Robot motion testing method, system, robot device, and storage medium

Abstract

The application relates to the technical field of robots, and discloses a robot motion test method, a robot motion test system, a robot device and a storage medium. The method comprises the following steps: a slope test device is controlled to gradually increase from an initial inclination angle, so as to determine a critical time point at which the robot moves from being static to moving on the slope test device; if the movement is robot sliding, joint parameters of each joint module of the robot at the critical time point are acquired, and the joint parameters are taken as a static protection threshold; if the movement is robot walking, sensor data of the slope test device at the critical time point collected by a measurement collection unit is acquired; according to the sensor data, a static critical angle and a static friction force that make the robot static are determined, and the static critical angle and the static friction force are taken as a static climbing performance threshold of the robot. By using the above method, the self-steady algorithm can be triggered for protection when the sliding has not really occurred, and the occurrence of skidding can be effectively prevented.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a robot motion testing method, system, robot equipment, and storage medium. Background Technology

[0002] Currently, there are relatively sophisticated algorithms for steady-state walking in robots, such as bipedal robots, which can autonomously move their feet to find new balance points. However, excessive stability actually limits the upper limit of the movement of bipedal robots.

[0003] Furthermore, current bipedal robots lack specific measures to prevent slipping. Since they do not know the tilt angle of the surface they are stepping on or the coefficient of friction of the contact surface, they can only trigger their own steady-state algorithm to protect themselves when slipping causes them to tip over, rather than preventing slipping from happening in the first place. Summary of the Invention

[0004] In view of this, embodiments of this application provide a robot motion testing method, system, robot device, and storage medium, which can effectively solve the above-mentioned technical problems.

[0005] In a first aspect, embodiments of this application provide a robot motion testing method, the method comprising: The slope testing device is controlled to gradually increase from the initial tilt angle in order to determine the critical time point at which the robot moves from a stationary position on the slope testing device. If the movement is the robot sliding, then the joint parameters of each joint module of the robot at the critical time point are obtained, and the joint parameters are used as the static protection threshold. If the movement is the robot walking, then the sensor data of the slope testing device at the critical time point collected by the measurement and acquisition unit is obtained; Based on the sensor data, the critical angle and static friction force required to bring the robot to a standstill are determined, and the critical angle and static friction force are used as the static climbing performance threshold of the robot.

[0006] In some embodiments, the tilt angle range for the robot to activate the steady walking mode is determined based on the static critical angle; the slope testing device is controlled to gradually increase the tilt angle within the tilt angle range to test the walking and climbing performance of the robot in the steady walking mode.

[0007] In some embodiments, the trigger tilt angle is determined based on the product of the static critical angle and the preset ratio; the trigger tilt angle, the static critical angle, and the tilt angle between the trigger tilt angle and the static critical angle are taken as the tilt angle range.

[0008] In some embodiments, as the slope testing device gradually increases the slope angle within the slope angle range, for each sampled slope angle, the robot's walking critical angle is determined based on the robot's stability and sliding behavior when passing through the slope testing device at the sampled slope angle; the walking critical angle is used as the robot's walking and climbing performance threshold.

[0009] In some embodiments, if the robot stably passes the ramp testing device at the targeted sampling tilt angle without slipping, the targeted sampling tilt angle is taken as the critical walking angle to be updated, and the walking and climbing performance test of the robot at the next sampling tilt angle is continued; if the robot stably passes the ramp testing device at the targeted sampling tilt angle but slips, the stationary protection threshold of the robot is updated to obtain the walking protection threshold, and the walking and climbing performance test of the robot at the targeted sampling tilt angle is repeated; until the robot adjusts the walking protection threshold, and the robot fails to stably pass the ramp testing device or slips at the targeted sampling tilt angle, the targeted sampling tilt angle is taken as the critical walking angle of the robot.

[0010] In some embodiments, the static friction coefficient of the inclined plane of the slope testing device is obtained; the product of the static friction coefficient of the inclined plane, the pressure, and the static critical angle is calculated; and the product is used as the static friction force.

