Methods, apparatus, systems and storage media for testing the tipping collision of androids

Abstract

This application relates to a method, apparatus, system, and storage medium for testing the tipping collision of a robot. The testing method includes the following steps: acquiring the structural parameters of the robot under test and determining the tipping collision test parameters; driving a lifting and release device to adjust the robot under test to a preset tipping angle and releasing it, causing the robot to tip towards the test platform in a preset tipping direction and undergo a rigid collision with the collision surface of the test platform; acquiring response data of at least one key part of the robot under test during the tipping collision process; and obtaining the collision impact load characteristic quantity and buffer energy absorption characteristic quantity of the robot under test based on the response data, and generating evaluation results of the structural strength and buffer protection performance of the robot under test. The solution provided in this application can realize fully automated testing of the tipping collision of a robot, and accurately verify the structural strength and buffer protection performance of the robot by simulating real accidental instability and tipping conditions.

Description

Technical Field

[0001] This application relates to the field of embodied robot testing equipment technology, specifically to a method, device, system, and storage medium for testing the tipping collision of an embodied robot. Background Technology

[0002] Embodied robots, as a new type of intelligent carrier in the field of intelligent humanoid interaction and operation, have seen rapid development in scenarios such as home services, industrial maintenance, and special operations due to their highly biomimetic movement capabilities and environmentally adaptive operation characteristics. Unlike fixed industrial robotic arms, embodied robots mostly walk on two legs and operate in a standing posture for extended periods. Their high center of gravity and narrow support surface make them prone to instability and tipping under dynamic walking, step-crossing, external disturbances, or control failures. Once a robot accidentally tips over and collides rigidly with the ground or an obstacle, the body will be subjected to significant transient impact loads, easily causing problems such as shell cracking, joint module damage, and failure of internal precision sensors and computing units, which can lead to loss of overall functionality or even safety accidents.

[0003] To ensure the structural safety and motion integrity of androids under tipping and collision conditions such as walking instability and posture loss, the robot as a whole and its key joints must possess reliable structural strength and energy-absorbing cushioning characteristics. In the event of a tipping collision, effectively attenuating the impact load through structural strength and energy-absorbing design is a crucial technical means to ensure the integrity of precision internal components and maintain the overall functional integrity and operational reliability of the robot. However, current industry practices for assessing the structural impact resistance and energy absorption effectiveness of androids under tipping collisions largely rely on subjective qualitative judgments such as visual inspection of deformation and manual checks after testing. These methods cannot accurately quantify the strength and cushioning performance of the robot as a whole and its key joints. Test results are heavily influenced by operator experience, have poor repeatability, and lack comparability. Therefore, there is an urgent need for a testing method and system that can simulate real instability and accidental tipping conditions and accurately quantify the impact resistance and energy absorption effectiveness of the entire robot and its key components. Summary of the Invention

[0004] To address or partially address the problems existing in related technologies, this application provides a method, apparatus, system, and storage medium for testing the tipping collision of an embodied robot. This method enables fully automated testing of the tipping collision of an embodied robot and accurately verifies the structural strength and buffer protection performance of the embodied robot by simulating real accidental instability and tipping conditions.

[0005] The first aspect of this application provides a method for testing the tipping collision of an embodied robot, comprising the following steps: Obtain the structural parameters of the robot under test, and determine the tilting collision test parameters of the robot under test; the tilting collision test parameters include a preset tilting direction and a preset tilting angle; The lifting and release device is driven to adjust the robot under test to the preset tilt angle and release it, so that the robot under test tilts towards the test platform in the preset tilt direction and has a rigid collision with the collision surface of the test platform; During the tipping and collision process, response data of at least one key part of the robot under test is acquired; Based on the response data, the collision impact load characteristics and buffer energy absorption characteristics of the robot under test are obtained, and the structural strength and buffer protection performance evaluation results of the robot under test are generated.

[0006] In one embodiment of the first aspect, the driving lifting and releasing device adjusts the robot under test to the preset tilting angle and releases it, causing the robot under test to tilt toward the test platform in the preset tilting direction and rigidly collide with the collision surface of the test platform, including: The lifting and release device is driven to tilt the test platform on which the robot under test is placed to a preset tilt angle and then release it, or the lifting and release device is driven to tilt the robot under test to a preset tilt angle and then release it, so that the robot under test tilts toward the test platform in the preset tilt direction and collides rigidly with the test platform. Taking the side-tilting collision of the embodied robot as an example, the calculation formula for the preset tilt angle is as follows: ; ; in, This indicates the preset tilt angle of the embodied robot; B represents the critical tilt angle of the embodied robot; H represents the maximum support span of the embodied robot's supporting leg along the preset tilt direction; and H represents the height of the embodied robot's center of gravity. Indicates excessive tilt angle. >0°.

