the dimensions, elements, and combination relationships of test scenarios, as well as adjusting test index parameters. The system can generate a two-dimensional schematic diagram and a three-dimensional stereoscopic test scenario simulation diagram according to the user configuration, helping users intuitively understand the test scenario layout and further optimize the test strategy.

[0020] To make the above objects, features, and advantages of the present application more obvious and understandable, the following specifically enumerates preferred embodiments and, in conjunction with the accompanying drawings, makes the following detailed description. Description of the Drawings

[0021] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments. It should be understood that the following drawings only show some embodiments of the present application and should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0022] Figure 1 It is a top-down schematic diagram of the architecture of a test system provided by an embodiment of the present application; Figure 2 It is a schematic diagram of the structural form of a sub-test block provided by an embodiment of the present invention; Figure 3 It is a partial side view of a test system provided by an embodiment of the present invention; Figure 4 It is a partial side view of another test system provided by an embodiment of the present invention; Figure 5Schematic diagram of a communication architecture provided by an embodiment of the present invention; Figure 6 Flow schematic diagram of a method for deploying a test strategy for a legged robot provided by an embodiment of the present invention; Figure 7 Flow schematic diagram of another method for deploying a test strategy for a legged robot provided by an embodiment of the present invention; Figure 8 Schematic diagram of an interaction interface provided by an embodiment of the present invention; Figure 9 Flow schematic diagram of another method for deploying a test strategy for a legged robot provided by an embodiment of the present invention; Figure 10 Flow schematic diagram of another method for deploying a test strategy for a legged robot provided by an embodiment of the present invention; Figure 11 Schematic diagram of another interaction interface provided by an embodiment of the present invention; Figure 12 Flow schematic diagram of another method for deploying a test strategy for a legged robot provided by an embodiment of the present invention; Figure 13 Schematic diagram of another interaction interface provided by an embodiment of the present invention; Figure 14 Flow schematic diagram of another method for deploying a test strategy for a legged robot provided by an embodiment of the present invention; Figure 15 Schematic diagram of another interaction interface provided by an embodiment of the present invention; Figure 16 Flow schematic diagram of another method for deploying a test strategy for a legged robot provided by an embodiment of the present invention; Figure 17 Schematic diagram of a controllable mobile obstacle provided by an embodiment of the present invention; Figure 18 Flow schematic diagram of another method for deploying a test strategy for a legged robot provided by an embodiment of the present invention; Figure 19 Schematic diagram of another controllable mobile obstacle provided by an embodiment of the present invention; Figure 20 Flow schematic diagram of a method for testing a legged robot provided by an embodiment of the present invention; Figure 21 Schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. Detailed implementation manners

[0023] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are some, but not all, of the embodiments of this application. The components of the embodiments of this application usually described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0024] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of this application that is claimed, but merely represents selected embodiments of this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts fall within the scope of protection of this application.

[0025] In the description of this application, it should also be noted that unless otherwise clearly specified and limited, the terms "set" and "connect" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific situations.

[0026] The following will describe in detail some embodiments of this application with reference to the accompanying drawings. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0027] Please refer to Figure 1 , Figure 1 which is a top-down schematic diagram of the architecture of a test system provided by an embodiment of this application. Refer to Figure 1 , the system 10 includes: a test area 100, a moving track 110, sub-test blocks 120, a movable sensor 130, a movable obstacle 140, and a host computer 150.

[0028] Among them, a plurality of sub-test blocks 120 can be arranged in a matrix in the test area 100, and a moving track 110 is arranged between any adjacent sub-test blocks 120. So that the movable sensor 130 and / or the movable obstacle 140 can move to the target position based on the moving track 110, so as to collect data for the test of the legged robot for a specific sub-test block 120 at this position, so as to perform subsequent data aggregation and data analysis.

[0029] Optionally, one or more sub-test blocks 120 can form a test module, and each test module is used to simulate the target elements required for testing. Different sub-test blocks 120 can be assembled to meet different test requirements. For example, obstacles such as tables and walls can be mimicked. In one possible implementation, specifically, Figure 2 is a schematic structural diagram of the sub-test block provided by the embodiment of the present invention. Refer to Figure 2 , different forms of obstacles or ground structures such as "A-shaped", "V-shaped", "M-shaped" or "stepped" in the terrain adaptability test can all be achieved by combining the lifting height and tilting method of multiple sub-test blocks.