[0011] In some embodiments, the stationary critical angle of the robot is calculated based on trigonometric relationships, the horizontal distance measurement, and the vertical distance measurement. The stationary critical angle represents the tilt angle of the inclined plane relative to the horizontal reference plane.

[0012] Secondly, embodiments of this application provide a robot motion testing system, the system comprising: The first module is used to control the ramp testing device to gradually increase the initial tilt angle in order to determine the critical time point at which the robot moves from a stationary position on the ramp testing device. The second module is used to obtain the joint parameters of each joint module of the robot at the critical time point if the movement is the robot sliding, and use the joint parameters as a static protection threshold. The third module is used to acquire sensor data of the slope testing device at the critical time point collected by the measurement and acquisition unit if the movement is the robot walking. The fourth module is used to determine the critical angle and static friction force that make the robot stand still based on the sensor data, and to use the critical angle and static friction force as the static climbing performance threshold of the robot.

[0013] Thirdly, this application also provides a robot device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps: The slope testing device is controlled to gradually increase from the initial tilt angle in order to determine the critical time point at which the robot moves from a stationary position on the slope testing device. If the movement is the robot sliding, then the joint parameters of each joint module of the robot at the critical time point are obtained, and the joint parameters are used as the static protection threshold. If the movement is the robot walking, then the sensor data of the slope testing device at the critical time point collected by the measurement and acquisition unit is obtained; Based on the sensor data, the critical angle and static friction force required to bring the robot to a standstill are determined, and the critical angle and static friction force are used as the static climbing performance threshold of the robot.

[0014] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps: The slope testing device is controlled to gradually increase from the initial tilt angle in order to determine the critical time point at which the robot moves from a stationary position on the slope testing device. If the movement is the robot sliding, then the joint parameters of each joint module of the robot at the critical time point are obtained, and the joint parameters are used as the static protection threshold. If the movement is the robot walking, then the sensor data of the slope testing device at the critical time point collected by the measurement and acquisition unit is obtained; Based on the sensor data, the critical angle and static friction force required to bring the robot to a standstill are determined, and the critical angle and static friction force are used as the static climbing performance threshold of the robot.

[0015] The embodiments of this application have the following beneficial effects: By controllably increasing the ramp angle and precisely locating the critical moment from stationary to moving position, the robot's static stability boundary is physically measurable and synchronized at millisecond levels, overcoming the shortcomings of existing subjective judgments and data asynchrony. Joint parameters are collected at the instant of actual sliding, upgrading anti-slip protection from passive remediation to feedforward critical warning, improving response speed. When the robot actively moves, real-time ramp sensor data is captured to obtain the first empirical limit value of its dynamic traversal capability, eliminating the misleading effect of simulation rewards and supporting objective performance calibration. Finally, the static friction coefficient and critical angle are inferred from the sensor data to generate a static climbing performance threshold, enabling the bipedal robot to have a specific anti-slip mechanism. It can trigger its own steady-state algorithm for protection before actual slippage occurs, effectively preventing slippage. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A schematic diagram of a robot motion testing system according to an embodiment of this application is shown; Figure 2 This paper illustrates a first flowchart of a robot motion testing method according to an embodiment of this application. Figure 3 A second flowchart of the robot motion testing method according to an embodiment of this application is shown; Figure 4 A third flowchart of the robot motion testing method according to an embodiment of this application is shown; Figure 5 A schematic diagram of the structure of the robot motion testing system according to an embodiment of this application is shown. Detailed Implementation

[0018] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0019] The components of the embodiments of this application described and illustrated in the accompanying drawings can be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of this application provided in the drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0020] In the following text, the terms "comprising," "having," and their cognates, which may be used in various embodiments of this application, are intended only to indicate a particular feature, number, step, operation, element, component, or combination thereof, and should not be construed as primarily excluding the presence of one or more other features, numbers, steps, operations, elements, components, or combinations thereof, or adding the possibility of one or more combinations thereof. Furthermore, the terms "first," "second," "third," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0021] Unless otherwise specified, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of this application pertain. Terms (such as those defined in commonly used dictionaries) shall be interpreted as having the same meaning as in their contextual meaning in the relevant technical field and shall not be construed as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of this application.