[0007] In one embodiment of the first aspect, the The value range is 5° to 15°.

[0008] In one embodiment of the first aspect, the response data includes: collision force values ​​collected by force sensors arranged on the robot under test and the test platform, triaxial acceleration g values ​​collected by accelerometers arranged on the robot under test, and images of the robot as a whole and key parts marked during the tipping collision process collected by an image acquisition device.

[0009] In one embodiment of the first aspect, obtaining the collision impact load characteristics and buffer energy absorption characteristics of the robot under test based on the response data includes: The response data is preprocessed to generate collision force-time curves, acceleration-time curves, displacement-time curves, and collision force-displacement curves, and the collision impact load characteristics and buffer energy absorption characteristics of the robot under test are obtained; wherein, the collision impact load characteristics and buffer energy absorption characteristics of the robot under test include at least one of the following: impact duration, peak collision force, peak acceleration, collision velocity, collision displacement, impulse, absorbed energy, coefficient of restitution, and stiffness.

[0010] In one embodiment of the first aspect, the step of obtaining the collision impact load characteristics and buffer energy absorption characteristics of the robot under test based on the response data, and generating the structural strength and buffer protection performance evaluation results of the robot under test, further includes: Based on the response data and the preset load transfer functions of external components and internal elements, the collision impact load characteristics and buffer energy absorption characteristics of each key part and internal element of the robot under test are calculated. The feature quantity is compared with a preset evaluation threshold to generate an evaluation result of the structural strength and buffer protection performance of the robot under test.

[0011] In one embodiment of the first aspect, obtaining the structural parameters of the robot under test and determining the tipping collision test parameters of the robot under test includes: Obtain the structural parameters of the robot under test, and determine the preset tilting direction, preset tilting angle, and test platform parameters of the robot under test; The predicted collision area is determined based on the preset tilting direction of the robot under test and the structural parameters of the robot under test. The arrangement and number of data acquisition devices on the test platform and the robot under test are determined based on the predicted collision area.

[0012] A second aspect of this application provides a control device for testing the tipping collision of an embodied robot, comprising: The pre-test processing module is used to acquire the structural parameters of the robot under test and determine the tilting collision test parameters of the robot under test; the tilting collision test parameters include a preset tilting direction and a preset tilting angle; The attitude control and release module is used to drive the lifting and release device to adjust the robot under test to the preset tilt angle and release it, so that the robot under test tilts towards the test platform in the preset tilt direction and has a rigid collision with the collision surface of the test platform. The data acquisition module is used to acquire response data of at least one key part of the robot under test during the tipping and collision process; The data processing and evaluation module is used to obtain the collision impact load characteristics and buffer energy absorption characteristics of the robot under test based on the response data, and to generate the structural strength and buffer protection performance evaluation results of the robot under test.

[0013] A third aspect of this application provides a tilting collision testing system for an embodied robot, comprising: The testing platform is used to carry the robot under test and conduct tipping and collision tests. The lifting and releasing device is used to adjust the robot under test to the preset tilting angle and release it, so that the robot under test tilts towards the test platform in the preset tilting direction and has a rigid collision with the collision surface of the test platform. The data acquisition device is used to acquire response data of at least one key part of the robot under test during the tipping and collision process; The device includes a robot tilting and collision test control unit, used to acquire the structural parameters of the robot under test and determine the tilting and collision test parameters of the robot under test; the tilting and collision test parameters include a preset tilting direction and a preset tilting angle; the device drives the lifting and releasing device to adjust the robot under test to the preset tilting angle and release it, so that the robot under test tilts towards the test platform according to the preset tilting direction and has a rigid collision with the collision surface of the test platform; during the tilting and collision process, the device acquires the response data of at least one key part of the robot under test; based on the response data, the device obtains the collision impact load characteristic quantity and buffer energy absorption characteristic quantity of the robot under test, and generates the structural strength and buffer protection performance evaluation results of the robot under test.

[0014] A fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described method.

[0015] The technical solution provided in this application can include the following beneficial effects: by preset tilting direction and preset tilting angle, the robot under test is made to tilt along a preset trajectory to simulate real unstable tilting, accidental tilting and other working conditions to conduct collision data testing and processing, reduce errors caused by subjective qualitative judgment, accurately verify the impact resistance and energy absorption buffering capacity of the robot body and key parts, and realize the fully automated testing of the robot, which greatly improves the convenience of testing.

[0016] By coordinating multiple acquisition devices such as force sensors, acceleration sensors, and image acquisition equipment, the tilting and collision test of the embodied robot is carried out in a full-process, multi-angle data acquisition manner, realizing a comprehensive evaluation of multiple indicators such as collision force, impact acceleration, and motion process parameters. This provides reliable data support for the design of robot structural strength and the optimization of buffer protection schemes. At the same time, it is applicable to the testing of embodied robots of different sizes and structural types, and has strong versatility.

