Robot testing method and testing apparatus thereof

Abstract

The application provides a robot testing method and testing equipment, which can save testing cost. The testing method comprises the following steps: when the first sensor and the second sensor both sense the robot, the conveyor belt is controlled to start and gradually accelerate, wherein, during the gradual acceleration, when the second sensor and the third sensor both do not sense the robot, the conveyor belt is controlled to accelerate to a standard speed and run in a direction opposite to the walking direction of the robot; within the first set time of the running of the conveyor belt at the standard speed, if the second sensor and the third sensor both do not sense the robot, it is determined that the walking speed test of the robot is qualified, if the second sensor senses the robot, it is determined that the rated walking speed of the robot is slower, and if the third sensor senses the robot, it is determined that the rated walking speed of the robot is faster.

Description

Technical Field

[0001] This application relates to the field of robot testing technology, and more specifically, to a robot testing method and testing equipment. Background Technology

[0002] With the rapid development of the intelligent robot industry, its technological maturity is constantly improving. Robots such as robot dogs have been successfully expanded into multiple application scenarios, including industrial and consumer sectors. Along with the continued growth in application demand, the production model of robots such as robot dogs has gradually upgraded from traditional small-batch manual assembly to large-scale mass production.

[0003] To ensure the product quality and reliability of robots leaving the factory, they must undergo rigorous performance testing after assembly. Only products that meet all preset standards can be released to the market. To conduct various performance tests on robots, relevant technologies construct corresponding real-world testing environments for the required tests, allowing the robots to be tested within these environments. However, real-world testing requires sufficiently large testing spaces, which increases production and testing costs. Summary of the Invention

[0004] This application provides a robot testing method and testing equipment, which can save testing costs.

[0005] In a first aspect, this application provides a robot testing method applied to a robot testing device. The robot testing device includes a conveyor belt, a first sensor, a second sensor, and a third sensor. The first sensor, the second sensor, and the third sensor are sequentially spaced along the transmission direction of the conveyor belt. The distance between the first sensor and the second sensor is less than or equal to the length of the robot, and the distance between the second sensor and the third sensor is greater than the length of the robot. The robot is configured with a rated walking speed. The robot walks on the conveyor belt from the first sensor to the third sensor at the rated walking speed. The testing method includes a walking speed testing method, which includes:

[0006] When both the first and second sensors detect the robot, the conveyor belt is controlled to start and gradually accelerate. If neither the second nor the third sensor detects the robot during the gradual acceleration, the conveyor belt is controlled to accelerate to a standard speed. The direction of the conveyor belt is opposite to the walking direction of the robot.

[0007] Within the first set time when the conveyor belt runs at the standard speed, if neither the second sensor nor the third sensor senses the robot, it is determined that the walking speed test of the robot is qualified. If the second sensor senses the robot, it is determined that the rated walking speed of the robot is slow. If the third sensor senses the robot, it is determined that the rated walking speed of the robot is fast.

[0008] In some optional embodiments, the test device further includes a fourth sensor located behind the third sensor, and the distance between the fourth sensor and the third sensor is less than or equal to the length of the robot.

[0009] After it is determined that the rated walking speed of the robot is fast if the third sensor senses the robot, the test method further includes:

[0010] Controlling the conveyor belt to accelerate from the standard speed to the first speed.

[0011] Within the second set time when the conveyor belt runs at the first speed, if the fourth sensor does not sense the robot, it is determined that the walking speed test of the robot is qualified. If the fourth sensor senses the robot, it is determined that the walking speed test of the robot is unqualified.

[0012] In some optional embodiments, after it is determined that the walking speed test of the robot is unqualified, the test method further includes:

[0013] Controlling the conveyor belt to accelerate, and after the second sensor senses the robot, controlling the speed of the conveyor belt to drop to 0.

[0014] In some optional embodiments, after it is determined that the rated walking speed of the robot is slow if the second sensor senses the robot, the test method further includes:

[0015] Controlling the conveyor belt to decelerate from the standard speed to the second speed.

[0016] If the first sensor does not sense the robot, it is determined that the walking speed test of the robot is qualified. If the first sensor senses the robot, it is determined that the walking speed test of the robot is unqualified.

[0017] In some optional embodiments, after it is determined that the walking speed test of the robot is unqualified, the test method further includes: controlling the speed of the conveyor belt to drop to 0.

[0018] In some optional embodiments, the test device further includes a lifting mechanism for adjusting the slope of the conveyor belt.