[0022] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0023] Current bipedal robots do not have a specific way to prevent slipping. Since they do not know the tilt angle of the surface they are stepping on or the coefficient of friction of the contact surface, they can only trigger their own steady-state algorithm to protect themselves when they slip and are about to tip over, rather than preventing slipping from happening in the first place.

[0024] Therefore, this application provides a robot motion testing method, system, robot device, and storage medium that can trigger its own steady-state algorithm for protection before slippage actually occurs, effectively preventing slippage from happening.

[0025] The following describes the robot motion testing method, system, robot equipment, and storage medium using specific embodiments.

[0026] Figure 1 A schematic diagram of a robot motion testing system according to an embodiment of this application is shown. Exemplarily, the robot motion testing system includes: The robot state monitoring layer can monitor the robot's overall pose information and joint parameters of each joint module in real time. Optionally, the robot state monitoring layer can be located on the robot itself.

[0027] A contact surface sensor layer is used to monitor the pressure between the contact surfaces of the robot and the ramp testing device. Optionally, the contact surface sensor layer is located on the contact surface of the ramp testing device, and may consist of, for example, a piezoresistive sensor.

[0028] The inclined plane position measurement layer consists of horizontal and vertical distance sensors, which are used to monitor the horizontal and vertical distance measurements of the inclined plane testing device.

[0029] The measurement and acquisition unit is used to collect sensor data monitored by the contact surface sensor layer and the inclined structure position measurement layer.

[0030] The algorithm unit is used to execute the robot motion testing method of this application based on sensor data.

[0031] The PLC control unit receives preset values ​​from the configuration interface and precisely controls the raising and lowering of the inclined plane of the slope testing device; at the same time, it performs recursive fine-tuning based on the measurement and acquisition unit to achieve a precise tilt angle.

[0032] The electromechanical unit consists of an adjustable electric hydraulic pump, which is used to control the slope testing device to change the tilt angle.

[0033] Optionally, the robot motion testing system also includes a monitoring interface through which users can view real-time monitored data, including but not limited to: whole-body pose information, joint parameters of each joint module, and sensor data monitored by the contact surface sensor layer and the inclined structure position measurement layer.

[0034] Based on the above testing system, Figure 2 A schematic flowchart of a first embodiment of the robot motion testing method of this application is shown. Exemplarily, the robot motion testing method includes the following steps: Step S202: Control the ramp testing device to gradually increase the initial tilt angle to determine the critical time point when the robot moves from a stationary position on the ramp testing device.

[0035] Among them, the slope testing device refers to an adjustable tilt angle inclined plane electromechanical device, which is driven by a PLC control unit to achieve precise adjustment of the tilt angle, and integrates a measurement and acquisition unit (including horizontal / vertical distance sensors), a robot status monitoring interface and a data synchronization module, for conducting static / dynamic slope climbing performance tests on bipedal robots.

[0036] The initial tilt angle refers to the initial tilt angle set by the ramp testing device when the test starts (usually 0° or a small angle close to 0°), serving as the reference starting point for gradually increasing the tilt angle. The critical time point refers to the instant when the robot undergoes its first observable displacement (sliding or active walking) from a completely stationary state during the continuous and slow increase of the ramp tilt angle.

[0037] Specifically, the lifting mechanism of the ramp testing device is controlled by the PLC control unit to realize that the tilt angle of the ramp testing device gradually and slowly increases from the initial tilt angle set at the start of the test (usually a small angle close to 0°) until the moment when the robot first makes an observable displacement (sliding or active walking) from a completely stationary state, which is the critical time point.

[0038] Through the above embodiments, the ramp angle can be increased controllably and the critical moment from static to moving can be accurately located, so as to achieve physical measurability and millisecond-level synchronization of the robot's static stability boundary, thus overcoming the defects of existing subjective judgment and data asynchrony.