[0017] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic flowchart illustrating the tilting collision test method for a android as shown in Embodiment 1 of this application; Figure 2 This is a flowchart illustrating the tipping collision test method for a android as shown in Embodiment 2 of this application; Figure 3 This is a schematic diagram of the structure of the tilting and collision test control device for a android as shown in an embodiment of this application; Figure 4 This is a schematic diagram of the structure of the embodied robot tipping collision test system shown in the embodiments of this application; Figure 5 This is a schematic diagram illustrating a usage scenario of the embodied robot tipping collision testing system according to an embodiment of this application; Figure 6 This is a schematic diagram illustrating the preset tilting direction of the embodied robot as shown in the embodiments of this application; Figure 7 This is a schematic diagram illustrating the preset tilting angle of the embodied robot in an embodiment of this application; Figure 8This is a schematic diagram of the electronic device structure shown in an embodiment of this application. Detailed Implementation

[0020] The embodiments of this application will now be described in more detail. It should be understood that this application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to make this application more thorough and complete, and to fully convey the scope of this application to those skilled in the art.

[0021] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. Unless otherwise defined, all terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0022] It should be understood that although this application may use terms such as “first,” “second,” “third,” etc., to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. Features defined as “first” or “second” may explicitly or implicitly include one or more of that feature. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0023] In the accompanying drawings of this embodiment, the same or similar reference numerals correspond to the same or similar components. In the description of this application, it should be understood that if terms such as "upper," "lower," "left," and "right" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the accompanying drawings are only for illustrative purposes and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0024] This application provides a method for testing the tipping collision of an embodied robot in Embodiment 1. Figure 1 As shown, the testing method includes the following steps: S11. Obtain the structural parameters of the robot under test and determine the tilting collision test parameters of the robot under test.

[0025] The structural parameters of the embodied robot include, but are not limited to, the robot's body dimensions (length, width, height, etc.), center of mass position, mass distribution, supporting polygon (i.e., the convex polygon formed by the robot's two feet when in a standing posture, whose characteristic dimension along the tilting direction can be represented by the maximum supporting span B of the supporting feet along the preset tilting direction), and parameters such as the configuration of each joint. These parameters can be directly read from the embodied robot's design model or obtained through experiments such as weighing and 3D scanning.

[0026] The tilting collision test parameters include a preset tilting direction and a preset tilting angle. The preset tilting direction can be, for example, frontal tilting, left-side tilting, right-side tilting, or rear tilting. The preset tilting angle refers to the angle at which the robot can tilt, that is, the angle at which the robot deviates from the vertical direction.

[0027] The tilting collision test conditions need to be determined based on the structural parameters of the robot under test. For example, the tilting direction and preset tilting angle of each type and position of the robot under test need to be determined according to the actual situation. In particular, the preset tilting angle of the robot under test needs to be designed according to the robot's body size, center of mass position, and supporting polygon to meet its tilting test conditions.

[0028] The parameters for the tipping collision test can also include the parameters of the test platform, including but not limited to the dimensions of the test platform (length, width, height, etc.) as well as the collision surface material, collision surface stiffness, surface tilt angle, etc. The collision surface material includes but is not limited to metal plates (steel plates, etc.), concrete, wood flooring, asphalt surface, rubber pads, etc.

[0029] S12. Drive the lifting and release device to adjust the robot under test to the preset tilt angle and release it, so that the robot under test tilts towards the test platform in the preset tilt direction and has a rigid collision with the collision surface of the test platform.

[0030] In this application embodiment, the lifting and release device can be used to adjust the robot under test to the initial unstable posture and release it by means of the following: the lifting and release device is used to tilt the test platform on which the robot under test is placed to a preset tilt angle and then release it, or the lifting and release device is used to tilt the robot under test to a preset tilt angle and then release it.

[0031] The process involves using a lifting and release device to tilt the test platform holding the robot under test to a preset tilting angle before releasing it. This method involves placing the robot at the test site and then adjusting the angle of the test platform to perform a tilting test. It's important to note that the test platform includes a collision surface area and a pre-load area, which are connected. The test site is located in the pre-load area. After tilting from the pre-load area, the robot falls into the collision surface area and undergoes a rigid collision with the test platform's collision surface.

[0032] The process of driving the lifting release device to tilt the robot under test to a preset tilting angle and then releasing it involves placing the robot under test on a test platform and adjusting the placement angle of the robot under test relative to the vertical direction to achieve the tilting test of the robot under test.

[0033] The lifting and release device can be a screw tilting mechanism, a servo turntable, or other mechanism that can tilt the test platform; or it can be a hoisting mechanism, a turntable, or other mechanism that can tilt the robot under test to a preset angle and complete the release operation.