[0019] After determining that the robot's walking speed test is qualified, the testing method further includes a hill-climbing test method, which includes:

[0020] Adjust the speed of the conveyor belt so that the robot is positioned between the second sensor and the third sensor;

[0021] The lifting mechanism is controlled to adjust the slope of the conveyor belt to the first slope;

[0022] Repeat the walking speed test method described above.

[0023] In some optional embodiments, the hill-climbing test method further includes:

[0024] Obtain the motor temperature of the robot;

[0025] If the motor temperature of the robot is greater than the first temperature threshold, the robot is deemed to have failed the hill-climbing test.

[0026] If the motor temperature of the robot is less than or equal to the first temperature threshold, the robot is deemed to have passed the hill-climbing test.

[0027] In some optional embodiments, the conveyor belt is provided with two marking lines, each marking line extending along the length direction of the conveyor belt and the two marking lines being spaced apart along the width direction of the conveyor belt. The robot is located between the two marking lines, and the testing equipment further includes a vision sensor for monitoring the two marking lines.

[0028] The testing method also includes a walking straightness testing method, which includes:

[0029] When the robot is undergoing hill climbing and walking speed tests, if the visual sensor detects that the marked line is obstructed, the robot's walking straightness test is deemed unqualified; if the visual sensor does not detect that the marked line is obstructed, the robot's walking straightness test is deemed qualified.

[0030] In some alternative embodiments, the robot is configured to apply a rated load.

[0031] Secondly, this application provides a robot testing device, including: a conveyor belt, a first sensor, a second sensor, a third sensor, a fourth sensor, and a controller;

[0032] The first sensor, the second sensor, the third sensor, and the fourth sensor are arranged at intervals along the transmission direction of the conveyor belt;

[0033] The distance between the first sensor and the second sensor is less than or equal to the length of the robot being tested;

[0034] The distance between the second sensor and the third sensor is greater than the length of the robot;

[0035] The fourth sensor is located behind the third sensor, and the distance between the fourth sensor and the third sensor is less than or equal to the length of the robot;

[0036] The controller is electrically connected to the conveyor belt, the first sensor, the second sensor, the third sensor, and the fourth sensor, and the controller is used to perform the test method as described in any one of the above statements.

[0037] The robot testing method and testing equipment provided in this application have at least the following advantages:

[0038] This solution eliminates the need for a large testing area to test the robot's walking speed, thus saving testing costs. Furthermore, by using first, second, and third sensors, this solution accurately captures the robot's entry into the testing area, automatically initiating testing without human intervention, thereby reducing workload and labor costs. Attached Figure Description

[0039] Figure 1 This is a side view of a robot testing device as shown in one embodiment;

[0040] Figure 2 This is a perspective view of a robot testing device as shown in one embodiment;

[0041] Figure 3 This is a flowchart illustrating a robot testing method in one embodiment;

[0042] Figure 4 This is a flowchart illustrating a robot testing method in yet another embodiment;

[0043] Figure 5 This is a flowchart of a robot testing method shown in another embodiment.

[0044] Explanation of reference numerals in the attached figures:

[0045] 10. Frame; 20. Conveyor belt; 21. Marking line; 31. First sensor; 32. Second sensor; 33. Third sensor; 34. Fourth sensor; 35. Vision sensor; 40. Drive motor; 50. Lifting mechanism; 60. Robot. Detailed Implementation

[0046] The technical solutions in the embodiments (or "implementations") of this application will be clearly and completely described herein with reference to the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0047] If the embodiments of this application contain terms relating to directional indications or positional relationships (such as up, down, left, right, front, back, inside, outside, top, bottom, center, vertical, horizontal, longitudinal, transverse, length, width, counterclockwise, clockwise, axial, radial, circumferential, etc.), such terms are only used to explain the relative positional relationships and movement of the components in a specific posture (as shown in the attached figures); if the specific posture changes, the directional indications or positional relationships will also change accordingly. Furthermore, the terms "first" and "second" used in the embodiments of this application are only for descriptive convenience and should not be construed as indicating or implying relative importance.

[0048] This application provides a robot testing method and testing equipment, wherein the robot may be, but is not limited to, a robot dog. The robot testing method and testing equipment are described below with reference to the accompanying drawings. Unless otherwise specified, the features in the following embodiments and implementations can be combined with each other.

[0049] refer to Figure 1 and Figure 2 This application provides a robot testing device for performing various tests on a robot 60, wherein the robot 60 includes, but is not limited to, a robot dog. The robot testing device includes a frame 10, a conveyor belt 20, a sensor assembly, a drive motor 40, and a controller.

[0050] The frame 10 is the basic load-bearing and support structure of the robot testing equipment, used to support functional components such as the conveyor belt 20, sensor components and drive motor 40, providing a relatively stable installation foundation for the testing equipment.