[0039] Step S204: If the movement is robot sliding, then obtain the joint parameters of each joint module of the robot at the critical time point, and use the joint parameters as the static protection threshold.

[0040] The joint module refers to the mechatronic motion unit within the bipedal robot body, possessing independent drive and sensing functions. It includes servo motors, encoders, and torque sensors in areas such as the hip, knee, and ankle. Its status data (e.g., position, velocity, current, torque, temperature) is output in real-time via a bus. Joint parameters refer to the set of key real-time operating parameters of each joint module collected at critical time points. These parameters include at least: joint angle, angular velocity, joint output torque, and motor phase current; preferably, they also include joint stiffness estimates or impedance model parameters, used to invert the robot's ultimate support capability under static boundaries and to generate static protection thresholds.

[0041] The static protection threshold refers to a set of thresholds trained / calibrated based on joint parameters at critical time points to trigger emergency steady-state protection actions of the robot, such as: ankle joint torque exceeding the limit, maximum tilt angle threshold of a single leg in the support phase, etc. When any parameter exceeds the threshold in actual operation, the robot immediately starts an anti-tipping gait adjustment or emergency stop strategy, which is the core criterion of the preventive slip intervention mechanism.

[0042] Specifically, if the robot's movement involves sliding (slipping) on ​​the ramp testing device, then at this critical time point (i.e., the critical time point), the key real-time operating parameters of each mechatronic motion unit (i.e., joint module) with independent drive and sensing functions in the robot body are acquired. These parameters include, but are not limited to: joint angle, angular velocity, joint output torque, motor phase current, estimated joint stiffness, or impedance model parameters. Subsequently, the aforementioned key real-time operating parameter set, i.e., the node parameters, is sent to the robot, enabling the robot to generate a set of thresholds—i.e., static protection thresholds—based on the node parameters to trigger the robot's emergency steady-state protection actions.

[0043] Through the above embodiments, joint parameters are collected at the instant of actual sliding, upgrading anti-slip protection from passive remediation to feedforward critical early warning, thereby improving response speed.

[0044] Step S206: If the movement is robot walking, then acquire the sensor data of the slope testing device at the critical time point collected by the measurement and acquisition unit.

[0045] Among them, sensor data refers to the raw physical data directly acquired by the measurement and acquisition unit on the ramp testing device, including at least: horizontal distance x, vertical distance y (used to calculate tanθ and tilt angle), and ramp contact pressure (normal force); all data are clock-synchronized to ensure strict time alignment with the robot's joint parameters.

[0046] Specifically, if the robot's movement triggers the self-balancing protection and allows it to move autonomously, then the raw physical data directly acquired by the measurement and acquisition unit on the ramp test device at this time (i.e., the critical time point) are obtained, including at least: horizontal distance x, vertical distance y (used to calculate tanθ and tilt angle), and ramp contact pressure (normal force).

[0047] Through the above embodiments, when the robot actively moves, it captures real-time sensing data of the slope, obtains the first empirical limit value of its dynamic crossing ability, gets rid of the misleading effect of simulation rewards, and supports objective performance calibration.

[0048] Step S208: Based on sensor data, determine the critical angle and static friction force at which the robot is stationary, and use the critical angle and static friction force as the threshold for the robot's static climbing performance.

[0049] Among them, the static critical angle refers to the maximum slope inclination angle that the robot can withstand without actively taking steps and maintaining balance solely through static friction. Static friction refers to the tangential resistance between the robot's foot and the slope when the maximum static friction limit is reached at the static critical angle. The static climbing performance threshold is a comprehensive performance index set constructed with the static critical angle and static friction as core parameters, used to quantify the robot's ability to adapt to extreme terrain without active gait intervention.

[0050] Specifically, refer to Figure 3 First, based on sensor data (pressure, horizontal ranging, vertical ranging), determine the robot's critical stationary angle and static friction force, including: Step S302: Obtain the static friction coefficient of the inclined plane of the slope testing device; calculate the product of the static friction coefficient, pressure, and static critical angle; use the product as the static friction force.