[0030] Furthermore, in order to realize the lifting or tilting of the above-mentioned sub-test block, a possible implementation is provided below. Specifically, Figure 3 is a partial side view of the test system provided by the embodiment of the present invention. Refer to Figure 3 , where the sub-test block 120a is in the raised state to simulate an obstacle. The raising and lowering of the sub-test block 120a can be realized based on the lifting mechanism 121.

[0031] Optionally, the lifting mechanism 121 can communicate with the host computer 150 through an interface so that the host computer 150 can control its lifting based on a specific test strategy.

[0032] In addition, a movable sensor 130 is also deployed on the moving track 110 between the sub-test block 120a and the sub-test block 120b. So as to collect the motion data of the legged robot when it bypasses or climbs over the sub-test block 120a.

[0033] Optionally, the movable sensor 130 can include, but is not limited to: industrial cameras / motion capture systems, lidar (LiDAR) / ToF sensors, time sensors, proximity sensors, and environmental sensors.

[0034] Continue to refer to Figure 3 , the sub-test block 120b descends to form a gully structure.

[0035] Also refer to Figure 3 , the top structure of the sub-test block 120c can also be of various shapes. In addition to a cube, it can also be other shapes such as the Figure 2 shown "A-shaped" structure, etc.

[0036] Optionally, Figure 4 is a partial side view of another test system provided by the embodiment of the present invention. Refer to Figure 4, the angular change of the sub-test block 120a can be achieved based on the rotating mechanism 122. Specifically, for example, the sub-test block 120c can achieve angular change based on the rotating mechanism 122. Multiple sub-test blocks can be based on the control of angular change and position lifting to form terrain structure simulations such as Figure 2 the "A-shaped", "V-shaped", and "M-shaped" shown.

[0037] Furthermore, in order to implement the deployment of the test strategy for the legged robot, an embodiment of the present invention also provides a communication architecture. Specifically, Figure 5 is a schematic diagram of a communication architecture provided by an embodiment of the present invention. Refer to Figure 5 , this communication architecture includes: multiple sub-test blocks 120, multiple movable sensors 130, movable obstacles 140, a host computer 150, and a knowledge base 160.

[0038] Among them, the host computer 150 can provide an interaction interface to provide an interface for users to configure the test strategy. Furthermore, the architecture can also include a knowledge base, which can maintain the parameters of various elements involved based on different site parameters and test requirements.

[0039] Furthermore, the host computer 150 can communicate with the controllers of the sub-test block 120, the movable sensor 130, and the movable obstacle 140 respectively. So as to control the lifting of the sub-test block 120, the moving positions of the movable sensor 130 and the movable obstacle 140, the control strategy of the movable sensor 130, and the moving strategy of the movable obstacle 140.

[0040] Optionally, for the control strategy, an example thereof can be: when performing a rated speed test, a two-dimensional area array light curtain sensor is placed at the starting point of the test area, and a two-dimensional area array light curtain sensor is placed at the end point of the test area. When the robot under test reaches the starting point, the two-dimensional area array light curtain sensor sends a synchronous trigger signal to the timer of the host computer 150, and the timer starts timing; when the robot under test reaches the end point, the two-dimensional area array light curtain sensor sends a synchronous trigger signal to the timer, and the timer stops timing. The host computer 150 can obtain the time interval and the length of the test area, and then calculate the rated speed.

[0041] Optionally, for the moving strategy, an example thereof can be: 1. At a certain moment, both the moving obstacle and the robot under test move to point P1, which exactly hinders the progress of the robot under test. In this case, the robot under test should stop moving (this situation can also be used to test the maximum stopping distance); 2. At a certain moment, the moving obstacle moves towards or away from point P1, which exactly does not hinder the progress of the robot under test. In this case, the robot under test should keep moving normally.

[0042] Among them, the elements can be the objects to be simulated in the spatial environment required for the test, such as static obstacles: tables, chairs, walls, door frames, steps, and other terrain structures; or, they can also be movable obstacles, such as pedestrians, bicycles, electric vehicles, etc.

[0043] Therefore, in the system corresponding to this solution, one or more sub-test blocks can be used to simulate static obstacles or other spatial environments. And the movable obstacles are used to simulate the movement mode of dynamic elements in a specific environment, so as to observe the interaction between the robot under test and the movable obstacles.

