Mobile robot braking distance detection method

Abstract

The invention belongs to the technical field of robot performance testing, and discloses a mobile robot braking distance detection method, which comprises the following steps of: arranging a laser trigger at a braking triggering reference line; controlling the mobile robot to pass through the datum line, and generating a trigger signal by a laser trigger; the synchronous trigger is used for receiving the signal and synchronously sending a braking instruction to the robot and a measurement starting instruction to the detection system; the detection system collects coordinate information of the whole process from braking to stopping of the robot; and calculating an actual braking distance according to the coordinate information, and comparing the actual braking distance with a preset required value to judge qualification. According to the invention, the braking distance of the mobile robot can be automatically, precisely and efficiently detected through hardware-level synchronous triggering braking and measurement in combination with high-precision coordinate acquisition.

Description

Technical Field

[0001] This invention belongs to the field of robot performance testing technology, and specifically relates to a method for detecting the braking distance of a mobile robot. Background Technology

[0002] With the rapid development of robotics technology, mobile robots are increasingly widely used in industrial manufacturing, warehousing and logistics, and household services. The safety of mobile robots is a crucial prerequisite for their reliable application, and braking performance, especially braking distance, is one of the core indicators for measuring their safety. Accurately testing and verifying whether the braking distance of mobile robots meets design specifications and safety standards is essential for ensuring the safety of personnel and equipment and ensuring the stable operation of robots.

[0003] Traditional braking distance detection methods typically rely on manual observation and measurement, using tools such as measuring tapes and marking lines. These methods have several drawbacks: first, human operation introduces significant measurement errors, resulting in low accuracy; second, the synchronization of braking triggering and timing start is difficult to guarantee, leading to poor repeatability; and third, the detection efficiency is low, and the data recording and report generation process is cumbersome. Therefore, there is an urgent need for an automated, high-precision, and high-efficiency method for mobile robot braking distance detection to improve the robot performance evaluation technology system and support the healthy development of the robotics industry. Summary of the Invention

[0004] The present invention aims to at least partially solve the aforementioned technical problems. Therefore, the objective of the present invention is to provide a method for detecting braking distance of a mobile robot.

[0005] To achieve the above objectives, the present invention provides a method for detecting braking distance of a mobile robot, comprising the following steps:

[0006] S1: Mark the braking trigger baseline on the ground in the area to be tested, and set a laser trigger for generating a trigger signal at the braking trigger baseline;

[0007] S2: Control the mobile robot under test to move in a straight line at a preset speed and pass through the braking trigger reference line;

[0008] S3: When the mobile robot reaches the braking trigger baseline, a trigger signal is generated by the laser trigger;

[0009] S4: Receive the trigger signal using a synchronous trigger and synchronously send a braking command to the mobile robot, as well as a command to start measurement to the detection system;

[0010] S5: After receiving the instruction to start measurement, the detection system collects and records the coordinate information of the mobile robot in real time from the start of braking to complete stop;

[0011] S6: Calculate the actual braking distance D1 of the mobile robot based on the coordinate information;

[0012] S7: Compare the actual braking distance D1 with the preset braking distance requirement value D0 to determine whether the braking distance of the mobile robot is qualified.

[0013] In a preferred embodiment, prior to step S1, the method further includes: based on the maximum speed, maximum load, and reference ground friction coefficient of the mobile robot under test, using a dynamic formula (such as V... 2 =2as) to initially estimate the maximum theoretical braking distance, and add a safety margin (such as 50%) to set the length of the area to be tested to ensure test safety.

[0014] In a preferred embodiment, in step S5, a laser tracker or motion capture system is used as the detection system to collect the coordinate information to ensure the accuracy of the coordinate information collection.

[0015] As a preferred embodiment, the specific method for calculating the actual braking distance D1 in step S6 is as follows: determine the reference point position of the mobile robot when it is triggered to brake on the braking trigger baseline, and the final position of that reference point when it comes to a complete stop, and calculate the spatial straight-line distance between these two positions. This definition method is clear and easy to implement through coordinate calculation.

[0016] In a preferred embodiment, the specific method for making the determination in step S7 is as follows: calculate the difference ΔD = D0 - D1. If ΔD ≥ 0, the braking distance is determined to be qualified; if ΔD < 0, the braking distance is determined to be unqualified.

[0017] As a preferred embodiment, to ensure the reliability and statistical significance of the test results, the method further includes repeating steps S2 to S7 at least 10 times to obtain multiple test results.

