Cleaning robot anti-collision test system and method, medium and product

Abstract

The invention discloses a cleaning robot anti-collision test system and method, a medium and a product, and relates to the technical field of robots, the cleaning robot anti-collision test system comprises a vehicle model, a vehicle model control module and a test system background, and the vehicle model is provided with a touch sensor; the vehicle model control module is used for controlling the vehicle model to run based on the configured running parameters when the anti-collision function of the cleaning robot is tested; the touch sensor is used for collecting collision data and transmitting the collision data to the test system background; and the test system background is used for receiving the collision data and generating a test result for the anti-collision function of the cleaning robot based on the collision data. According to the invention, random movement of the vehicle in the test process is avoided, the test conditions are fixed and repeatable, the repeatability and consistency of the anti-collision test are ensured, and thus the accuracy of evaluating the anti-collision performance of the cleaning robot is improved.

Description

Technical Field

[0001] This application relates to the technical field of robots, and particularly to a collision prevention test system, method, medium, and product for cleaning robots. Background Art

[0002] As an important innovative product in the field of smart home, with the rapid development of technology in recent years, the application scenarios of cleaning robots have become increasingly rich. Among them, cleaning robots for garage scenarios have gradually been widely used. In the garage environment, cleaning robots need to cope with complex scenarios, such as the frequent entry and exit of vehicles, the irregular distribution of parking spaces, and the presence of various obstacles, which have high requirements for the collision prevention ability of cleaning robots. Therefore, accurately evaluating the collision prevention performance of cleaning robots in the garage scenario has become a key link in product R & D and optimization. Currently, for the testing of cleaning robots in the garage scenario, most are carried out in a real garage environment. However, the actions of cars in a real garage are random, resulting in poor repeatability and consistency of test data, and it is difficult to accurately evaluate the collision prevention performance of cleaning robots.

[0003] The above content is only used to assist in understanding the technical solution of this application, and does not represent an admission that the above content is prior art. Summary of the Invention

[0004] The main purpose of this application is to provide a collision prevention test system, method, medium, and product for cleaning robots, aiming to solve the technical problem that the accuracy of test results is affected when testing the collision prevention function of cleaning robots in a garage environment.

[0005] To achieve the above purpose, this application proposes a collision prevention test system for cleaning robots. The collision prevention test system for cleaning robots includes a vehicle model, a vehicle model control module, and a test system background. The vehicle model is equipped with a touch sensor.

[0006] When the vehicle model control module is used to test the collision prevention function of the cleaning robot, it controls the vehicle model to travel based on the configured driving parameters.

[0007] The touch sensor is used to collect collision data and transmit the collision data to the test system background.

[0008] The test system background is used to receive the collision data and generate a test result for the collision prevention function of the cleaning robot based on the collision data.

[0009] In one embodiment, the collision prevention test system for cleaning robots further includes a vehicle guide rail, and the vehicle guide rail is used to connect each test parking space.

[0010] The vehicle model control module is further configured to control the vehicle model to travel between the respective test parking spaces through the vehicle guide rail.

[0011] In one embodiment, the anti-collision test system for the cleaning robot further includes a data acquisition module and a front end of the test system;

[0012] The front end of the test system is used to provide a user interaction interface, and the user interaction interface is used to configure the driving parameters and display the test results;

[0013] The data acquisition module is configured to receive the driving parameters and send them to the vehicle model control module, and receive the collision data sent by the touch sensor, and transmit the collision data to the background of the test system.

[0014] In one embodiment, the vehicle model control module is further configured to, when the touch sensor is triggered, determine the collision source direction of the vehicle model, control the vehicle model to travel in the opposite direction of the collision source direction to a preset avoidance area, and control the vehicle model to reset from the preset avoidance area to the test start position.

[0015] To achieve the above object, the present application proposes a method for testing anti-collision of a robot. The method for testing anti-collision of a robot is applied to an anti-collision test system for a cleaning robot. The anti-collision test system for a cleaning robot includes a vehicle model, a vehicle model control module, and a background of the test system. The vehicle model is equipped with a touch sensor. The method for testing anti-collision of a robot includes:

[0016] When performing an anti-collision function test on the cleaning robot, the vehicle model is driven by the vehicle model control module based on the configured driving parameters, where the driving parameters are used to characterize the driving trajectory of the vehicle model;

[0017] During the driving process of the vehicle model, collision data is collected by the touch sensor, and the collision data is transmitted to the background of the test system through the touch sensor;

[0018] The background of the test system receives the collision data, and generates a test result for the anti-collision function of the cleaning robot based on the collision data through the background of the test system.

[0019] In one embodiment, the method for testing anti-collision of a robot further includes:

[0020] If the touch sensor is triggered, the collision source direction of the vehicle model is determined by the vehicle model control module;

[0021] Control the vehicle model to drive in the opposite direction of the collision source orientation to a preset avoidance area through the vehicle model control module, and control the vehicle model to reset from the preset avoidance area to the test starting position.