[0044] Based on the above test system and communication architecture, the following provides a possible implementation method for deploying the test strategy of a legged robot. Specifically, Figure 6 is a schematic flowchart of a method for deploying a test strategy of a legged robot provided by an embodiment of the present invention. Refer to Figure 6 and this method includes: Step 300, obtain test requirement information through the interaction interface.

[0045] Among them, the test requirement information includes: the size of the test site, the elements and the combination relationship; the elements represent the obstacle objects to be simulated; the combination relationship is the spatial relationship between each element.

[0046] Step 301, generate a corresponding two-dimensional schematic diagram according to the test site parameters.

[0047] Step 302, deploy corresponding elements at each position of the two-dimensional schematic diagram through the interaction interface.

[0048] Step 303, generate a three-dimensional test scene simulation diagram according to the two-dimensional schematic diagram, the parameters of each element and the combination relationship parameters.

[0049] Step 304, configure test strategies for each test module in the three-dimensional test scene simulation diagram through the interaction interface.

[0050] Step 305, match corresponding movable sensors according to any number of test modules.

[0051] Step 306, configure control strategies for each movable sensor through the interaction interface.

[0052] The method for deploying the test strategy of the legged robot provided by the embodiment of the present invention can simulate diverse terrains and scenarios through the matrix-arranged sub-test blocks, moving tracks, and movable sensors and obstacles, meet different test requirements, overcome the limitations of the static design of the existing technology test environment, and adapt to the increasingly flexible and complex test requirements.

[0053] With the support of the interaction interface and the knowledge base, users can conveniently configure test strategies, including setting the dimensions, elements, and combination relationships of test scenarios, as well as adjusting test metric parameters. The system can generate 2D schematic diagrams and 3D stereoscopic test scenario simulation diagrams according to the user's configuration to help users intuitively understand the test scenario layout and further optimize the test strategy.

[0054] Optionally, for how to obtain the user's test requirement information, a possible acquisition method is provided below. Specifically, based on Figure 6 on the basis of Figure 7 FIG. is a schematic flowchart of another method for deploying a test strategy for a legged robot provided by an embodiment of the present invention. Refer to Figure 7 , step 300 includes: Step 300-1: Display an interaction interface through the interaction interface.

[0055] Step 300-2: Obtain the test site dimensions, elements, and combination relationships input by the user through the interaction interface.

[0056] Specifically, Figure 8 FIG. is a schematic diagram of an interaction interface provided by an embodiment of the present invention. Refer to Figure 8 , the interaction interface may include a test area preview area for displaying the top-down information of all sub-test blocks included in the test area in the above test system. The interaction interface also includes an area for the interaction interface.

[0057] Among them, it may include sub-interaction interfaces corresponding to obtaining each piece of information in step 300-2. As shown in Figure 8 , the user can use the interaction cursor 170 to input the length, width, and height information of the required test site in the sub-interaction interface of "test site dimensions". Furthermore, this information can be displayed in the test area preview area by circling the area. In another possible implementation, the user can also determine the "test site dimensions" by directly circling in the test area preview area.

[0058] Similarly, the user can also use the interaction cursor 170 to select the required elements in the sub-interaction interface of "elements". Furthermore, a list of corresponding static obstacles and movable obstacles is provided for the user to select the target elements.

[0059] Similarly, the user can also use the interaction cursor 170 to select the spatial relationship between the target elements in the sub-interaction interface of "combination relationship". For Figure 8Examples, which provide two implementation methods: Method 1: Determine the combination relationship through the scenario information pre-maintained in the knowledge base 160. Among them, each scenario information defines the preset spatial relationship between various elements in this scenario, such as distance, placement order, etc. Method 2: Determine the combination relationship through the test route pre-maintained in the knowledge base 160. This test route is based on the test path required by the quadruped robot test standard, and determines the examples, placement order, etc. of the corresponding static obstacles and movable obstacles on this path.

[0060] Furthermore, the user can, based on, for example, Figure 8 the form of the corresponding list shown, determine the combination relationship of the selected target elements by selecting a scenario or a path. Of course, in another possible implementation, the user can also determine the combination relationship of the selected target elements in a custom manner.