[0051] The conveyor belt 20 serves as the testing platform for the robot 60, replacing the actual walking surface of the real-world testing environment and providing a sustainable mobile testing surface for the robot 60. The operating speed of the conveyor belt 20 can be adjusted via the drive motor 40.

[0052] The sensor assembly includes a first sensor 31, a second sensor 32, and a third sensor 33. These sensors are sequentially and spaced apart along the length of the conveyor belt 20, with the first sensor 31 located near the starting end of the conveyor belt 20. The first, second, and third sensors 31 and 33 are used to detect the position of the robot 60 on the conveyor belt 20. In other words, the first, second, and third sensors 31 and 32 form three detection points along the length of the conveyor belt 20. When the robot 60 moves along the length of the conveyor belt 20, passing sequentially through the first, second, and third sensors, each sensor can detect the robot 60 and thus obtain its positional change on the conveyor belt 20. The first, second, and third sensors 31 and 32 can be, but are not limited to, photoelectric sensors. How photoelectric sensors detect the position of objects such as the robot 60 is a related technology and will not be elaborated upon in this application.

[0053] The drive motor 40 is the power source for the conveyor belt 20, providing driving force for its operation. The drive motor 40 can have its rotational speed adjusted via an encoder to precisely regulate the speed of the conveyor belt 20, but this is not a limitation. Similarly, how the drive motor 40 drives and adjusts the conveyor belt 20 can be found in relevant technologies; this manual does not impose specific limitations on this.

[0054] The controller is electrically connected (wired or wirelessly connected via Bluetooth, Wi-Fi, etc.) to the first sensor 31, the second sensor 32, the third sensor 33 and the drive motor 40 respectively. It is used to obtain the current status of the first sensor 31, the second sensor 32 and the third sensor 33, thereby obtaining the position information of the robot 60, and to control the start, stop and speed of the drive motor 40, thereby controlling the speed of the conveyor belt 20.

[0055] The controller can be a PLC (Programmable Logic Controller) or an embedded control system, but is not limited to these. The controller is used to execute the robot testing methods described below. The robot testing methods are described in detail below.

[0056] An embodiment of this application also provides a robot testing method, which is applied to the above-mentioned robot testing device. The application scenario of this testing method is as follows: The robot walks on the conveyor belt from the first sensor to the third sensor at the rated walking speed; the rated walking speed here is the speed set by the robot itself, that is to say, the operator can set the rated walking speed of the robot to any value. For example, the rated walking speed of the robot can be 2 m / s, but it is not limited to this. For example, the rated walking speed of the robot can also be 0.5 m / s, 1 m / s, 1.5 m / s, etc. In addition, when the conveyor belt is stationary, the robot can enter the conveyor belt autonomously from the Figure 1 right side shown and walk on the conveyor belt.

[0057] The robot testing method includes a walking speed testing method. Please refer to Figure 3 This walking speed testing method includes:

[0058] S101. When both the first sensor and the second sensor sense the robot, control the conveyor belt to start and gradually accelerate. During the gradual acceleration process, when neither the second sensor nor the third sensor senses the robot, control the conveyor belt to accelerate to the standard speed and run.

[0059] It should be noted that the running direction of the conveyor belt is opposite to the walking direction of the robot. The standard speed of the conveyor belt is the conveyor belt running speed equal to the rated walking speed value of the tested robot, which is the reference benchmark for judging whether the rated walking speed of the robot is qualified. For example, if the rated walking speed of the robot is set to 2 m / s, the standard speed that the conveyor belt needs to be adjusted to is 2 m / s; if the rated walking speed is set to 1 m / s, the corresponding standard speed is also adjusted to 1 m / s. Through the relative position of the robot and the conveyor belt, with the standard speed as the benchmark, the rated walking speed is tested.

[0060] S201. During the first set time when the conveyor belt is running at the standard speed: If neither the second sensor nor the third sensor senses the robot, it is determined that the walking speed test of the robot is qualified; if the second sensor senses the robot, it is determined that the rated walking speed of the robot is slower; if the third sensor senses the robot, it is determined that the rated walking speed of the robot is faster. The first set time can be set as needed, and this application does not limit it.