[0022] In one embodiment, the anti-collision test system for a cleaning robot includes a plurality of vehicle models;

[0023] Before the step of controlling the vehicle model to drive in the opposite direction of the collision source orientation to a preset avoidance area through the vehicle model control module, and controlling the vehicle model to reset from the preset avoidance area to the test starting position, it further includes:

[0024] Based on the real-time distances between each vehicle model and the cleaning robot, determine the priorities of each cleaning robot, where the real-time distance is negatively correlated with the priority;

[0025] Through the vehicle model control module, perform avoidance actions and reset actions on each vehicle model in order from highest to lowest priority.

[0026] In one embodiment, the anti-collision test system for a cleaning robot further includes a vehicle guide rail for connecting each test parking space, and the driving parameters include a starting test parking space and a destination test parking space;

[0027] The step of controlling the vehicle model to drive according to the driving parameters through the vehicle model control module includes:

[0028] Through the vehicle model control module, control the vehicle model to drive along the vehicle guide rail between the starting test parking space and the destination test parking space.

[0029] In addition, to achieve the above object, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the robot anti-collision test method as described above are implemented.

[0030] In addition, to achieve the above object, the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the robot anti-collision test method as described above are implemented.

[0031] The present application provides a collision avoidance test system for a cleaning robot. The collision avoidance test system for the cleaning robot includes a vehicle model, a vehicle model control module, and a test system background. The vehicle model is equipped with a touch sensor. The vehicle model control module is configured to control the vehicle model to travel based on configured driving parameters when performing a collision avoidance function test on the cleaning robot. The touch sensor is used to collect collision data and transmit the collision data to the test system background. The test system background is used to receive the collision data and generate a test result for the collision avoidance function of the cleaning robot based on the collision data.

[0032] By controlling the vehicle model to travel according to the driving parameters through the vehicle model control module, the random movement of the vehicle during the test is avoided, making the test conditions fixed and repeatable, ensuring the repeatability and consistency of the collision avoidance test, and thus improving the accuracy of evaluating the collision avoidance performance of the cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings herein are incorporated into and constitute a part of this specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application or in the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

[0035] Figure 1 It is a schematic structural diagram of the collision avoidance test system for the cleaning robot of the present application;

[0036] Figure 2 It is a schematic connection diagram of the vehicle guide rail and the test parking space of the collision avoidance test system for the cleaning robot of the present application;

[0037] Figure 3 It is a schematic connection diagram of the vehicle guide rail and the vehicle model of the collision avoidance test system for the cleaning robot of the present application;

[0038] Figure 4 It is another schematic structural diagram of the collision avoidance test system for the cleaning robot of the present application;

[0039] Figure 5 It is a schematic diagram of the user interaction interface of an embodiment of the collision avoidance test system for the cleaning robot of the present application;

[0040] Figure 6 It is a schematic flow diagram provided by Embodiment 1 of the robot collision avoidance test method of the present application;

[0041] Figure 7This is a schematic diagram of the test scenario for the anti-collision test system of the cleaning robot in this application.

[0042] Explanation of the reference numerals in the accompanying drawings:

[0043] 100. Anti-collision test system for cleaning robot; 101. Vehicle model; 1011. Touch sensor; 102. Vehicle model control module; 103. Test system background; 104. Vehicle guide rail; 105. Test parking space; 106. Data acquisition module; 107. Front end of the test system.

[0044] The realization of the purpose, functional features and advantages of this application will be further described with reference to the embodiments and the accompanying drawings. Specific embodiments

[0045] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of this application and are not used to limit this application.

[0046] In order to better understand the technical solutions of this application, the following will be described in detail with reference to the drawings in the specification and specific embodiments.

[0047] The anti-collision test system for the cleaning robot proposed in the embodiments of this application includes a vehicle model, a vehicle model control module and a test system background. The vehicle model is equipped with a touch sensor. When the vehicle model control module is used to test the anti-collision function of the cleaning robot, it controls the vehicle model to travel based on the configured driving parameters. The touch sensor is used to collect collision data and transmit the collision data to the test system background. The test system background is used to receive the collision data and generate a test result for the anti-collision function of the cleaning robot based on the collision data.

[0048] Since in the garage environment, the cleaning robot needs to deal with complex scenarios, such as the frequent entry and exit of vehicles, the irregular distribution of parking spaces, and the existence of various obstacles, there are high requirements for the anti-collision ability of the cleaning robot. Therefore, accurately evaluating the anti-collision performance of the cleaning robot in the garage scenario has become a key link in product research and development and optimization. At present, for the test of the cleaning robot in the garage scenario, most are carried out in the real garage environment. However, the actions of the cars in the real garage are random, resulting in poor repeatability and consistency of the test data, and it is difficult to accurately evaluate the anti-collision performance of the robot.