[0034] It is important to note that after the robot under test reaches its initial unstable posture, the constraints on the robot are released by the lifting release device. No additional speed or thrust is applied to the robot under test, allowing it to fall according to its own gravity along a preset falling trajectory and undergo a rigid collision with the collision surface. This ensures the repeatability of the test results and the consistency of the working conditions. In this way, the impact resistance and energy absorption buffering performance of the robot as a whole and its key parts can be evaluated by simulating extreme working conditions such as real unstable falling and accidental falling.

[0035] S13. During the tipping and collision process, acquire response data of at least one key part of the robot under test.

[0036] In this embodiment of the application, response data of the tilting collision process of the android is collected synchronously by multiple acquisition devices, specifically including: collision force values ​​collected by force sensors arranged on the android under test and the test platform, triaxial acceleration g values ​​of the collision process collected by acceleration sensors arranged on the android under test, and images of the entire android and key parts marked points of the android during the tilting collision process collected by image acquisition devices.

[0037] The image acquisition equipment includes a high-speed camera, which can capture the kinematic parameter changes during the tipping and collision processes of the embodied robot under test. In addition to the high-speed camera, the image acquisition equipment also includes marker points, a silent flash source, and supporting cables. The high-speed camera can acquire images of the marker points attached to the embodied robot. Image processing can then yield the three-dimensional spatial coordinates of each marker point, allowing for the calculation of the motion trajectory, velocity, and displacement. It should be noted that to reconstruct the three-dimensional spatial coordinates of the marker points, multiple high-speed cameras need to be deployed to simultaneously capture images from different angles, including at least one high-speed camera positioned on the side of the test platform, capable of capturing the entire tipping process of the embodied robot.

[0038] During the tipping and collision process, it is also necessary to pay attention to the time axis alignment of each data acquisition device. When the lifting and releasing device releases the robot, it serves as a trigger signal to synchronously start all data acquisition devices, with the time axis alignment accuracy controlled within 1ms. The activation of each data acquisition device is triggered by the release signal of the lifting and releasing device, which ensures the time axis alignment during the tipping and collision process and also avoids problems such as inaccuracy caused by some devices being idle or running for a long time.

[0039] Key parts of the embodied robot include, but are not limited to: face, back of head, chest, back, abdomen, buttocks, upper arm, forearm, thigh, calf, shoulder joint, elbow joint, wrist joint, hip joint, knee joint, ankle joint, foot, and heel. The key parts described in this application's embodiments include at least the center of gravity of the entire robot, and for different tilting directions, the key areas of concern are: face, chest, and abdomen in a frontal collision; back of head, back, and buttocks in a rearal collision; and side of head, shoulder joint, and elbow joint in a side collision.

[0040] S14. Based on the response data, obtain the collision impact load characteristic quantity and buffer energy absorption characteristic quantity of the robot under test, and generate the evaluation results of the structural strength and buffer protection performance of the robot under test.

[0041] In this embodiment, the collision impact load characteristics and buffer energy absorption characteristics of the robot under test are obtained based on the response data. This includes preprocessing the response data to generate collision force-time curves, acceleration-time curves, displacement-time curves, and collision force-displacement curves, and obtaining the collision impact load characteristics and buffer energy absorption characteristics of the robot under test accordingly. The collision impact load characteristics and buffer energy absorption characteristics of the robot under test include at least one of the following: impact duration, peak collision force, peak acceleration, collision velocity, collision displacement, impulse, absorbed energy, coefficient of restitution, and stiffness. Among these characteristics, impact duration, peak collision force, peak acceleration, collision velocity, collision displacement, and impulse are primarily collision impact load characteristics; absorbed energy, coefficient of restitution, and stiffness are primarily buffer energy absorption characteristics.

[0042] The following characteristics can be directly extracted from the above curves: impact duration, which refers to the time from the first contact with the collision surface during the tipping collision test of the embodied robot to the end of the contact, can be read from the interval from the first contact moment to the end of the contact moment in the collision force-time curve or acceleration-time curve; peak collision force, which refers to the maximum force value of the embodied robot during the tipping collision test, can be read from the collision force-time curve; peak acceleration, also known as maximum overload, is the maximum acceleration during the collision of the embodied robot, expressed as a multiple of the gravitational acceleration g, can be read from the acceleration-time curve.