[0018] As a preferred implementation, before making a final evaluation of the results of the multiple tests, a data screening step is also included: checking the validity of each test process and removing invalid test data caused by obvious slippage during robot braking or abnormalities in the detection system (such as data interruption or lag).

[0019] In a preferred embodiment, the final evaluation step of the method includes: if all valid test data results are qualified, the braking distance detection of the mobile robot is ultimately evaluated as qualified. If there is at least one unqualified result, the final evaluation is unqualified.

[0020] As a preferred implementation, after the final assessment is qualified, the method also includes the step of determining the final measured braking distance value: taking the maximum value of the actual braking distance D1 measured from all valid test data (MAX{Dn,n≥10}) as the final reported measured braking distance value. This method of taking the maximum value conforms to the industry's standard for considering worst-case performance.

[0021] In a preferred embodiment, the method further includes the following data processing steps: before step S6, filtering and preprocessing the raw coordinate information collected by the detection system to eliminate noise interference; and after step S7, generating and outputting a standardized test report based on all test results to achieve full-process automation.

[0022] The beneficial effects of this invention are as follows:

[0023] This method employs laser triggers and synchronous triggers to achieve hardware-level synchronization, precisely capturing the moment the robot reaches the baseline and simultaneously triggering braking and measurement, eliminating the human delay error inherent in traditional methods. Combined with high-precision detection systems such as laser trackers, it ensures the accuracy of the measurement results.

[0024] This method automates the entire testing process, from triggering, measurement, and data processing to result determination and report generation, significantly improving testing efficiency and reducing labor costs. Simultaneously, it can collect and record coordinate information throughout the braking process, not only obtaining the final braking distance but also analyzing the robot's braking trajectory, deceleration, and other dynamic characteristics, providing data support for robot performance optimization. Attached Figure Description

[0025] Figure 1 This is a schematic diagram illustrating the principle of a mobile robot braking distance detection method according to the present invention. Detailed Implementation

[0026] The technical solutions of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0027] It should be understood that, and also noted, in the embodiments, the functions / actions may appear in a different order than those shown in the figures. For example, depending on the functions / actions involved, they may actually be performed substantially concurrently, or sometimes the two figures shown consecutively may be performed in reverse order.

[0028] The detection method in this embodiment can be implemented using a detection system, as described above. Figure 1 The detection system mainly consists of a laser trigger, a synchronization trigger, a detection system, and a control module. The object under test is a mobile robot with an internal braking control loop.

[0029] Specifically, the detection method and steps are as follows:

[0030] Step 1: Test Preparation and Site Setup

[0031] A test area with sufficient braking distance is pre-defined based on the dynamic model of the mobile robot under test. For example, if the maximum speed of a mobile robot under maximum load is 2 m / s, and the reference ground friction coefficient is 0.5, then according to the dynamic formula V... 2 =2as, estimate the theoretical braking distance s=V 2 / (2*a)=2 2 / (2*0.5*9.8)≈0.41 meters. Based on this, add a 50% safety margin, and set the length of the area to be tested to be at least 0.41*1.5≈0.62 meters. In practice, a straight track several meters long can be planned.

[0032] At the starting position of the area to be tested, a clear braking trigger baseline is marked on the ground.

[0033] According to the test specifications or product design requirements, set a braking distance test requirement value D0, for example, D0=0.5 meters.

[0034] Step Two: Implementation of the Testing Process

[0035] Hardware is installed at the braking trigger baseline. A laser trigger is mounted on one side of the baseline, with its laser beam spanning the robot's motion path. The signal output of the laser trigger is connected to a synchronization trigger. One output channel of the synchronization trigger is connected to the braking control loop of the mobile robot, and the other output channel is connected to the detection system (in this embodiment, a laser tracker). The detection system is connected to the control module used for data processing.

[0036] After setting the working parameters, control the mobile robot to accelerate along a straight line to ensure that it has stabilized at the target speed (e.g., 2 m / s) before reaching the baseline.

[0037] When the mobile robot reaches the braking baseline and blocks the laser beam, the laser trigger generates a trigger signal.

[0038] After receiving the signal, the synchronous trigger immediately sends a braking instruction to the robot braking control circuit synchronously and sends an instruction to start measurement to the detection system.

[0039] The detection system immediately starts to measure and record the three-dimensional coordinate information of the reference point installed on the mobile robot at a high sampling frequency (for example, 1000 Hz) until the robot stops completely.

[0040] The collected original coordinate information is sent to the control module, and first undergoes filtering preprocessing (such as Kalman filtering) to remove noise.

[0041] After processing, according to the first coordinate point (trigger instant position) and the last coordinate point (static position) in the coordinate sequence, the spatial straight-line distance between the two points is calculated to obtain the actual braking distance D1 of this test. For example, it is measured that D1 = 0.45 meters.