[0049] When the anti-collision test system for a cleaning robot provided by this application conducts an anti-collision function test on the cleaning robot, the vehicle model control module controls the vehicle model to travel according to the driving parameters, avoiding the random movement of the vehicle during the test, making the test conditions fixed and repeatable, ensuring the repeatability and consistency of the anti-collision test, and thus improving the accuracy of evaluating the anti-collision performance of the cleaning robot. Moreover, by collecting collision data through the touch sensors deployed on the vehicle model, it can capture the collision situations of the cleaning robot in various situations in real time, ensuring the integrity of the collision data, and thus improving the accuracy of evaluating the anti-collision performance of the cleaning robot.

[0050] This application provides an anti-collision test system for a cleaning robot. Please refer to Figure 1 , the anti-collision test system 100 of the cleaning robot includes a vehicle model 101, a vehicle model control module 102, and a test system background 103. The vehicle model 101 is deployed with touch sensors 1011. The vehicle model control module 102 can be deployed on the vehicle model 101 or independent of the vehicle model 101. When the vehicle model control module 102 is independent of the vehicle model 101, the vehicle model control module 102 and the vehicle model 101 can be connected by wired or wireless means. The wireless connection can be a communication connection using Bluetooth, Wi-Fi, etc., which is not limited here and can be set according to actual needs. The vehicle model control module 102 is used to receive preset driving parameters. Among them, the driving parameters are used to represent the driving trajectory of the vehicle model 101. The driving parameters can be transmitted to the vehicle model control module 102 after being configured by the front end of the test system, or can be parameters directly configured in the vehicle model control module 102, which is not limited here and can be set according to actual needs. When conducting an anti-collision function test on the cleaning robot, the vehicle model control module 102 controls the vehicle model 101 to travel according to the driving parameters. It should be noted that the vehicle model 101 can travel along the driving trajectory represented by the driving parameters sent by the vehicle model control module 102; the vehicle model 101 can also be connected to a preset guide rail, and the vehicle model 101 travels along the guide rail route through the connected guide rail. At this time, the vehicle model control module 102 can control which section of the multi-section guide rail the vehicle model 101 specifically travels along.

[0051] The vehicle model 101 is deployed with a touch sensor 1011. The touch sensor 1011 is a sensor that can sense external touches or pressure changes. When the cleaning robot collides with the vehicle model 101, the touch sensor 1011 will detect this contact and convert it into collision data. The collision data is used to characterize the collision-related information collected by the touch sensor 1011, including at least the time of the collision, the location of the collision, the intensity of the collision, etc. The touch sensor 1011 transmits the collision data to the test system background 103. It should be noted that the orientation of the touch sensor 1011 deployed on the vehicle model 101 is not restricted. For example, multiple touch sensors 1011 can be evenly installed at the parts of the vehicle model 101 that are prone to collisions, such as the front, rear, and sides, or multiple touch sensors 1011 can be arranged around the model body. During the actual test, multiple touch sensors 1011 can be arranged around the model body to improve the integrity and accuracy of the collision data.

[0052] The test system background 103 is used to receive the collision data, perform data processing and analysis based on the collision data, and generate the test results of the anti-collision test according to the data analysis results. In this embodiment, the specific algorithm for the test system background 103 to perform data analysis is not restricted and can be set according to actual needs. For example, statistical analysis methods can be used to calculate indicators such as the number of collisions and collision frequency of the cleaning robot. For the analysis of the collision probability at different speeds, according to the driving speed of the vehicle model 101 recorded by the vehicle model control module 102 and the corresponding collision data, the number of collisions in each speed interval is counted and then divided by the total number of tests in that speed interval to obtain the corresponding collision probability. At the same time, combined with the motion trajectory data of the cleaning robot, the distribution of the collision locations is analyzed to determine in which areas the cleaning robot is more prone to collisions. Then, based on indicators such as the number of collisions and collision frequency, the test results can be generated.

[0053] When the anti-collision function test of the cleaning robot is carried out by the anti-collision test system for the cleaning robot provided in this embodiment, the vehicle model is controlled to drive according to the driving parameters by the vehicle model control module, avoiding the random movement of the vehicle during the test, making the test conditions fixed and repeatable, ensuring the repeatability and consistency of the anti-collision test, and thus improving the accuracy of evaluating the anti-collision performance of the cleaning robot. Moreover, by collecting the collision data through the touch sensors deployed on the vehicle model, the collision situations of the cleaning robot in various situations can be captured in real time, ensuring the integrity of the collision data, and thus improving the accuracy of evaluating the anti-collision performance of the cleaning robot.

[0054] In a feasible implementation manner, the anti-collision test system 100 of the cleaning robot further includes a vehicle guide rail 104, and the vehicle guide rail 104 is used to connect the test parking spaces 105 in each garage test scenario. That is, the driving track of the vehicle model 101 between the test parking spaces 105 is realized through the guide rail. Specifically, please refer to Figure 2 , Figure 2 which shows a schematic connection diagram of the vehicle guide rail and the test parking space in the anti-collision test system of the cleaning robot. Figure 2 It shows 3 test parking spaces 105 and the vehicle guide rail 104.