[0043] The following characteristic quantities can be calculated from the above curves: collision velocity, i.e., the velocity at the instant of collision, can be obtained by differentiating the displacement-time curve or by integrating the acceleration data, and the two can be mutually verified; collision displacement, i.e., the change in displacement from the moment of collision contact to the moment when the velocity is 0, can be directly read from the displacement-time curve or obtained by integrating the velocity again; impulse, i.e., the cumulative effect of force over time, reflecting the total amount of impact, can be obtained by integrating the collision force-time curve; absorbed energy, representing the total energy absorbed and dissipated by the buffer structure during the entire collision process, can be obtained by integrating the force-displacement curve within the range from 0 to the maximum deformation; coefficient of restitution, i.e., the ratio of the relative velocity after the collision to that before the collision, the smaller the coefficient of restitution, the more energy is dissipated and the better the buffering effect; stiffness, representing the ability of the buffer structure to resist deformation during the collision, can be obtained from the slope of the force-displacement curve.

[0044] Understandably, preprocessing the acquired response data includes filtering and curve fitting. Specifically, filters can be used to filter the collision force and acceleration parameters to remove impulse noise; for the image data of moving marker points, a 3D reconstruction algorithm can be used to convert the two-dimensional coordinates of each marker point in the images captured by each high-speed camera into three-dimensional spatial coordinates.

[0045] In this embodiment, the calculated feature quantities are compared with preset evaluation thresholds and mapped to different evaluation levels to generate evaluation results of the structural strength and buffer protection performance of the robot under test.

[0046] The preset evaluation threshold can be calibrated based on the impact tolerance limit of the internal precision components during the design phase of the embodied robot, or it can be calibrated by inverse calculation using the structural transmission attenuation coefficient. The attenuation coefficient can be obtained through calibration tests.

[0047] Furthermore, the evaluation results for the structural strength and cushioning performance of the robot under test include not only the evaluation level but also damage location information. For example, if the test results show that the elbow joint of the robot is unqualified, damage location information such as "the elbow of the robot is damaged" will also be displayed. Therefore, this testing method can not only conduct tipping and collision tests on the entire robot but also accurately pinpoint the damage locations corresponding to different test conditions and parameters, which helps to further optimize the structural design of the robot.

[0048] In this embodiment, the collision force, impact acceleration, and motion trajectory parameters collected and calculated by multiple acquisition devices are analyzed in multiple dimensions to form a comprehensive quantitative evaluation index system. This system can overcome the limitations of traditional subjective evaluation. At the same time, the comprehensive evaluation system can provide reliable data support for the structural strength design and buffer protection scheme optimization of the robot, and help product iteration and upgrading.

[0049] Embodiment 2 of this application also provides a method for testing the tipping collision of an embodied robot. It is understood that steps consistent with those described in Embodiment 1 will not be repeated here.

[0050] like Figure 2 As shown, the method for testing the tipping collision of this embodied robot includes the following steps: S21. Obtain the structural parameters of the robot under test, and determine the preset tilting direction, preset tilting angle, and test platform parameters of the robot under test.

[0051] In this embodiment of the application, taking the side-tilting collision of the embodied robot as an example, the calculation formula for the preset tilt angle is as follows: ; ; in, This indicates the preset tilt angle (i.e., the test tilt angle) of the embodied robot. B represents the critical tilt angle of the embodied robot; B represents the maximum support span of the embodied robot's supporting legs along the preset tilt direction, and when tilting to the side, B is the support width of both legs; H represents the height of the embodied robot's center of gravity. Indicates excessive tilt angle. >0°.

[0052] Thus, the critical tilt angle can be calculated using the structural parameters of the embodied robot (support leg span and overall center of gravity height). The critical tilt angle is the critical state where the horizontal projection of the embodied robot's center of gravity is exactly located at the boundary of its supporting polygon, and the robot can just stand stably. In other words, it is the critical state where the embodied robot can return to a standing posture after being released. (Excess tilt angle) This is a small angle superimposed on the critical tilt angle, used to ensure that the horizontal projection of the robot's center of mass crosses the boundary of the supporting polygon, thus triggering the robot's instability and tilting. Its preferred value range is 5° to 15°. Understandably, when the tilt angle is excessive... Within the range of 5° to 15°, the robot can be ensured to perform tipping collision tests according to a preset trajectory. This also ensures that the tipping test conditions are more consistent with real-world instability tipping and accidental tipping, achieving the effect of simulating real-world conditions. If the tipping angle is too large, the test tipping angle will be too large, which artificially amplifies the impact load and deviates from the real-world instability tipping conditions.

[0053] Similarly, the calculation method for the critical tipping angle of the robot's front and rear tipping collisions is similar. Based on the robot's structural parameters, mainly the support foot span B and the overall center of gravity height H, the theoretical critical tipping values ​​for forward and backward tilting are calculated. At this time, the support foot span B is the front and rear length of the support foot.

[0054] In actual testing, the structural response and buffering effect under different degrees of instability can also be evaluated by adjusting the excessive tilt angle.

[0055] S22. Determine the predicted collision area based on the preset tilting direction of the robot under test and the structural parameters of the robot under test.