[0061] Optionally, the knowledge base can pre-maintain the default parameters of each element. The corresponding test site parameters can include default parameters, target elements, and combination relationships. The following provides a possible way to construct a two-dimensional schematic diagram based on the test site parameters. Specifically, on the basis of Figure 6 Figure 9 FIG. Figure 9 is a flowchart of another method for deploying a test strategy for a legged robot provided by an embodiment of the present invention. Refer to Step 301 includes:

[0062] Specifically, the default parameters corresponding to each target element can be the spatial information of the target element, such as length, width, and height information. And the type information of the target element, and the mapping information of the possible combination relationship with other target elements. For example, there is a mapping relationship between a table and a chair. When there are target elements of "table" and "chair", based on the mapping relationship, the two can be preferentially configured within a specific area range, etc.

[0063] In addition, for the target elements involved in this step, they can be determined by the user through selection in the interaction interface as shown in Figure 8 .

[0064] Step 301-2: Generate a corresponding two-dimensional schematic diagram according to the default parameters corresponding to all target elements, all target elements, and combination relationships.

[0065] Optionally, after constructing the two-dimensional schematic diagram, the user can further deploy the target elements using the interaction interface. The following provides a possible implementation. Specifically, on the basis of Figure 6 Figure 10A flow chart of another method for deploying a legged robot test strategy provided by an embodiment of the present invention is shown in FIG. Figure 10 , step 302 comprises: Step 302-1: The interactive interface outputs a software tool library, which includes element plug-ins corresponding to all elements.

[0066] Step 302-2: respond to the user's selection operation through the interactive interface and determine the corresponding target element from the software tool library.

[0067] Step 302-3: respond to the user's deployment operation through the interactive interface and deploy the corresponding target element at the target position of the two-dimensional schematic diagram.

[0068] Specifically, Figure 11 A schematic diagram of another interactive interface provided by an embodiment of the present invention is shown in Figure 11 , combined with Figure 8 After the user selects the target element and generates a two-dimensional schematic diagram, the interactive interface will display the two-dimensional schematic diagram. Figure 11 As shown, the two-dimensional schematic diagram includes a test area determined based on the test site size, elements and combination relationships selected by the user.

[0069] Furthermore, the Figure 11 The interactive interface is also shown and a software tool library is provided, which is used to display element plug-ins corresponding to different elements. Optionally, the elements displayed by the software tool library can be all elements contained in the knowledge base, or the target elements that the user has selected in the previous text, or the target elements are displayed first for the user to select.

[0070] Continue to see Figure 11 , based on the interactive cursor 170 , the user can select the element plug-in of the corresponding target element and drag it into the two-dimensional schematic diagram to implement the deployment operation of the target element.

[0071] Furthermore, in order to improve the efficiency and accuracy of deployment, the recommended positions of each element can be displayed in advance in the two-dimensional schematic diagram. The determination of the recommended position can be realized based on the type, combination relationship and other information of the target element determined by the user in the previous text. Figure 11 As shown, for recommended position 1, it preferentially matches the feature plug-in of the "A-shaped" ground structure. Recommended position 2 preferentially matches the feature plug-in of the "chair". Recommended position 3 preferentially matches the feature plug-in of the "table". Recommended position 4 preferentially matches the feature plug-in of the "pedestrian". It should be noted that for the movable obstacle "pedestrian", the recommended position 4 represents the initial position of the movable obstacle at the beginning of the test.

[0072] Optionally, after the deployment of the above-mentioned target elements is completed, the user can also adjust any number of target elements through the interactive interface. The content of the adjustment includes, but is not limited to: the type of the target element, the position of the target element in the two-dimensional schematic diagram, the default parameters of the target element, etc.

[0073] Furthermore, after the deployment of the target elements in the two-dimensional schematic diagram is completed, the user can also configure the specific test metrics in the test process. Among them, the granularity of the configuration is: configure for each test module. And the test module combines Figure 8 with Figure 11 It can be known that it can be composed of one or more sub-test blocks. For example, see Figure 11 "A-shaped" ground structure is composed of 6 sub-test blocks, while "chair" is composed of 1 sub-test block. The following provides a possible implementation method to realize the configuration of the test module. Specifically, on the basis of Figure 6 Figure 12 FIG. Figure 12 is a schematic flowchart of another method for deploying a test strategy of a legged robot provided by an embodiment of the present invention. See Step 304 includes:

[0074] The test metric parameters may include: metric information corresponding to different test requirements, such as: the rated speed of the robot, the maximum jump height, the minimum passing height, the minimum turning space, the maximum climbing height, etc.