[0055] In a specific implementation manner, the connection method between the vehicle model 101 and the vehicle guide rail 104 is not limited. The vehicle model 101 can be connected to the vehicle guide rail 104 through the bottom of the model, or the vehicle model 101 can be laterally connected to the vehicle guide rail 104. Please refer to Figure 3 , Figure 3 which shows a schematic connection diagram of the vehicle model 101 laterally connected to the vehicle guide rail 104.

[0056] In this implementation manner, the driving parameters at least include the starting test parking space and the destination test parking space of the vehicle model 101, and the vehicle model control module 102 controls the vehicle model 101 to drive from the starting test parking space to the destination test parking space through the vehicle guide rail 104. Providing a driving path for the vehicle model 101 through the vehicle guide rail 104 can provide a stable movement route for the vehicle model 101, facilitate the control and management of the movement of the vehicle model 101, improve the consistency of the anti-collision test, and thus improve the test accuracy.

[0057] In a feasible implementation manner, please refer to Figure 4, the anti-collision test system 100 of the cleaning robot further includes a data acquisition module 106 and a front end 107 of the test system. In this embodiment, the front end 107 of the test system is communicatively connected to the data acquisition module 106. The front end 107 of the test system is used to provide a user interaction interface. Based on the user interaction interface, the user configures the driving parameters. The front end 107 of the test system transmits the driving parameters to the data acquisition module 106. The data acquisition module 106 transmits the driving parameters to the vehicle model control module 102, and the vehicle model control module 102 controls the vehicle model 101 to drive. During the driving process of the vehicle model 101, the collision data triggered is transmitted by the touch sensor 1011 to the data acquisition module 106. The data acquisition module 106 is communicatively connected to the back end 103 of the test system. The data acquisition module 106 transmits the collision data to the back end 103 of the test system, and the back end 103 of the test system generates a test result based on the collision data. The back end 103 of the test system is communicatively connected to the front end 107 of the test system. The back end 103 of the test system transmits the test result to the front end 107 of the test system, and the front end 107 of the test system displays the test result. Specifically, the front end 107 of the test system can display the test result in various forms such as tables and charts. For example, it details the number of collisions, obstacle avoidance success rate, etc. of the cleaning robot in different test scenarios in tabular form, and uses a bar chart to compare the difference in the number of collisions at different speeds, enabling testers to intuitively understand the anti-collision performance of the cleaning robot under different conditions.

[0058] It should be noted that the vehicle model control module 102 can also transmit the real-time position of the vehicle model 101 to the data acquisition module 106. The data acquisition module 106 transmits the real-time position to the back end 103 of the test system. The back end 103 of the test system generates a test progress based on the real-time position, and the back end of the test system transmits the test progress to the front end 107 of the test system for display. The method for the back end of the test system to determine the test progress is not limited here. It can be to determine the ratio of the traveled length of the vehicle model 101 to the test traveled length characterized by the driving parameters, and use the length ratio as the test progress.

[0059] Please refer to Figure 5 , Figure 5 shows a schematic diagram of the front end 107 of the test system in an embodiment. The front end 107 of the test system provides a driving parameter configuration function. In this embodiment, the motion trajectories and motion speeds of two vehicle models 101 can be configured. As Figure 5 shown, the front end 107 of the test system can also show the test result. In a specific feasible embodiment, the front end 107 of the test system can also show a schematic diagram of the garage test scenario, highlight the driving trajectory of the vehicle, etc. The visualization function can be set according to the actual needs of the user.

[0060] In a feasible implementation, the vehicle model control module 102 is configured to determine the collision source direction of the vehicle model 101 when the touch sensor 1011 is triggered, control the vehicle model 101 to travel in the opposite direction of the collision source direction to a preset avoidance area, and control the vehicle model 101 to reset from the preset avoidance area to the test starting position.

[0061] On the vehicle model 101, when the cleaning robot touches the vehicle model 101, the touch sensors 1011 at different positions will generate corresponding collision data according to the collision position, and transmit the collision data to the vehicle model control module 102. The vehicle model control module 102 determines the collision source direction based on the deployment direction of the touch sensor 1011 that transmits the data. If the sensor on the left front of the vehicle model 101 receives a collision signal, it can be determined that the collision source direction is the left front; after the vehicle model control module 102 determines the collision source direction, it generates an avoidance instruction according to a preset logic, and transmits the avoidance instruction to the motor drive unit of the vehicle model 101 for reception to control the motor of the vehicle model 101 to act, so that the vehicle model 101 travels in the opposite direction of the collision source direction. Among them, the preset avoidance area can be a pre-set safe area, such as an area set at the edge of the test site, or an area at a preset distance from the collision occurrence location, which is not limited here and can be set according to actual needs; after the vehicle model 101 reaches the preset avoidance area, the vehicle model control module 102 will control the vehicle model 101 to reset from the preset avoidance area to the test starting position.

[0062] It should be noted that the embodiments of the present application provide a robot anti-collision test method, which is applied to a cleaning robot anti-collision test system. The cleaning robot anti-collision test system includes a vehicle model, a vehicle model control module, and a test system background, and the vehicle model is deployed with touch sensors.