[0051] Step S304: Based on trigonometric function relationships, horizontal distance measurement, and vertical distance measurement, the stationary critical angle of the robot is calculated. The stationary critical angle represents the tilt angle of the inclined plane relative to the horizontal reference plane.

[0052] Optionally, the horizontal distance x and vertical distance y of the robot are used to calculate the tilt angle θ, which is the critical angle for rest, using tanθ=x / y. Understandably, the horizontal distance is the horizontal distance between the sole of the bipedal robot's foot and the height of the ramp testing device; the vertical distance is the vertical distance between the sole of the bipedal robot's foot and the bottom edge of the ramp testing device.

[0053] Step S306: Determine the tilt angle range for the robot to start steady walking mode based on the static critical angle.

[0054] Step S308: Control the ramp testing device to gradually increase the ramp angle within the ramp angle range to test the walking and ramp climbing performance of the robot in steady walking mode.

[0055] Through the above embodiments, the static friction coefficient and critical angle are inferred from the sensor data to generate a static climbing performance threshold, which enables the bipedal robot to have a special way to deal with slippage. It can trigger its own steady-state algorithm to protect itself before slippage actually occurs, effectively preventing slippage.

[0056] In one embodiment, step S306, the process of determining the tilt angle range, includes the following steps: The trigger tilt angle is determined based on the product of the static critical angle and the preset ratio; the trigger tilt angle, the static critical angle, and the tilt angle between the trigger tilt angle and the static critical angle are taken as the tilt angle range.

[0057] The preset ratio refers to a dimensionless coefficient obtained empirically or through calibration, used to trigger the steady walking mode in advance based on the static critical angle. The trigger tilt angle is the tilt angle threshold calculated by multiplying the preset ratio and the static critical angle; when the tilt angle of the ramp testing device increases to this trigger tilt angle value, the robot control system actively switches to the steady walking mode. The tilt angle range refers to a continuous closed interval consisting of the trigger tilt angle as the lower limit and the static critical angle as the upper limit. This is the dedicated testing and operating range for the robot's steady walking mode, within which the robot's walking and climbing performance is tested.

[0058] Specifically, the robot stands autonomously, the ramp testing device is pre-configured to 0°, and the maximum tilt angle is pre-configured to θ1 (i.e., the static critical angle). When the ramp testing device is slowly raised to k×θ1° (k is a preset ratio, K×θ1 is the trigger tilt angle), the robot's walking mode is activated to perform a walking and climbing performance test. Understandably, the preset ratio k can be set according to actual needs.

[0059] Through the above embodiments, the steady walking mode is triggered in advance by a preset ratio, and the control strategy is actively switched before static instability, so as to avoid slippage or fall caused by response lag near the critical point; the interval is limited to the trigger angle and the static critical angle, which avoids both low slope redundancy area and high risk instability area, ensuring the safety and effectiveness of the test.

[0060] In one embodiment, reference Figure 4 The testing process for the walking and climbing performance test in step S308 also includes the following steps: Step S402: If the robot stably passes through the ramp test device without slipping at the targeted sampling tilt angle, the targeted sampling tilt angle is taken as the critical angle for walking to be updated, and the walking and climbing performance test of the robot at the next sampling tilt angle of the targeted sampling tilt angle is continued.

[0061] Step S404: If the robot stably passes through the ramp test device at the target sampling tilt angle and slides, update the robot's static protection threshold to obtain the walking protection threshold, and retest the robot's walking and climbing performance at the target sampling tilt angle.

[0062] Step S406: After the robot adjusts the walking protection threshold, if the robot fails to stably pass the ramp test device or slips at the targeted sampling tilt angle, the targeted sampling tilt angle is taken as the robot's walking critical angle.

[0063] Step S408: The critical walking angle is used as the threshold for the robot's walking and climbing performance.