[0075] Specifically, Figure 13 FIG. Figure 13 is a schematic diagram of another interactive interface provided by an embodiment of the present invention. See Figure 13 After the deployment of the elements plug-in of the "A-shaped" ground structure in the two-dimensional schematic diagram, when the user clicks on the plug-in through the interactive cursor 170, a "sub-configuration interface" can be displayed on the interactive interface for the user to enter the above-mentioned test metric parameters.

[0076] Optionally, in order to flexibly configure the sensors required for the test, as can be seen from the foregoing, the sensors involved in the present application can move in the test area. The following provides a possible implementation method for configuring the movable sensors. Specifically, on the basis of Figure 6 Figure 14 FIG. Figure 14 is a schematic flowchart of another method for deploying a test strategy of a legged robot provided by an embodiment of the present invention. See Step 305 includes:

[0077] Specifically, Figure 15 FIG. is a schematic diagram of another interactive interface provided by an embodiment of the present invention. Refer to Figure 15 , the interactive interface further provides a list of movable sensors, which involves sensor plugins for various types of movable sensors. Furthermore, refer to Figure 11 , similarly, it can also display the configuration positions associated with the test module in a two-dimensional schematic diagram or a three-dimensional stereoscopic test scenario simulation diagram to guide the user to deploy the movable sensors required by the user at the required configuration positions through the interactive cursor 170.

[0078] Optionally, since the movable obstacles need to move in the test area during the test process to simulate elements required by the user, such as "pedestrians", "bicycles", etc., it is necessary to configure the movement mode of the movable obstacles in advance. The following provides a possible implementation method. Specifically, on the basis of Figure 6 , Figure 16 FIG. is a schematic flow chart of another method for deploying a test strategy for a legged robot provided by an embodiment of the present invention. Refer to Figure 16 , step 305 includes: Step 307, configure target positions, movement paths, and test conditions for each movable obstacle in the three-dimensional stereoscopic test scenario through the interactive interface.

[0079] Step 308, control each movable obstacle to move to the corresponding target position.

[0080] Specifically, Figure 17 FIG. is a schematic diagram of controlling a movable obstacle provided by an embodiment of the present invention. Refer to Figure 17 , the host computer 150 can instruct the movable obstacle 140 to move to the target position P2 along the red path based on the movement track 110, and at the same time, can configure the simulation strategy of the movable obstacle 140. For example, when the robot under test is in the sub-test block 120d and moves in the direction "D", the movable obstacle 140 that has already been at the target position P2 moves to the position P3 at a specific speed to simulate, such as a pedestrian or a bicycle.

[0081] Of course, for the test strategy of the robot under test, other movable sensors 130 may also be required to participate. For example, in the above example, a movable sensor 130, such as an industrial camera, needs to be deployed near the sub-test block 120d to confirm whether the robot under test is in the sub-test block 120d to trigger subsequent simulation of the movable obstacle.

[0082] The movable obstacle can simulate the trajectories and behaviors of movable obstacles such as pedestrians, animals, vehicles, etc., enabling the test system to verify the obstacle avoidance and response capabilities of the legged robot in a complex dynamic environment, being closer to the actual application scenario, and helping to improve the reliability and adaptability of the robot in actual applications.

[0083] Optionally, after completing the configuration of the test index parameters of the test module and the control strategy of the movable sensor, they can be sent to the test module and the movable sensor respectively, so as to control each sub-test block in the test module to perform height lifting or angle rotation, and control the movable sensor to move to the target position. Specifically, on the basis of Figure 16 this, Figure 18 FIG. [FIG. number] is a schematic flowchart of another method for deploying a test strategy for a legged robot provided by an embodiment of the present invention. Refer to Figure 18 and further includes: Step 309: Send the corresponding test strategy to each test module; Step 310: Send the corresponding control strategy to each movable sensor and control each movable sensor to move to the corresponding target position.

[0084] Among them, the movable sensor can flexibly move to the best position according to the test strategy, and multiple types of sensors are used in combination to realize multi-dimensional synchronous acquisition of the motion data of the legged robot, providing richer and more accurate information for subsequent data analysis and helping to comprehensively evaluate the performance of the robot.

[0085] Specifically, Figure 19 FIG. [FIG. number] is another schematic diagram for controlling a movable obstacle provided by an embodiment of the present invention. Refer to Figure 19 In this figure, the host computer 150 can instruct the movable sensor 130 to move to the position point P1 based on the moving track 110, so as to complete the corresponding data acquisition when testing the legged robot in the sub-test block 120a.