[0061] As described above, the distance between the first and second sensors is less than the length of the robot, which accurately captures the robot's entry into the test area. That is, when both sensors simultaneously detect the robot, the controller can determine that the robot has entered the conveyor belt and control the motor to start and gradually accelerate the conveyor belt. This sensing process requires no manual intervention. Simultaneously, during acceleration, because the robot's walking speed is greater than the conveyor belt speed, the robot will gradually move towards the third sensor. When the second sensor does not detect the robot, it indicates that the robot has moved away from the second sensor and is between the second and third sensors. At this point, the conveyor belt is directly accelerated to the standard speed to test the robot's walking speed. When the conveyor belt is running at the standard speed, if the robot's rated walking speed is greater than the standard speed, the robot will move towards the third sensor; if the robot's rated walking speed is less than the standard speed, the robot will move towards the second sensor. Within a first set time range, if the third sensor detects the robot, it means the robot's walking speed exceeds the standard speed; if the second sensor detects the robot, it means the robot's walking speed is less than the standard speed. If both the second and third sensors detect the robot, it means that the robot's rated walking speed is approximately equal to its standard speed, and therefore the robot's standard speed is considered to be within acceptable limits.

[0062] In summary, this solution allows for robot walking speed testing without requiring a large testing area, thus saving testing costs. Furthermore, by using the first, second, and third sensors, this solution can accurately capture the robot's entry into the testing area, automatically initiating the test without human intervention, thereby reducing the workload of relevant personnel and lowering labor costs.

[0063] In some embodiments, reference Figure 1 and Figure 2 The testing equipment also includes a fourth sensor 34 located behind the third sensor 33. The fourth sensor 34 may be, but is not limited to, a photoelectric sensor. The distance between the fourth sensor 34 and the third sensor 33 is less than or equal to the length of the robot 60. The distance between the fourth sensor 34 and the third sensor 33 may be the same as, but not limited to, the distance between the first sensor 31 and the second sensor 32.

[0064] Correspondingly, refer to Figure 3 and Figure 4 If the third sensor detects the robot, and determines that the robot's rated walking speed is relatively fast, the testing method further includes:

[0065] S301. Control the conveyor belt to accelerate from the standard speed to the first speed; if the fourth sensor does not detect the robot within a second set time while the conveyor belt is running at the first speed, the robot's walking speed test is deemed qualified; if the fourth sensor detects the robot, the robot's walking speed test is deemed unqualified. Both the first speed and the second set time can be set as needed. For example, the first speed can be: standard speed × (1 + α), where α can be 5%, but is not limited to this.

[0066] This indicates that after determining the robot's rated walking speed is relatively fast, a higher-speed verification test is initiated. First, the conveyor belt is accelerated from its standard speed to a first speed. Second, the conveyor belt runs at the first speed for a second set time, and the results are determined based on the status of the fourth sensor.

[0067] The fourth sensor did not detect the robot: This means that after the conveyor belt accelerates to the first speed, the robot cannot move forward to the fourth sensor within the second set time. The robot's actual walking speed is basically matched with the first speed. This situation belongs to "the robot's rated walking speed is slightly faster than the actual standard speed, which is within a certain error range and can therefore be judged as qualified".

[0068] The fourth sensor detected the robot: This means that even if the conveyor belt speeds up to the first speed, the robot's actual speed is still higher than the first speed, and it will continue to move towards the fourth sensor, exceeding the allowable error range, so it is judged as unqualified.

[0069] In summary, after determining that the robot's rated walking speed is relatively fast, this embodiment can proceed to the next step of testing to differentiate the degree of "relatively fast" and make the test results more consistent with reality.

[0070] Furthermore, after determining that the robot's walking speed test fails, the testing method also includes:

[0071] S401. Control the conveyor belt to accelerate, and after the second sensor senses the robot, control the speed of the conveyor belt to drop to 0.

[0072] When the robot is judged to fail the walking speed test, the robot is at the fourth sensor of the conveyor belt at this time, which is closer to the end of the conveyor belt. If the speed of the conveyor belt is directly reduced, the robot may walk to the end of the conveyor belt and get off the conveyor belt when the speed of the conveyor belt is not 0, and the robot is likely to tip over or bump due to unstable center of gravity. Therefore, in this solution, first control the conveyor belt to accelerate, so that the robot retreats to the second sensor. At this time, during the process of the conveyor belt decelerating to 0, the distance between the robot and the end of the conveyor belt is far, and the conveyor belt can have sufficient time to drop to 0. Thus, the robot can get off the conveyor belt when the conveyor belt is stationary, reducing the risk of tipping over and bumping when the robot gets off the conveyor belt.