[0064] The critical walking angle to be updated refers to the maximum sampled tilt angle within the tilt angle range that the robot has successfully passed without experiencing functional failures (slipping, imbalance, gait interruption). This is the current optimal estimate of the critical walking angle. This value iterates dynamically with the testing process and is only finally confirmed as the walking and climbing performance threshold after the test fails at a higher tilt angle.

[0065] The walking protection threshold refers to a new threshold for joint parameters generated by adaptively relaxing the static protection threshold and dynamically verifying it. It is used for real-time safety monitoring in steady walking mode. The walking and climbing performance threshold refers to the maximum traversable inclination angle (unit: °) that the robot can sustainably complete a full gait cycle, maintain a stable center of mass, prevent foot slippage, and avoid triggering any protective actions in steady walking mode. It is the final quantitative indicator of its dynamic terrain adaptability and is directly written into the robot's motion planning module as a hard constraint for slope decision.

[0066] Specifically, in actual testing, the tilt angle range of the ramp testing device is first set. The tilt angle range starts at a lower trigger angle (i.e., the trigger tilt angle) and ends at the previously measured static critical angle. Within this tilt angle range, multiple sampling tilt angles are set sequentially in a fixed, small-amplitude increment, and the test is performed step by step upward from the lowest angle.

[0067] After the robot completes a full walking process at a certain sampling tilt angle, the system analyzes its motion state in real time: if the robot maintains a continuous gait, stable body posture, and its feet remain firmly in contact with the slope without any slippage, and all joints function normally without triggering any protective shutdown, it is judged as "stable passage without slippage". At this time, the sampling tilt angle is recorded as the currently valid critical angle to be updated for walking, and the system immediately moves to the next higher sampling tilt angle to continue the same walking test.

[0068] If, at a certain sampling tilt angle, the robot can complete the entire journey with its posture largely controllable, but its feet experience a brief but noticeable slippage during movement (i.e., relative displacement of the contact surface, but without causing imbalance or a fall), then the threshold adjustment mechanism is activated: the system retrieves the previously calibrated static protection threshold, and based on the actual force and response of each joint when the slippage occurs, appropriately increases the allowable torque limit and position deviation range of the relevant joints, generating a new set of parameter limits, i.e., the walking protection threshold; subsequently, without changing the current tilt angle, the new walking protection threshold is directly reloaded, and the robot is allowed to repeat the walking test at the same angle.

[0069] The process of sliding, adjusting the threshold, and retesting continues until, at the same sampling tilt angle, even with the updated walking protection threshold enabled, the robot still cannot successfully complete stable walking. This manifests as loss of balance midway, excessively long single-leg support time, gait disorder and interruption, or further, more severe sliding that triggers the protection action. At this point, the system confirms that the sampling tilt angle is the limit that the robot can handle in steady walking mode, and formally defines this sampling tilt angle as the critical walking angle.

[0070] Finally, the critical walking angle is directly saved as the robot's walking and climbing performance threshold and automatically synchronized to its motion planning module. This serves as the core basis for determining whether to enable the steady walking strategy during subsequent autonomous navigation: once the estimated terrain slope reaches or exceeds the critical walking angle, the system will automatically execute the corresponding control strategy to ensure movement safety and task continuity.

[0071] Through the above embodiments, the walking and climbing ability can be measured and calibrated in practice; the bias of experience setting can be avoided, and the accuracy and reproducibility of thresholds can be improved; the walking protection threshold can be dynamically updated to enhance the system's adaptability to contact changes and disturbances; and the entire process is carried out within the safe tilt angle range, taking into account both test effectiveness and equipment safety; the final output is a quantitative angle threshold that can be directly used for navigation decision-making, which significantly improves the reliability and mission success rate of the robot's autonomous climbing.

[0072] Figure 5 A schematic diagram of the structure of a robot motion testing system according to an embodiment of this application is shown. Exemplarily, the robot motion testing system 500 includes: The first module 502 is used to determine the critical time point when the robot moves from being stationary on the slope test device as the initial tilt angle of the slope test device gradually increases. The second module 504 is used to obtain the joint parameters of each joint module of the robot at the critical time point if the movement is robot sliding, and set the joint parameters as static protection thresholds to the robot. The third module 506 is used to acquire sensor data of the ramp test device at the critical time point collected by the measurement and acquisition unit if the movement is robot walking. The fourth module 508 is used to determine the robot's static critical angle and static friction force based on sensor data, and to use the static critical angle and static friction force as the robot's static climbing performance threshold.