[0056] In this embodiment, the initial contact point between the embodied robot and the test platform after tipping over can be predicted; this point is the predicted collision area. The predicted collision area is mainly distributed in key parts of the embodied robot, including but not limited to: face, back of head, chest, back, abdomen, buttocks, upper arm, forearm, thigh, lower leg, shoulder joint, elbow joint, wrist joint, hip joint, knee joint, ankle joint, foot, and heel. The predicted collision area also includes at least the center of gravity of the entire robot, and for different tipping directions, the key areas of focus include the face, chest, and abdomen in a frontal collision; the back of head, back, and buttocks in a rearal collision; and the side of the head, shoulder, and elbow in a side collision.

[0057] S23. Determine the placement and quantity of the robot under test and the data acquisition equipment on the test platform based on the predicted collision area.

[0058] Data acquisition equipment includes, but is not limited to, force sensors, accelerometers, and image acquisition devices. The force sensors include force sensors located on key parts of the android's body and a force sensor array located on the collision surface of the test platform. The force sensor array is installed below the collision surface module, focusing on key collision areas such as the android's head (face and back of the head), chest and back, abdomen and buttocks, to capture the impact intensity (collision force value) when the android tilts and lands during a collision.

[0059] The accelerometers are triaxial accelerometers, positioned at the robot's center of mass and key areas to collect the robot's three-dimensional acceleration g-values ​​during collisions. The accelerometers are specifically designed for the robot's head (face and back of the head), center of mass, chest and back, abdomen and buttocks, and are attached to key parts of the robot.

[0060] Image acquisition equipment includes marker points, high-speed cameras, and a non-flicker source. The marker points, which can be reflective or actively emitting, are affixed to the robot's center of gravity and key components (e.g., the head (face, back of the head), shoulders, elbows, etc.) for high-speed camera capture and analysis of the robot's motion trajectory, velocity, displacement, and other kinematic parameters during the collision test. Multiple high-speed cameras are deployed around the test platform to achieve panoramic capture of the marker point's motion trajectory. At least one high-speed camera is positioned on the side of the test platform to track and capture the marker point's motion trajectory throughout the entire tipping collision process, supporting kinematic parameter analysis and allowing for cross-validation with data such as acceleration and force values, thus improving test accuracy.

[0061] This step also includes determining the placement and number of data acquisition devices on the embodied robot and the test platform based on the predicted collision area and simulation test results. The simulation test results include the tipping trajectory and impact spectrum predicted by multibody dynamics simulation software. This predicts the collision area between the embodied robot and the test platform after tipping, guiding the placement and number of sensors and markers to more accurately capture tipping collision test data while reducing unnecessary waste in data acquisition device placement. Simultaneously, the response data, collision impact load characteristics, and buffer energy absorption characteristics obtained from actual tests can be input back into the model to more accurately calibrate key parameters in the simulation model, improving its predictive accuracy and providing more precise predictions for subsequent tests.

[0062] S24. Drive the lifting and release device to place the robot under test on the test platform, adjust the robot under test to a preset tilting angle and release it, so that the robot under test tilts towards the test platform in a preset tilting direction and has a rigid collision with the collision surface of the test platform.

[0063] At this point, the lifting and release device can include a hoisting mechanism, a turntable, or other mechanisms capable of vertically lifting the embodied robot, adjusting it to a preset tilting angle relative to the vertical direction, and completing the release operation. This allows the embodied robot to tilt along a preset trajectory after release, simulating a real unstable tilting condition. Specifically, a servo turntable combined with a locking mechanism can be used to adjust and lock the embodied robot to the preset tilting angle.

[0064] S25. During the tipping and collision process, acquire response data of at least one key part of the robot under test.

[0065] S26. Based on the response data, obtain the collision impact load characteristic quantity and buffer energy absorption characteristic quantity of the robot under test.

[0066] S27. Compare the collision impact load characteristics and buffer energy absorption characteristics of the robot under test with the preset evaluation thresholds and map them to different evaluation levels to generate the evaluation results of the structural strength and buffer protection performance of the robot under test.

[0067] More specifically, based on the response data and the preset load transfer functions of external components and internal elements, the collision impact load characteristics and buffer energy absorption characteristics of each key part and internal element of the robot under test can be calculated; the characteristics are compared with preset evaluation thresholds to generate the evaluation results of the structural strength and buffer protection performance of the robot under test.

[0068] The pre-defined load transfer function between external components and internal elements can be obtained through finite element simulation or calibration tests. Specifically, miniature accelerometers are placed near key internal components of the robot (such as IMU, encoders, and computing units) for calibration tests to establish a mapping relationship between external measurement points and the responses of internal components, thereby establishing the pre-defined load transfer function between external components and internal elements. In actual testing, the damage evaluation results of internal components can be inferred based on this transfer function.