[0073] Furthermore, when adjusting the speed of the conveyor belt to make the robot retreat to the second sensor, specifically, it can be: first raise the speed of the conveyor belt to the third speed. After the robot leaves the fourth sensor (when the fourth sensor does not sense the robot), then reduce the speed of the conveyor belt to the fourth speed. When the robot retreats to the second sensor, reduce the speed of the conveyor belt to 0, so that the robot can get off the conveyor belt more smoothly autonomously. Both the third speed and the fourth speed can be set as needed. For example, the third speed can be 1.5 times the standard speed, and the fourth speed can be 1.1 times the standard speed, but not limited to this.

[0074] In some embodiments, referring to Figure 3 and Figure 5 , if the second sensor senses the robot and it is determined that the rated walking speed of the robot is slow, the test method further includes:

[0075] S501. Control the conveyor belt to decelerate from the standard speed to the second speed; within the third set time when the conveyor belt runs at the second speed, if the first sensor does not sense the robot, it is determined that the walking speed test of the robot is qualified. If the first sensor senses the robot, it is determined that the walking speed test of the robot is unqualified. Both the second speed and the third set time can be set as needed. Exemplarily, the second speed is a threshold lower than the standard speed. Similar to the first speed, the second speed can be regarded as the minimum threshold allowing the deviation of the rated walking speed of the robot. Exemplarily, the second speed can be: standard speed × (1 - α).

[0076] It can be known here that after it is determined that the rated walking speed of the robot is slow, a recheck test with a slower speed is entered. First, reduce the conveyor belt from the standard speed to the second speed. Secondly, control the conveyor belt to run at the second speed for the third set time, and judge the result according to the state of the first sensor:

[0077] The first sensor did not detect the robot: This means that after the conveyor belt slowed down to the second speed, the robot could not return to the first sensor within the third set time. The robot's actual walking speed was basically the same as the second speed. This situation belongs to "the robot's rated walking speed is slightly slower than the actual standard speed". It is within a certain error range, so it can be judged as unqualified.

[0078] The first sensor detected the robot: This means that even if the conveyor belt slows down to the second speed, the robot's actual speed is still lower than the second speed, and it will continue to move in the direction of the first sensor, which exceeds the allowable error range, so it is judged as unqualified.

[0079] In summary, after determining that the robot's rated walking speed is slow, this embodiment can proceed to the next step of testing to differentiate the degree of "slowness" and make the test results more consistent with reality.

[0080] Furthermore, after determining that the robot's walking speed is unqualified, the testing method also includes:

[0081] S601. Control the conveyor belt speed to 0. In this way, the robot can walk off the conveyor belt while it is stationary, reducing the risk of the robot tipping over or bumping into things when getting off the conveyor belt.

[0082] In some embodiments, reference Figure 1 and Figure 2 The testing equipment also includes a lifting mechanism 50, which is connected to a controller to enable the controller to control the lifting mechanism. The lifting mechanism is used to adjust the slope of the conveyor belt 20 to simulate climbing test scenarios at different slopes. The lifting mechanism 50 can employ a hydraulic drive, an electric push rod drive, or a screw lifting structure to push the conveyor belt 20, thereby adjusting its slope. The specific structure of the lifting mechanism 50 can also refer to related technologies; it only needs to be able to adjust the slope of the conveyor belt 20, and this application does not impose specific limitations on it.

[0083] Correspondingly, the testing method also includes a hill-climbing test method, which includes:

[0084] The control lifting mechanism adjusts the slope of the conveyor belt to the first slope; the first slope can be set as needed, such as 15°, but is not limited to this.

[0085] Repeat the walking speed test method described above.

[0086] In other words, the difference between the slope-climbing test method and the walking speed test method mentioned above is that the slope of the conveyor belt is adjusted to the first slope through a lifting mechanism. Therefore, the robot can also perform slope-climbing tests on the conveyor belt without needing to build a real-world slope-climbing area, effectively saving testing space and costs.

[0087] In some embodiments, the climbing test method is set to be carried out after it is determined that the walking speed test of the robot is qualified. And after it is determined that the walking speed test of the robot is qualified and before the climbing test method, the climbing test method further includes:

[0088] Adjust the running speed of the conveyor belt so that the robot is located between the second sensor and the third sensor.

[0089] Specifically, when the robot is at the third sensor, first increase the speed of the conveyor belt so that the speed of the conveyor belt is greater than the rated walking speed of the robot. At this time, the robot will move towards the second sensor. When the third sensor fails to sense the robot, adjust the speed of the conveyor belt to the above-mentioned standard speed, and then the climbing test method can be carried out. Similarly, when the robot is at the second sensor, first slow down the speed of the conveyor belt so that the speed of the conveyor belt is less than the rated walking speed of the robot. At this time, the robot will move towards the third sensor. When the second sensor fails to sense the robot, adjust the speed of the conveyor belt to the above-mentioned standard speed, and then the climbing test method can be carried out. When the robot is originally located between the second sensor and the third sensor, the climbing test method can be directly carried out.