[0042] Compare D1 with D0. Calculate ΔD = D0 - D1 = 0.5 - 0.45 = 0.05 meters. Since ΔD ≥ 0, this test is judged to be qualified.

[0043] Step Three: Repeat Tests and Final Evaluation

[0044] Repeat the above Step Two 10 times to obtain 10 groups of test data and preliminary judgment results.

[0045] Conduct a validity review of these 10 test processes. For example, check whether there is obvious side slip in the movement trajectory of the robot or whether there is interruption in the coordinate data of the detection system. Assume that all 10 test data are valid.

[0046] Conduct a final evaluation. Check the judgment results of the 10 tests. If all are qualified (that is, ΔD for each time is ≥ 0), then finally evaluate that the braking distance detection of this robot is qualified.

[0047] Determine the final measured value.

[0048] Select the maximum value from the 10 valid D1 values {0.45, 0.46, 0.44, 0.47, 0.45, 0.46, 0.48, 0.45, 0.46, 0.47}. Therefore, the final reported measured value of the braking distance is MAX{Dn} = 明0.48 meters.

[0049] Step Four: Generate a Report

[0050] After all tests and analyses are completed, the control module automatically integrates all data to generate a standardized test report including test conditions, D1 value for each time, final evaluation result (qualified), and final measured braking distance (0.48 meters).

[0051] This invention is not limited to the above-described optional embodiments. Anyone can derive other various forms of products under the guidance of this invention. However, regardless of any changes made in their shape or structure, any technical solution that falls within the scope of the claims of this invention shall be protected by this invention.

Claims

1. A method for detecting braking distance of a mobile robot, characterized in that, Includes the following steps: S1: Mark the braking trigger baseline on the ground in the area to be tested, and set a laser trigger for generating a trigger signal at the braking trigger baseline; S2: Control the mobile robot under test to move in a straight line at a preset speed and pass through the braking trigger reference line; S3: When the mobile robot reaches the braking trigger baseline, a trigger signal is generated by the laser trigger; S4: Receive the trigger signal using a synchronous trigger and synchronously send a braking command to the mobile robot, as well as a command to start measurement to the detection system; S5: After receiving the instruction to start measurement, the detection system collects and records the coordinate information of the mobile robot in real time from the start of braking to complete stop; S6: Calculate the actual braking distance D1 of the mobile robot based on the coordinate information; S7: Compare the actual braking distance D1 with the preset braking distance requirement value D0 to determine whether the braking distance of the mobile robot is qualified.

2. The method according to claim 1, characterized in that, Before step S1, the method further includes: based on the maximum speed, maximum load and reference ground friction coefficient of the mobile robot under test, the maximum theoretical braking distance is initially estimated using dynamic formulas, and a safety margin is added to set the length of the area to be tested.

3. The method according to claim 1, characterized in that, In step S5, a laser tracker or motion capture system is used as the detection system to collect the coordinate information.

4. The method according to claim 1, characterized in that, The specific method for calculating the actual braking distance D1 in step S6 is as follows: determine the reference point position of the mobile robot when it is triggered to brake on the braking trigger baseline, and the final position of the reference point when it comes to a complete stop, and calculate the spatial straight-line distance between the two positions.

5. The method according to claim 1, characterized in that, The specific method for determining the braking distance in step S7 is as follows: calculate the difference ΔD = D0 - D1. If ΔD ≥ 0, the braking distance is determined to be qualified; if ΔD < 0, the braking distance is determined to be unqualified.

6. The method according to claim 1, characterized in that, The method further includes repeating steps S2 to S7 at least 10 times to obtain multiple test results.

7. The method according to claim 6, characterized in that, Before making a final evaluation of the results of the multiple tests, a data filtering step is also included: checking the validity of each test process and removing invalid test data caused by obvious slippage during robot braking or abnormality in the detection system.

8. The method according to claim 7, characterized in that, The final evaluation step of the method includes: if the judgment results of all valid test data are qualified, then the braking distance detection of the mobile robot is finally evaluated as qualified.

9. The method according to claim 8, characterized in that, After the final assessment is qualified, the step of determining the final measured braking distance value is also included: take the maximum value of the actual braking distance D1 measured from all valid test data as the final reported measured braking distance value.

10. The method according to claim 1, characterized in that, The method also includes the following data processing steps: Before step S6, the raw coordinate information collected by the detection system is filtered and preprocessed; Furthermore, after step S7, a standardized test report is generated and output based on all test results.

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