[0069] The above steps also include: by collecting force / torque sensor data of each key part, and combining it with the robot's multibody dynamics model, calculating the buffer energy absorption characteristics of each adjacent key part during the impact buffering process, thereby locating the weak energy absorption link; and performing a closed-loop verification between the energy absorption ratio of each buffer link calculated by the model and the total energy absorbed by the whole machine obtained by force-displacement integral, in order to verify the rationality of the results.

[0070] The above steps also include: mapping multiple test results for the same robot under the same test conditions, and multiple test results for the same robot under different test conditions, to corresponding evaluation levels, thereby generating evaluation results of the structural strength and buffer protection performance of the robot under test.

[0071] Generally, multiple test results for the same robot under the same test condition mean that the same test condition is repeated multiple times to ensure at least three valid tests. The average value and standard deviation of the characteristic quantities obtained from each valid test are taken as the final evaluation basis. Multiple test results for the same robot under different test conditions mean multi-directional testing, enabling comprehensive and multi-angle testing and evaluation of the same robot. These multi-directional and multi-condition test results also help to systematically optimize the structural strength and cushioning protection of the robot.

[0072] This application embodiment, through preset test conditions and synchronous data acquisition from multiple acquisition devices, enables a multi-directional, full-process, and quantifiable testing method. This method is adaptable to the tipping and collision testing of embodied robots of different sizes and structural types, exhibiting strong versatility and good adaptability. Furthermore, the entire machine can be tested and evaluated using only external sensors during the experiment, simultaneously testing the overall operational reliability and service stability of the robot, making operation convenient. The test results can accurately verify the structural strength and cushioning performance of the robot body, assisting in the design and selection of internal precision components during the embodied robot design phase. This ensures that the embodied robot receives effective cushioning protection in the event of an accidental tipping and collision, avoiding structural cracking, component damage, and functional failure. This reduces the probability of subsequent repairs and maintenance costs, helps optimize product structural design and protection, and significantly enhances the market competitiveness and engineering application value of embodied robot products.

[0073] Corresponding to the aforementioned application function implementation method embodiments, this application embodiment also provides a body robot tilting collision test control device.

[0074] like Figure 3 As shown, the test control device S5 includes a test preprocessing module S51, an attitude control and release module S52, a data acquisition module S53, and a data processing and evaluation module S54.

[0075] The pre-test processing module S51 is used to acquire the structural parameters of the robot under test and determine the tilting collision test parameters of the robot under test; the tilting collision test parameters include the preset tilting direction and the preset tilting angle.

[0076] The attitude control and release module S52 is used to drive the lifting and release device to adjust the robot under test to a preset tilting angle and release it, so that the robot under test tilts towards the test platform in a preset tilting direction and has a rigid collision with the collision surface of the test platform.

[0077] The data acquisition module S53 is used to acquire response data of at least one key part of the robot under test during the tipping and collision process.

[0078] The data processing and evaluation module S54 is used to obtain the collision impact load characteristics and buffer energy absorption characteristics of the robot under test based on the response data, and to generate the evaluation results of the structural strength and buffer protection performance of the robot under test.

[0079] Corresponding to the aforementioned application function implementation methods and device embodiments, this application also provides a body robot tilting collision testing system.

[0080] like Figure 4 and Figure 5 As shown, the test system S0 includes a test platform S4, a lifting and releasing device S1, a data acquisition device S3, and a test control device S5.

[0081] Test platform S4 is used to carry the robot under test S2 and conduct tipping and collision tests; The lifting and releasing device S1 is used to adjust the robot under test S2 to a preset tilting angle α and release it, so that the robot under test S2 tilts towards the test platform S4 in a preset tilting direction and has a rigid collision with the collision surface of the test platform S4. The data acquisition device S3 is used to acquire response data of at least one key part of the robot under test S2 during the tipping and collision process; The test control device S5 is used to acquire the structural parameters of the robot under test S2 and determine the tilting collision test parameters of the robot under test S2. The tilting collision test parameters include a preset tilting direction and a preset tilting angle. The lifting and releasing device S1 is driven to adjust the robot under test S2 to the preset tilting angle α and release it, so that the robot under test S2 tilts towards the test platform S4 in the preset tilting direction and has a rigid collision with the collision surface of the test platform S4. During the tilting collision, the response data of at least one key part of the robot under test S2 is acquired by the acquisition device S3. Based on the response data, the collision impact load characteristic quantity and buffer energy absorption characteristic quantity of the robot under test S2 are obtained, and the structural strength and buffer protection performance evaluation results of the robot under test S2 are generated.

[0082] like Figure 6 and Figure 7As shown, for the same robot, at least one tilt test from the front, back, and side is required. During the test, the robot needs to be subjected to a collision test at a preset tilt angle α. The test procedures for each direction are basically the same.