[0090] In some embodiments, the climbing test method further includes:

[0091] Detect the motor temperature of the robot. If the motor temperature of the robot is greater than the first temperature threshold, it is determined that the climbing test of the robot is unqualified;

[0092] If the motor temperature of the robot is less than or equal to the first temperature threshold, it is determined that the climbing test of the robot is qualified. Among them, the first temperature threshold can be set as needed and stored in the controller in advance for the controller to compare, but it is not limited to this. For example, the first temperature threshold can also be stored in the cloud. The controller is connected to the cloud and can retrieve the first temperature threshold from the cloud. This embodiment does not make specific limitations on this. The motor can be the joint motor of the robot, and the controller collects the temperature of the joint motor through a temperature sensor, but it is not limited to this.

[0093] It is easy to understand that under the climbing condition, the motor load of the robot is higher than that on the flat ground, and the motor temperature can reflect the performance of the robot such as heat dissipation ability and continuous load capacity. When the motor temperature of the robot is greater than the first temperature threshold, it means that there is a risk of motor overheating, shutdown or even damage when the robot is undergoing the climbing test. Therefore, this solution can test the durability and reliability of the robot and prevent products with insufficient durability from entering the market.

[0094] In some embodiments, refer to Figure 1 and Figure 2The conveyor belt 20 may also be equipped with two marking lines 21, each extending along the length of the conveyor belt 20 and spaced apart along the width of the conveyor belt 20. The testing equipment also includes a vision sensor 35, which is used to detect the two marking lines 21. When the robot 60 completes various tests on the conveyor belt 20, it can be positioned between the two marking lines 21 to detect whether the robot 60 is walking in a straight line. Specifically, the vision sensor 35 can detect the integrity of the two marking lines 21. If either marking line 21 is incomplete (i.e., obstructed by the robot 60), the vision sensor 35 can sense that the marking line 21 is obstructed. The controller communicates with the vision sensor 35, and through the vision sensor 35, it can be determined that the marking line 21 is obstructed by the robot 60, thus the robot 60's walking straightness test is deemed unqualified. Conversely, during the walking speed test and the hill climbing test, if the vision sensor 35 does not sense that the marking line 21 is obstructed, the robot 60's walking straightness test is deemed qualified.

[0095] Correspondingly, the testing method also includes a walking straightness testing method, which includes:

[0096] If the vision sensor detects that the marking line is obstructed, the robot's walking straightness test is deemed unqualified; if the vision sensor does not detect that the marking line is obstructed, the robot's walking straightness test is deemed qualified.

[0097] In this way, during the robot's walking speed test or hill climbing test, the robot's walking straightness test is completed simultaneously through the vision sensor. There is no need to set up a separate test site or test process for testing straight walking, which reduces site costs and shortens the robot's total test time.

[0098] In some embodiments, the robot described above is configured to be subjected to a rated load. In other words, the robot can perform the aforementioned walking speed test, hill climbing test, etc., under a load to verify its performance under a rated load. The weight of the rated load can be set as needed, such as 50 kg, but is not limited to this.

[0099] To facilitate understanding of this application, a specific embodiment is given below:

[0100] The rated walking speed of robot 60 is 2 m / s. The length of robot 60 can be X, which is in the range of 0.5 m to 1 m, i.e., X can be, but is not limited to, 0.5 m, 0.6 m, 0.7 m, 0.8 m, 0.9 m, or 1 m. The total length of the transmission belt can be set to 4 m. The distance between the first sensor 31 and the second sensor 32 is less than or equal to X, and the distance between the third sensor 33 and the fourth sensor 34 is also less than or equal to X. This makes the distance between the second sensor 32 and the third sensor 33 approximately 2 m to 3 m (negatively correlated with X, varying according to changes in X). The specific testing procedure is as follows:

[0101] Robot 60 enters the equipment from the right side of the diagram at a speed of 2 m / s;

[0102] When the first sensor 31 and the second sensor 32 simultaneously detect the robot 60's arrival signal, the controller controls the conveyor belt 20 to start rotating via the drive motor 40, and gradually increases the speed of the conveyor belt 20 from slow to fast (during this process, the speed of the conveyor belt 20 is less than 2m / s). Before the robot 60 leaves the second sensor 32 (i.e., the second sensor 32 does not detect the robot 60) and reaches the third sensor 33, the speed of the conveyor belt 20 is increased to 2m / s.