[0086] After deploying the test strategy of the legged robot based on the above example, the present application also provides a possible implementation manner of a test method for the legged robot. Specifically, Figure 20 FIG. [FIG. number] is a schematic flowchart of a test method for a legged robot provided by an embodiment of the present invention. This method is deployed on the test system described above. Refer to Figure 20 and this method includes: Step 400: When the robot under test starts autonomous movement at the test start point in the test area, trigger the data acquisition of the corresponding test module.

[0087] Step 401: When the movement position of the robot under test triggers the corresponding test of the movable obstacle, trigger the movable obstacle to move on the corresponding movement path based on the test conditions and perform the corresponding data acquisition.

[0088] Step 402: When the robot under test starts autonomous movement at the test start point in the test area, trigger the motion capture of the robot under test.

[0089] Step 403: Report the collected data and motion capture data to the host computer.

[0090] Step 404: Analyze the collected data, motion capture data, and historical test data, and output the analysis results on the interaction interface.

[0091] For the leg-type robot testing method provided by the embodiments of the present invention, the system can automatically configure the test scenario and control the test process according to the test strategy, reduce manual intervention and repetitive work, and improve the test efficiency. At the same time, the setting of movable obstacles can simulate a dynamic scenario, enabling the robot to be tested in an environment closer to the actual application, further enhancing the effectiveness and efficiency of the test.

[0092] Optionally, before the above steps, referring to the previous example, the method further includes: Each test module receives the test strategy sent by the lower computer.

[0093] Each test module controls the spatial position according to the corresponding test strategy to simulate the obstacle object represented by the corresponding target pixel.

[0094] Optionally, before the above steps, referring to the previous example, the method further includes: Each movable sensor receives the control strategy sent by the lower computer; The lower computer controls each movable sensor to move to the corresponding target position.

[0095] Optionally, before the above steps, referring to the previous example, the method further includes: Each movable obstacle receives the corresponding target position, movement path, and test conditions; The lower computer controls each movable obstacle to move to the corresponding target position.

[0096] Embodiments of the invention also provide an electronic device, which can execute all the steps of the above examples of the embodiments of the present invention to achieve the corresponding technical effects. Specifically, Figure 21 is a schematic structural diagram of an electronic device provided by an embodiment of the present invention. Refer to Figure 21 , the electronic device 50 includes: a memory 501 and a processor 500; The memory 501 is used to store one or more programs; The processor 500; When one or more programs are executed by a processor, when the electronic device 50 is used to execute the steps shown in the above various method examples, it can achieve each step and the corresponding technical effects.

[0097] Among them, the memory 501 can be, but is not limited to, a random access memory (Random Access Memory, RAM), a read-only memory (Read Only Memory, ROM), a programmable read-only memory (Programmable Read-Only Memory, PROM), an erasable programmable read-only memory (Erasable Programmable Read-Only Memory, EPROM), an electrically erasable programmable read-only memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc.

[0098] The processor 500 can be an integrated circuit chip with signal processing capabilities. The processor 500 can be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; it can also be a digital signal processor (Digital Signal Processing, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field-programmable gate array (Field-Programmable Gate Array, FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0099] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions, and operations of devices, methods, and computer program products according to multiple embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and a module, a program segment, or a part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, as well as the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0100] In addition, in each embodiment of the present application, the functional modules can be integrated together to form an independent part, or each module can exist separately, or two or more modules can be integrated to form an independent part.

[0101] If the function is implemented in the form of a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs.

[0102] The above are only the preferred embodiments of the present application and are not used to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

[0103] For those skilled in the art, it is obvious that the present application is not limited to the details of the above-described exemplary embodiments, and the present application can be implemented in other specific forms without departing from the spirit or basic characteristics of the present application. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present application is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be encompassed within the present application. Any reference signs in the claims should not be construed as limiting the claims concerned.

Claims

1. A method for deploying a test strategy for a legged robot, characterized in that: The method comprises: The test requirement information is obtained through the interactive interface; the test requirement information includes: the size of the test site, elements and combination relationships; the elements represent the obstacle objects to be simulated; the combination relationship is the spatial relationship between each of the elements; Generate a corresponding two-dimensional schematic diagram according to the test site parameters; Deploy corresponding elements at various positions of the two-dimensional schematic diagram through the interactive interface; Generate a three-dimensional test scene simulation diagram according to the two-dimensional schematic diagram, the parameters of each of the elements and the combination relationship parameters; Configure a test strategy for each test module in the three-dimensional test scene simulation diagram through the interactive interface; Matching a corresponding movable sensor according to any of the test modules; A control strategy is configured for each of the movable sensors through the interactive interface.