[0063] Refer to Figure 6 , Figure 6 is a schematic flowchart of the first embodiment of the robot anti-collision test method of the present application. In this embodiment, the robot anti-collision test method includes steps S10 to S30:

[0064] Step S10, when performing an anti-collision function test on the cleaning robot, the vehicle model is driven by the vehicle model control module based on the configured driving parameters, where the driving parameters are used to characterize the driving trajectory of the vehicle model.

[0065] The driving parameters are a set of parameters used to describe the driving characteristics of the vehicle model, including but not limited to the driving speed, driving direction, driving path, starting position, ending position, etc. of the vehicle model. The driving parameters can determine the driving trajectory of the vehicle model.

[0066] In this embodiment, when performing a collision prevention function test on the cleaning robot, the vehicle model control module controls the driving of the vehicle model based on pre-configured driving parameters, so as to simulate the movement of the vehicle under various real scenarios, and construct a suitable test environment for the subsequent collision prevention test of the cleaning robot. The specific method for obtaining the driving parameters is not limited. It can be to receive the parameters configured by the user based on the user interface, or the driving parameters pre-set in the vehicle model control module.

[0067] Step S20, during the driving of the vehicle model, collect collision data through the touch sensor, and transmit the collision data to the test system background through the touch sensor.

[0068] During the driving of the vehicle model, the touch sensor is used to monitor in real time whether a collision occurs between the cleaning robot and the vehicle model, collect the collision data, and then the touch sensor transmits the collision data to the test system background. In a specific implementation manner, the touch sensor may be communicatively connected to the test system background, and the touch sensor transmits the collision data to the test system background; the test system may also include a data acquisition device, or the touch sensor transmits the collision data to the data acquisition device, and the data acquisition device transmits the collision data to the test system background. This is not limited here and can be set according to actual needs.

[0069] It should be noted that the touch sensor can be pre-set with a retransmission mechanism. If the touch sensor does not receive an acknowledgment response signal from the test system background within a preset time period after transmitting the collision data, the collision data will be retransmitted to ensure that the data can be accurately transmitted to the test system background.

[0070] Step S30, receive the collision data through the test system background, and generate a test result for the collision prevention function of the cleaning robot based on the collision data through the test system background.

[0071] The test system background deeply analyzes and processes the received collision data, evaluates the collision prevention function of the cleaning robot from multiple dimensions, and finally generates a test result. The test result may include multiple indicators, such as the collision prevention success rate, the number of collisions, the collision position distribution, the collision intensity analysis, etc. of the cleaning robot. This is not limited here.

[0072] In this embodiment, there is no limitation on the specific algorithm for data analysis in the background of the test system, and it can be set according to actual requirements. For example, statistical analysis methods can be used to calculate indicators such as the number of collisions and collision frequency of the cleaning robot. For the analysis of collision probabilities at different speeds, based on the vehicle model driving speed and corresponding collision data recorded by the vehicle model control module, the number of collisions in each speed interval is statistically calculated and then divided by the total number of tests in that speed interval to obtain the corresponding collision probability. At the same time, combined with the movement trajectory data of the cleaning robot, the position distribution of collision occurrences is analyzed to determine in which areas the cleaning robot is more likely to collide. Then, based on indicators such as the number of collisions and collision frequency, a test result can be generated.

[0073] The background of the test system transmits the test result to the user interaction interface, and the user interaction interface displays the test result. Specifically, the user interaction interface can display the test result in various forms such as tables and charts. For example, it can list in detail data such as the number of collisions and obstacle avoidance success rate of the cleaning robot in different test scenarios in tabular form, and use a bar chart to compare the differences in the number of collisions at different speeds, enabling testers to intuitively understand the anti-collision performance of the cleaning robot under different conditions.

[0074] In this embodiment, when testing the anti-collision function of the cleaning robot, the vehicle model control module controls the vehicle model to drive according to the driving parameters, avoiding the random movement of the vehicle during the test, making the test conditions fixed and repeatable, ensuring the repeatability and consistency of the anti-collision test, and thus improving the accuracy of evaluating the anti-collision performance of the cleaning robot. Moreover, by collecting collision data through the touch sensors deployed on the vehicle model, the collision situations of the cleaning robot in various situations can be captured in real time, ensuring the integrity of the collision data, and thus improving the accuracy of evaluating the anti-collision performance of the cleaning robot.

[0075] In a feasible embodiment, the robot anti-collision test method further includes steps S40 to S50:

[0076] Step S40, if the touch sensor is triggered, the collision source direction of the vehicle model is determined through the vehicle model control module.

[0077] When a collision occurs between the cleaning robot and the vehicle model, the vehicle model control module analyzes the collision data transmitted by the touch sensor to determine the direction of the collision. By judging the collision source direction, it provides an analysis basis for subsequent avoidance and reset operations of the vehicle model.