[0103] Within 5 minutes (i.e., the first set time):

[0104] If neither the second sensor 32 nor the third sensor 33 detects the robot 60, it means that the walking speed test of the robot 60 is qualified.

[0105] If the third sensor 33 senses the robot 60, it means that the actual walking speed of the robot 60 is greater than 2 m / s of its rated walking speed. Therefore, it is determined that the rated walking speed of the robot 60 is faster than the standard speed of the conveyor belt 20. At this time, the speed of the conveyor belt 20 is controlled by the drive motor 40 to increase to (1 + 5%)×2 m / s = 2.1 m / s and last for 5 minutes (the second set time). Within these 5 minutes, the fourth sensor 34 does not sense the robot 60, which means that the actual walking speed of the robot 60 is less than 2.1 m / s or approximately equal to 2.1 m / s. Since the difference between the actual walking speed of the robot 60 and its rated walking speed is not large, it is determined that the walking speed test of the robot 60 is qualified. On the contrary, if the fourth sensor 34 senses the robot 60, it means that the actual walking speed of the robot 60 is greater than 2.1 m / s and the difference from its rated walking speed is large, then it is determined that the walking speed test of the robot 60 is unqualified. At this time, quickly increase the speed of the conveyor belt 20 (such as increasing by 50%, the first speed) to make the robot 60 get out of the range of the fourth sensor 34. Then, slow down the speed of the conveyor belt 20 (but not lower than 2 m / s + 10%) to make the robot 60 retreat to the second sensor 32, and then adjust the speed of the conveyor belt 20 to 0, so that the robot 60 can get off the conveyor belt 20 autonomously for subsequent rework.

[0106] Similarly, if the second sensor 32 senses the robot 60, it means that the actual walking speed of the robot 60 is less than 2 m / s of its rated walking speed. Therefore, it is determined that the rated walking speed of the machine is faster than the standard speed of the conveyor belt 20. At this time, the speed of the conveyor belt 20 is controlled by the drive motor 40 to decrease to (1 - 5%)×2 m / s = 1.9 m / s and last for 5 minutes (the third set time). Within these 5 minutes, the first sensor 31 does not sense the robot 60, which means that the actual walking speed of the robot 60 is greater than 1.9 m / s or approximately equal to 1.9 m / s. Since the difference between the actual walking speed of the robot 60 and its rated walking speed is not large, it is determined that the walking speed test of the robot 60 is qualified. On the contrary, if the first sensor 31 senses the robot 60, it means that the actual walking speed of the robot 60 is less than 1.9 m / s and the difference from its rated walking speed is large, then it is determined that the walking speed test of the robot 60 is unqualified. At this time, reduce the speed of the conveyor belt 20 to 0, and the robot 60 can get off the conveyor belt 20 autonomously for subsequent rework.

[0107] Furthermore, for the above qualified robots 60, the next step of the test is carried out:

[0108] For robot 60 at the second sensor 32, the controller slows down the conveyor belt 20 via the drive motor 40, positioning robot 60 between the second sensor 32 and the third sensor 33. For robot 60 at the third sensor 33, the speed of the conveyor belt 20 is increased, positioning robot 60 between the second sensor 32 and the third sensor 33. The specific speed-up and slow-down strategies can be set as needed, ultimately ensuring that robot 60 is positioned between the second sensor 32 and the third sensor 33 (i.e., the first sensor 31, second sensor 32, third sensor 33, and fourth sensor 34 do not detect robot 60). This embodiment does not impose specific limitations on this.

[0109] The lifting mechanism 50 adjusts the slope of the conveyor belt 20 to 15°. At this slope, the walking speed test is continued according to the above-mentioned method, while the motor temperature of the robot 60 is monitored.

[0110] If, during the hill-climbing test, the rated walking speed of robot 60 does not meet the standard speed of conveyor belt 20, robot 60 is deemed to have failed the hill-climbing test. Similarly, if the motor temperature of robot 60 exceeds 120℃, robot 60 is also deemed to have failed the hill-climbing test.

[0111] In addition, during the walking speed test and the hill climbing test, if the robot 60 blocks the marking line 21 on the conveyor belt 20, the controller can determine that the robot 60 fails the walking straightness test based on the recognition of the vision sensor 35.