2. The method according to claim 1, characterized in that The step of obtaining the test requirement information through the interactive interface includes: Displaying an interactive interface through the interactive interface; The test site size, the elements and the combination relationship input by the user are obtained through the interactive interface.

3. The method according to claim 1, characterized in that The step of generating a corresponding two-dimensional schematic diagram according to the test site parameters includes: Obtaining default parameters corresponding to each of the target elements from a knowledge base; A corresponding two-dimensional schematic diagram is generated according to the default parameters corresponding to all the target elements, all the target elements and the combination relationship.

4. The method according to claim 1, characterized in that The step of deploying corresponding elements at various positions of the two-dimensional schematic diagram through the interactive interface includes: The interactive interface outputs a software tool library, and the software tool library includes element plug-ins corresponding to all the elements; Responding to a user's selection operation through the interactive interface, determining a corresponding target element from the software tool library; The interactive interface responds to the user's deployment operation and deploys the corresponding target element at the target position of the two-dimensional schematic diagram.

5. The method according to claim 4, characterized in that Also includes: Any number of the target elements are adjusted through the interactive interface.

6. The method according to claim 1, characterized in that The step of configuring a test strategy for each test module in the three-dimensional test scene simulation diagram through the interactive interface includes: Through the sub-configuration interface of the interactive interface, corresponding test indicator parameters are configured for each of the test modules.

7. The method according to claim 1, characterized in that The step of matching the corresponding movable sensor according to each test strategy includes: The corresponding movable sensors and position distribution are configured for any of the test modules through the interactive interface.

8. The method according to claim 1, characterized in that Also includes: respectively configuring a target position, a moving path and a test condition for each movable obstacle in the three-dimensional test scene through the interactive interface; Control each movable obstacle to move to the corresponding target position.

9. The method according to claim 8, characterized in that Also includes: Sending a corresponding test strategy to each of the test modules; A corresponding control strategy is issued to each of the movable sensors, and each of the movable sensors is controlled to move to a corresponding target position.

10. A method for testing a legged robot, characterized in that: The legged robot test method is deployed on a test system, and the test system includes: a test area, a mobile track, a sub-test block, a movable sensor, and a host computer, wherein the test area includes at least one test module, each of which is used to simulate a target element required for the test; the target element represents an obstacle object required for the test; the test system is deployed by the legged robot test strategy deployment method according to any one of claims 1 to 9, and the method includes: When the robot under test starts autonomous movement at the test starting point of the test area, data collection of the corresponding test module is triggered; When the moving position of the robot under test triggers a test corresponding to the movable obstacle, the movable obstacle is triggered to move along the corresponding moving path based on the test conditions, and corresponding data collection is performed; When the robot under test starts to perform autonomous movement at a test starting point in the test area, triggering motion capture of the robot under test; Reporting the collected data and motion capture data to the host computer; Perform data analysis based on collected data, motion capture data, and historical test data, and output the analysis results on the interactive interface.

11. The method according to claim 10, characterized in that Before the robot under test starts autonomous motion at the test starting point of the test area, the method further includes: Each of the test modules receives the test strategy sent by the lower computer; Each of the test modules controls the spatial position according to the corresponding test strategy to simulate the obstacle object represented by the corresponding target pixel.

12. The method according to claim 10, characterized in that Before the robot under test starts autonomous motion at the test starting point of the test area, the method further includes: Each of the movable sensors receives the control strategy sent by the lower computer; The lower computer controls each of the movable sensors to move to a corresponding target position.

13. The method according to claim 10, characterized in that Before the robot under test starts autonomous motion at the test starting point of the test area, the method further includes: Each movable obstacle receives a corresponding target position, a moving path and the test condition; The lower computer controls each movable obstacle to move to a corresponding target position.

14. A testing system, characterized in that: The test system comprises: a test area, a mobile track, a sub-test block, a movable sensor and a host computer, wherein the test area comprises at least one test module, each of which is used to simulate a target element required for the test; the target element represents an obstacle object required for the test; the test system is deployed by the legged robot test strategy deployment method according to any one of claims 1 to 9; The test system completes the test of the robot under test through the legged robot test strategy deployment method of any one of claims 10 to 13.

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