[0078] In this embodiment, the vehicle model control module can determine the collision source direction based on the layout of multiple touch sensors on the vehicle model, as well as the time difference and / or signal strength difference of each sensor triggered during a collision. When the cleaning robot collides with the vehicle model, the sensors near the collision point will be triggered first or generate stronger signals. Based on the trigger order or signal strength relationship of the touch sensors, the collision source direction is determined. Exemplarily, in a feasible embodiment, the vehicle model control module can determine the collision source direction based on the trigger time difference. After receiving the trigger signal from the sensor, the vehicle model control module determines the trigger time of each sensor. By comparing the trigger times of each sensor, the direction where the earliest triggered sensor is deployed on the vehicle model is determined as the collision source direction. For example, if the sensor on the left front of the vehicle model is triggered earlier than other sensors, then the collision source direction is the left front; further, the trigger conditions of the earliest triggered sensor and its adjacent sensors can be checked. If the adjacent sensor of the earliest triggered sensor is triggered within a preset trigger duration, the collision source direction can be determined as the deployment direction of the earliest triggered sensor. Exemplarily, in another feasible embodiment, the vehicle model control module can determine the source direction based on the signal strength difference collected by each touch sensor. The stronger the signal strength, the closer the touch sensor is to the touch point. Therefore, the deployment direction of the touch sensor with the strongest signal strength can be determined as the collision source direction.

[0079] Step S50: Control the vehicle model to travel in the opposite direction of the collision source direction to a preset avoidance area through the vehicle model control module, and control the vehicle model to reset from the preset avoidance area to the test start position.

[0080] The opposite direction of the collision source direction is the direction that forms a 180° angle with the determined collision source direction. For example, if the collision source direction is the right front, then its opposite direction is the left rear. In this embodiment, the vehicle model control module controls the vehicle model to move in the opposite direction according to the collision source direction information, so that the vehicle model reaches a preset safe area for avoidance. After the avoidance is completed, the vehicle model control module controls the vehicle model to return to the test start position from the avoidance area according to the reset path for the next round of testing. This embodiment can simulate the response process of a vehicle after being collided in a real scenario, and also ensures the continuity and standardization of the test, making the test results more comparable.

[0081] It should be noted that the reset path can be a preset trajectory, or a path obtained by the vehicle model control module through path planning based on the current position of the vehicle model and the test start position. The planning method of the reset path is not limited here. For example, the A* algorithm or Dijkstra algorithm can be used.

[0082] In a feasible implementation manner, the anti-collision test system of the cleaning robot includes a plurality of vehicle models; before the step S50: controlling, by the vehicle model control module, the vehicle models to travel in the opposite direction of the collision source orientation to a preset avoidance area, and controlling the vehicle models to reset from the preset avoidance area to the test starting position, the steps further include steps S01 to S02:

[0083] Step S01, determining the respective priorities of each of the cleaning robots based on the real-time distances between each of the vehicle models and the cleaning robot, wherein the real-time distance is negatively correlated with the priority.

[0084] In a test scenario with multiple vehicle models, the cleaning robot may approach multiple vehicle models simultaneously. To orderly process the avoidance and reset actions of the vehicle models and avoid chaos and conflicts, in this implementation manner, priorities are assigned to each vehicle model according to the real-time distance. It should be noted that the real-time distance refers to the actual spatial distance between each vehicle model and the cleaning robot at a certain moment during the test, which can be specifically measured in real time by a distance sensor and is not limited herein; the priority is the priority when each vehicle model needs to perform avoidance and reset actions. Among them, the vehicle model with a closer real-time distance to the cleaning robot has a higher priority and executes the corresponding actions more preferentially.

[0085] Specifically, the vehicle models are deployed with distance sensors such as ultrasonic sensors and infrared sensors. The distance sensors measure the real-time distances between the cleaning robot and the vehicle models. The test system obtains the real-time distances of each vehicle model, sorts the collected real-time distances, and determines the priorities for each vehicle model. Specifically, algorithms such as the dynamic programming algorithm and bubble sort can be used to sort the real-time distances, which are not limited herein.

[0086] Step S02, performing the avoidance action and reset action on each of the vehicle models in sequence according to the order from high to low of the priorities through the vehicle model control module.

[0087] After determining the priorities of each vehicle model, the vehicle model control module performs the avoidance action and reset action on each vehicle model in sequence according to the order from high to low of the priorities, that is, performs the action of controlling, by the vehicle model control module, the vehicle models to travel in the opposite direction of the collision source orientation to a preset avoidance area, and controlling the vehicle models to reset from the preset avoidance area to the test starting position.

[0088] In this implementation manner, by determining the priorities of the vehicle models, it can ensure that when multiple vehicle models are simultaneously at risk of collision, the avoidance and reset operations are carried out in the most reasonable order, avoiding chaos and conflicts, and improving the efficiency and accuracy of the test process.

[0089] In a feasible implementation manner, the anti-collision test system for the cleaning robot further includes a vehicle guide rail for connecting each test parking space, and the driving parameters include a starting test parking space and a destination test parking space; the step S10 of controlling the vehicle model to drive according to the driving parameters through the vehicle model control module includes step S101:

[0090] Step S101: Control the vehicle model to travel along the vehicle guide rail between the starting test parking space and the destination test parking space through the vehicle model control module.