[0073] In one embodiment, the motion testing system 500 further includes a fifth module 510, used to determine the tilt angle range for the robot to start the steady walking mode based on the static critical angle; and to perform walking and climbing performance tests on the robot in steady walking mode as the tilt angle is gradually increased within the tilt angle range by the slope testing device.

[0074] In one embodiment, the fifth module 510 is further configured to determine the trigger tilt angle based on the product between the static critical angle and the preset ratio; and to use the trigger tilt angle, the static critical angle, and the tilt angle between the trigger tilt angle and the static critical angle as the tilt angle range.

[0075] In one embodiment, the fifth module 510 is further configured to, during the process of gradually increasing the tilt angle within the tilt angle range of the ramp testing device, determine the critical walking angle of the robot for each sampled tilt angle based on the stability and sliding of the robot through the ramp testing device at the sampled tilt angle; and use the critical walking angle as the threshold for the robot's walking and climbing performance.

[0076] In one embodiment, the fifth module 510 is further configured to: if the robot stably passes the ramp test device at the targeted sampling tilt angle without slipping, use the targeted sampling tilt angle as the critical walking angle to be updated, and continue to test the robot's walking and climbing performance at the next sampling tilt angle; if the robot stably passes the ramp test device at the targeted sampling tilt angle but slips, update the robot's stationary protection threshold to obtain a walking protection threshold, and retest the robot's walking and climbing performance at the targeted sampling tilt angle; until the robot adjusts the walking protection threshold, and the robot fails to stably pass the ramp test device or slips at the targeted sampling tilt angle, then use the targeted sampling tilt angle as the robot's critical walking angle.

[0077] In one embodiment, the fourth module 508 is further configured to obtain the static friction coefficient of the inclined plane of the slope testing device; calculate the product value between the static friction coefficient of the inclined plane, the pressure, and the static critical angle; and use the product value as the static friction force.

[0078] In one embodiment, the fourth module 508 is further configured to calculate the robot's stationary critical angle based on trigonometric relationships, horizontal ranging, and vertical ranging. The stationary critical angle characterizes the tilt angle of the inclined plane relative to the horizontal reference plane.

[0079] It is understood that the system in this embodiment corresponds to the robot motion testing method in the above embodiments, and the options in the above embodiments are also applicable to this embodiment, so they will not be described again here.

[0080] This application also provides a robotic device, exemplary of which includes a processor and a memory, wherein the memory stores a computer program, and the processor executes the computer program to enable the robotic device to perform the functions of the various modules in the above-described robotic motion testing method or the above-described robotic motion testing system.

[0081] The processor can be an integrated circuit chip with signal processing capabilities. The processor can be a general-purpose processor, including at least one of a Central Processing Unit (CPU), Graphics Processing Unit (GPU), Network Processor (NP), Digital Signal Processor (DSP), Application-Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor or any conventional processor, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this application.

[0082] Memory can be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), and Electrically Erasable Programmable Read-Only Memory (EEPROM). Memory is used to store computer programs, and the processor can execute these programs upon receiving execution instructions.

[0083] This application also provides a computer-readable storage medium for storing computer programs used in the aforementioned robotic device. For example, the computer-readable storage medium may include, but is not limited to, various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0084] In the several embodiments provided in this application, it should be understood that the disclosed systems and methods can also be implemented in other ways. The system embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that, in alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0085] In addition, the functional modules or units in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0086] If a function is implemented as a software module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a smartphone, personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application.