[0112] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A robot testing method, applied to robot testing equipment, characterized in that, The robot testing device includes a conveyor belt, a first sensor, a second sensor, and a third sensor. The first sensor, the second sensor, and the third sensor are sequentially arranged at intervals along the conveying direction of the conveyor belt. The distance between the first sensor and the second sensor is less than or equal to the length of the robot, and the distance between the second sensor and the third sensor is greater than the length of the robot. The robot is configured with a rated walking speed. The robot walks on the conveyor belt at the rated walking speed from the first sensor towards the third sensor. The testing method includes a walking speed testing method, and the walking speed testing method includes: When both the first sensor and the second sensor sense the robot, control the conveyor belt to start and gradually accelerate. During the gradual acceleration process, when neither the second sensor nor the third sensor senses the robot, control the conveyor belt to accelerate to the standard speed and run. The running direction of the conveyor belt is opposite to the walking direction of the robot. Within the first set time when the conveyor belt runs at the standard speed, if neither the second sensor nor the third sensor senses the robot, it is determined that the walking speed test of the robot is qualified. If the second sensor senses the robot, it is determined that the rated walking speed of the robot is slower. If the third sensor senses the robot, it is determined that the rated walking speed of the robot is faster.

2. The robot testing method according to claim 1, characterized in that, The testing device further includes a fourth sensor located behind the third sensor, and the distance between the fourth sensor and the third sensor is less than or equal to the length of the robot. After it is determined that the rated walking speed of the robot is faster when the third sensor senses the robot, the testing method further includes: Control the conveyor belt to accelerate from the standard speed to the first speed. Within the second set time when the conveyor belt runs at the first speed, if the fourth sensor does not sense the robot, it is determined that the walking speed test of the robot is qualified. If the fourth sensor senses the robot, it is determined that the walking speed test of the robot is unqualified.

3. The robot testing method according to claim 2, characterized in that, After it is determined that the walking speed test of the robot is unqualified, the testing method further includes: Control the conveyor belt to accelerate. After the second sensor senses the robot, control the speed of the conveyor belt to drop to 0.

4. The robot testing method according to claim 1, characterized in that, After it is determined that the rated walking speed of the robot is slower when the second sensor senses the robot, the testing method further includes: Control the conveyor belt to decelerate from the standard speed to the second speed. If the first sensor does not sense the robot, it is determined that the walking speed test of the robot is qualified. If the first sensor senses the robot, it is determined that the walking speed test of the robot is unqualified.

5. The robot testing method according to claim 4, characterized in that, After it is determined that the walking speed test of the robot is unqualified, the testing method further includes: control the speed of the conveyor belt to drop to 0.

6. The robot testing method according to any one of claims 1 to 5, characterized in that, The testing device further includes a lifting mechanism, and the lifting mechanism is used to adjust the slope of the conveyor belt. After determining that the robot's walking speed test is qualified, the testing method further includes a hill-climbing test method, which includes: Adjust the speed of the conveyor belt so that the robot is positioned between the second sensor and the third sensor; The lifting mechanism is controlled to adjust the slope of the conveyor belt to the first slope; Repeat the walking speed test method described above.

7. The robot testing method according to claim 6, characterized in that, The hill-climbing test method also includes: Obtain the motor temperature of the robot; If the motor temperature of the robot is greater than the first temperature threshold, the robot is deemed to have failed the hill-climbing test. If the motor temperature of the robot is less than or equal to the first temperature threshold, the robot is deemed to have passed the hill-climbing test.

8. The robot testing method according to any one of claims 1 to 5 and 7, characterized in that, The conveyor belt is provided with two marking lines, each of which extends along the length of the conveyor belt and the two marking lines are spaced apart along the width of the conveyor belt. The robot is located between the two marking lines. The testing equipment also includes a vision sensor for monitoring the two marking lines. The testing method also includes a walking straightness testing method, which includes: When the robot is undergoing hill climbing and walking speed tests, if the visual sensor detects that the marked line is obstructed, the robot's walking straightness test is deemed unqualified; if the visual sensor does not detect that the marked line is obstructed, the robot's walking straightness test is deemed qualified.

9. The robot testing method according to any one of claims 1 to 5 and 7, characterized in that, The robot is configured to apply a rated load.

10. A robot testing device, characterized in that, include: Conveyor belt, first sensor, second sensor, third sensor, fourth sensor, and controller; The first sensor, the second sensor, the third sensor, and the fourth sensor are arranged at intervals along the transmission direction of the conveyor belt; The distance between the first sensor and the second sensor is less than or equal to the length of the robot being tested; The distance between the second sensor and the third sensor is greater than the length of the robot; The fourth sensor is located behind the third sensor, and the distance between the fourth sensor and the third sensor is less than or equal to the length of the robot; The controller is electrically connected to the conveyor belt, the first sensor, the second sensor, the third sensor, and the fourth sensor, and the controller is used to perform the test method as described in any one of claims 1 to 9.

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