[0091] The vehicle model control module, based on the driving parameters including the information of the starting test parking space and the destination test parking space, uses the vehicle guide rail to guide the vehicle model to move between the two parking spaces, thereby simulating the movement of the vehicle in and out of the parking space in a real garage scenario, providing a stable and repeatable dynamic obstacle movement scenario for the cleaning robot to test its anti-collision performance.

[0092] It can be understood that the vehicle guide rail constructs a framework for the vehicle movement path in the simulated garage scenario, can guide the movement of the vehicle model, provides a standardized and repeatable movement trajectory for the test, makes the test environment more controllable and stable, and thus improves the accuracy of evaluating the anti-collision function.

[0093] Exemplarily, to help understand the anti-collision test system for the cleaning robot obtained by combining the above embodiment 1 with this embodiment, please refer to Figure 7 , Figure 7 FIG. shows an anti-collision test system for a cleaning robot. In this embodiment, the test system includes two vehicle models, six test parking spaces, and 2 vehicle guide rails. Each vehicle model is laterally connected to the guide rail, and the movement of the vehicle model is controlled through the guide rail. Specifically: Vehicle model 1 is realized through vehicle guide rail 1 in test parking space 1, test parking space 2, and test parking space 3, and vehicle model 2 is realized through vehicle guide rail 2 in test parking space 4, test parking space 5, and test parking space 6.

[0094] The anti-collision test system includes a vehicle model, a vehicle model control module, and a test system background. Touch sensors are deployed on the vehicle model. The movement speed and destination of the vehicle model can be remotely configured. After the configuration is completed, the model will move along the guide rail. Touch sensors are installed at both the front and rear of the vehicle model. When touched, the number of touches is recorded and the vehicle model retreats, and the data is transmitted to the vehicle model control module. The vehicle model control module controls the driving of the vehicle model according to the configured values. When the cleaning robot crosses this area, if it touches the vehicle model, the touch sensor will be triggered, and the touch information will be recorded and reported to the test system background in the format of time + touch record. Moreover, the vehicle model control module controls the vehicle model to perform a reset operation. For example, vehicle model 1 moves back and forth between test parking space 1 and test parking space 3 on guide rail 1. When vehicle model 1 is touched from the front on its way from test parking space 3 to test parking space 1, it can be known from the touch sensor that the front sensor is triggered. Then the touch sensor records the touch information and uploads it to the test system background. And the vehicle model control module controls the vehicle model to move in the opposite direction and return to parking space 3. After waiting for a period of time, it continues to move between parking spaces 3 and 1. In this embodiment, the test system background uses a preset data processing algorithm to process and analyze the collected collision data, generating detailed test results. For example, the number of collisions is calculated based on the collected data, and a scatter plot is drawn in the report, from which the occurrence probability at different vehicle speeds, the probability at different positions, etc. can be analyzed. Based on the occurrence probability of collisions and the occurrence probability of collisions at different positions, a test report is generated, providing a scientific basis for the research and development and optimization of the cleaning robot.

[0095] In this embodiment, the test system further includes a data acquisition module. The data acquisition module is docked with the vehicle model control module and is used to issue test instructions and collect the collision data of the vehicle model.

[0096] In this embodiment, the test system further includes a user interaction interface, which provides an intuitive operation interface and a test result display function through the user interaction interface, facilitating testers to quickly understand the test progress and results. At the same time, it supports remote monitoring and remote control functions, as well as the configuration of the vehicle simulation area.

[0097] It should be noted that the above examples are only for understanding the present application and do not constitute a limitation on the anti-collision test method of the robot in the present application. Based on this technical concept, more forms of simple transformations are within the protection scope of the present application.

[0098] The present application provides a computer-readable storage medium, on which computer-readable program instructions (i.e., computer programs) are stored. The computer-readable program instructions are used to execute the anti-collision test method of the robot in the above embodiments.

[0099] The computer-readable storage medium provided by the present application can be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) or flash memory, optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this embodiment, the computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system or device. The program code contained on the computer-readable storage medium can be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0100] The above computer-readable storage medium can be included in the cleaning robot anti-collision test system; or it can exist alone without being assembled into the cleaning robot anti-collision test system.

[0101] The above computer-readable storage medium carries one or more programs, and when the one or more programs are executed by the cleaning robot anti-collision test system, the cleaning robot anti-collision test system implements the various embodiments of the robot anti-collision test method described above.

[0102] Computer program code for performing the operations of this application can be written in one or more programming languages or combinations thereof. The above-mentioned programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (for example, by using an Internet service provider to connect through the Internet).

[0103] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of the code, and this module, program segment, or part of the 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 that marked in the accompanying drawings. For example, two consecutively represented 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 operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0104] The modules described in the embodiments of this application can be implemented in software or in hardware. Among them, the name of the module does not constitute a limitation to the unit itself in some cases.