[0087] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A method for testing robot motion, characterized in that, The method involves testing using a ramp testing device, and includes: The slope testing device is controlled to gradually increase from the initial tilt angle in order to determine the critical time point at which the robot moves from a stationary position on the slope testing device. If the movement is the robot sliding, then the joint parameters of each joint module of the robot at the critical time point are obtained, and the joint parameters are used as the static protection threshold. If the movement is the robot walking, then the sensor data of the slope testing device at the critical time point collected by the measurement and acquisition unit is obtained; Based on the sensor data, the critical angle and static friction force required to bring the robot to a standstill are determined, and the critical angle and static friction force are used as the static climbing performance threshold of the robot.

2. The method according to claim 1, characterized in that, The method further includes: Based on the aforementioned static critical angle, the tilt angle range for the robot to activate the steady walking mode is determined; The ramp testing device is controlled to gradually increase the ramp angle within the ramp angle range in order to test the walking and ramp climbing performance of the robot in steady walking mode.

3. The method according to claim 2, characterized in that, The step of determining the tilt angle range for the robot to activate the steady walking mode based on the static critical angle includes: The trigger tilt angle is determined based on the product of the static critical angle and the preset ratio; The trigger tilt angle, the stationary critical angle, and the tilt angle between the trigger tilt angle and the stationary critical angle are defined as the tilt angle range.

4. The method according to claim 2, characterized in that, The process of gradually increasing the tilt angle within the tilt angle range using the slope testing device, and performing a walking and climbing performance test on the robot in steady walking mode, includes: As the slope testing device gradually increases the tilt angle within the tilt angle range, for each sampled tilt angle, the critical walking angle of the robot is determined based on the stability and sliding of the robot through the slope testing device at the sampled tilt angle. The critical walking angle is used as the threshold for the robot's walking and climbing performance.

5. The method according to claim 4, characterized in that, The step of determining the critical walking angle of the robot based on its stability and sliding behavior when passing through the ramp testing device at the targeted sampling tilt angle includes: If the robot stably passes through the ramp test device without slipping at the targeted sampling tilt angle, the targeted sampling tilt angle is taken as the critical angle for walking to be updated, and the walking and climbing performance test of the robot at the next sampling tilt angle is continued. If the robot stably passes through the ramp test device at the target sampling tilt angle and slides, the robot's static protection threshold is updated to obtain the walking protection threshold, and the robot's walking and climbing performance test at the target sampling tilt angle is repeated. If the robot fails to stably pass the ramp test device or slips at the targeted sampling tilt angle after the robot adjusts its walking protection threshold, the targeted sampling tilt angle will be taken as the robot's critical walking angle.

6. The method according to claim 1, characterized in that, The sensor data includes at least pressure; determining the robot's static friction force based on the sensor data includes: Obtain the static friction coefficient of the inclined surface of the slope testing device; Calculate the product of the static friction coefficient of the inclined plane, the pressure, and the static critical angle; The product value is taken as the static friction force.

7. The method according to claim 6, characterized in that, The sensor data also includes the robot's horizontal and vertical ranging; determining the robot's critical stationary angle based on the sensor data includes: Based on trigonometric relationships, the horizontal and vertical distance measurements, the stationary critical angle of the robot is calculated. The stationary critical angle represents the tilt angle of the inclined plane relative to the horizontal reference plane.

8. A robot motion testing system, characterized in that, include: The first module is used to control the ramp testing device to gradually increase the initial tilt angle and determine the critical time point when the robot moves from a stationary position on the ramp testing device. The second module is used to obtain the joint parameters of each joint module of the robot at the critical time point if the movement is the robot sliding, and use the joint parameters as a static protection threshold. The third module is used to acquire sensor data of the slope testing device at the critical time point collected by the measurement and acquisition unit if the movement is the robot walking. The fourth module is used to determine the critical angle and static friction force that make the robot stand still based on the sensor data, and to use the critical angle and static friction force as the static climbing performance threshold of the robot.

9. A robotic device, characterized in that, The robot device includes a processor and a memory, the memory storing a computer program, and the processor executing the computer program to implement the robot motion testing method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, It stores a computer program, which, when executed on a processor, implements the robot motion testing method according to any one of claims 1-7.

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