[0105] The readable storage medium provided in this application is a computer-readable storage medium. The computer-readable storage medium stores computer-readable program instructions (i.e., computer programs) for performing the above-mentioned robot anti-collision test method, and can solve the technical problem that the accuracy of the test results is affected when testing the anti-collision function of a cleaning robot in a garage environment. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the robot anti-collision test method provided in the above embodiments, and will not be elaborated here.

[0106] The present application also provides a computer program product, including a computer program which, when executed by a processor, implements the steps of the robot anti-collision test method as described above.

[0107] The computer program product provided by the present application can solve the technical problem that the accuracy of the test results is affected when testing the anti-collision function of a cleaning robot in a garage environment. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as those of the robot anti-collision test method provided by the above embodiments, and will not be elaborated herein.

[0108] The above are only some embodiments of the present application, and thus do not limit the patent scope of the present application. Any equivalent structural transformation made by using the content of the specification and drawings of the present application under the technical concept of the present application, or any direct / indirect application in other related technical fields, is included in the patent protection scope of the present application.

Claims

1. A collision prevention test system for a cleaning robot, characterized in that The anti-collision test system for the cleaning robot includes a vehicle model, a vehicle model control module, and a test system background. The vehicle model is equipped with a touch sensor; When the vehicle model control module is used to perform an anti-collision function test on the cleaning robot, it controls the vehicle model to travel based on the configured driving parameters; The touch sensor is used to collect collision data and transmit the collision data to the test system background; The test system background is used to receive the collision data and generate a test result for the anti-collision function of the cleaning robot based on the collision data.

2. The anti-collision test system for a cleaning robot according to claim 1, characterized in that, The anti-collision test system for the cleaning robot further includes a vehicle guide rail, which is used to connect each test parking space; The vehicle model control module is also used to control the vehicle model to travel between each test parking space through the vehicle guide rail.

3. The anti-collision test system for a cleaning robot according to claim 1, wherein The anti-collision test system for the cleaning robot further includes a data acquisition module and a test system front end; The test system front end is used to provide a user interaction interface, and the user interaction interface is used to configure the driving parameters and display the test result; The data acquisition module is used to receive the driving parameters and send them to the vehicle model control module, and receive the collision data sent by the touch sensor and transmit the collision data to the test system background.

4. The anti-collision test system for a cleaning robot according to any one of claims 1 to 3, characterized in that The vehicle model control module is also used to determine the collision source direction of the vehicle model when the touch sensor is triggered, control the vehicle model to travel in the opposite direction of the collision source direction to a preset avoidance area, and control the vehicle model to reset from the preset avoidance area to the test starting position.

5. A robot anti-collision test method, characterized in that The robot anti-collision test method is applied to the anti-collision test system for the cleaning robot. The anti-collision test system for the cleaning robot includes a vehicle model, a vehicle model control module, and a test system background. The vehicle model is equipped with a touch sensor. The robot anti-collision test method includes: When performing an anti-collision function test on the cleaning robot, the vehicle model is controlled to travel by the vehicle model control module based on the configured driving parameters, where the driving parameters are used to characterize the driving trajectory of the vehicle model; During the travel of the vehicle model, collision data is collected by the touch sensor, and the collision data is transmitted to the test system background by the touch sensor; The collision data is received by the test system background, and the test system background generates a test result for the anti-collision function of the cleaning robot based on the collision data.

6. The robot anti-collision test method according to claim 5, wherein The robot anti-collision test method further includes: If the touch sensor is triggered, the collision source direction of the vehicle model is determined by the vehicle model control module; The vehicle model is controlled by the vehicle model control module to travel in the opposite direction of the collision source direction to a preset avoidance area, and the vehicle model is controlled to reset from the preset avoidance area to the test starting position.

7. The robot anti-collision test method according to claim 6, wherein, The anti-collision test system for the cleaning robot includes multiple vehicle models; Before the step of controlling the vehicle model to travel in the opposite direction of the collision source direction to a preset avoidance area by the vehicle model control module and controlling the vehicle model to reset from the preset avoidance area to the test starting position, the method further includes: Based on the real-time distances between each vehicle model and the cleaning robot, the vehicle model control module determines the respective priorities of each cleaning robot, where the real-time distance is negatively correlated with the priority; The vehicle model control module sequentially performs avoidance actions and reset actions on each vehicle model in the order from high to low according to the priority.

8. The robot anti-collision test method according to any one of claims 5 to 7, characterized in that, The cleaning robot anti-collision test system further includes a vehicle guide rail for connecting each test parking space, and the driving parameters include a starting test parking space and a destination test parking space; The step of controlling the vehicle model to travel according to the driving parameters by the vehicle model control module includes: Controlling the vehicle model to travel along the vehicle guide rail between the starting test parking space and the destination test parking space by the vehicle model control module.

9. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the robot anti-collision test method according to any one of claims 5 to 8 are implemented.

10. A computer program product, characterized in that, The computer program product includes a computer program. When the computer program is executed by a processor, the steps of the robot anti-collision test method according to any one of claims 5 to 8 are implemented.

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