[0083] The following detailed explanation uses a frontal tipping-over collision test with a preset tipping angle of α as an example.

[0084] The testing method process includes: (1) Pre-experiment preparation Preparation of the embodied robot to be tested: Measure the size of the robot, obtain its design drawings, and attach force sensors at the corresponding positions (such as the head, chest and abdomen) according to the system plan. Attach three-axis accelerometers to the back and head center of mass and straighten the cables. Attach markers to the head, shoulders and elbows.

[0085] Test platform preparation: A rigid test platform with a size of not less than 2m×3m is adopted. Force sensors are installed on the corresponding collision surfaces according to the system plan, with one sensor in the head area, two sensors in the chest area, and two sensors in the abdomen area.

[0086] High-speed camera preparation: According to the system plan, deploy multiple high-speed cameras at the corresponding locations for multi-angle shooting, adjust the shooting parameters and light source brightness, measure the camera depth of field, and ensure clear capture of the movement trajectory of the marker points.

[0087] Preparation of lifting and release device: Hook the hook of the lifting and release device at the center of the robot's head, lift it up, and tilt the robot to the desired position. Figure 7 The preset tilt angle α is shown, and the posture is locked so that it can tilt according to the preset trajectory, ensuring that the tilt trajectory is controllable and repeatable.

[0088] (2) System calibration Check whether the parameters of the accelerometer, force sensor, and image acquisition device are set correctly to ensure that the trigger signals are synchronized and the system enters standby mode.

[0089] (3) Tilting and collision test process like Figure 5As shown, the robot under test, S2, is released by the lifting and release device S1 at a preset tilting angle, causing it to tilt towards the test platform S4 along a preset trajectory. It then contacts the force sensor S4-1 on the test platform S4. Simultaneously, multiple data acquisition devices S3 are activated to collect data, including the collision force value captured by the force sensor S4-1, full-process and multi-angle image acquisition of the tilting and collision process of the robot S2 by multi-angle image acquisition devices, and acceleration values ​​collected by the accelerometer on the robot. All data is transmitted to the robot tilting and collision test control device S5, where the data processing and evaluation module S54 performs data processing and evaluation to obtain the final evaluation result.

[0090] During the tipping collision test of the embodied robot S2, the motion trajectories of various marked points acquired by the image acquisition device can be mapped to different key parts of the embodied robot using different colored light signals, thus capturing the motion parameters of each key part during the tipping collision test. The collision force acquired by the force sensor and the acceleration acquired by the acceleration sensor are preprocessed by the data processing and evaluation module to obtain corresponding curves. From these curves, the collision impact load characteristics and buffer energy absorption characteristics of the embodied robot under test can be read and calculated, thereby generating the evaluation results of the structural strength and buffer protection performance of the embodied robot S2 under test.

[0091] Figure 8 This is a schematic diagram of the structure of an electronic device shown in an embodiment of this application.

[0092] See Figure 8 The electronic device 500 includes a memory 510 and a processor 520.

[0093] The processor 520 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0094] Memory 510 may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage devices. ROM may store static data or instructions required by the processor 520 or other modules of the computer. Permanent storage devices may be read-write storage devices. Permanent storage devices may be non-volatile storage devices that retain stored instructions and data even when the computer is powered off. In some embodiments, permanent storage devices use mass storage devices (e.g., magnetic or optical disks, flash memory) as permanent storage devices. In other embodiments, permanent storage devices may be removable storage devices (e.g., floppy disks, optical drives). System memory may be a read-write storage device or a volatile read-write storage device, such as dynamic random access memory. System memory may store some or all of the instructions and data required by the processor during operation. Furthermore, memory 510 may include any combination of computer-readable storage media, including various types of semiconductor memory chips (e.g., DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and disks and / or optical disks may also be used. In some embodiments, memory 510 may include a removable storage device that is readable and / or writable, such as a laser disc (CD), a read-only digital multifunction optical disc (e.g., DVD-ROM, dual-layer DVD-ROM), a read-only Blu-ray disc, an ultra-high density optical disc, a flash memory card (e.g., SD card, mini SD card, Micro-SD card, etc.), a magnetic floppy disk, etc. Computer-readable storage media do not contain carrier waves or transient electronic signals transmitted wirelessly or via wired connections.

[0095] The memory 510 stores executable code, which, when processed by the processor 520, can cause the processor 520 to execute part or all of the methods described above.

[0096] Furthermore, the method according to this application can also be implemented as a computer program or computer program product, which includes computer program code instructions for performing some or all of the steps in the method described above.

[0097] Alternatively, this application may be implemented as a computer-readable storage medium (or a non-transitory machine-readable storage medium or a machine-readable storage medium) storing executable code (or computer program or computer instruction code) thereon, which, when executed by a processor of an electronic device (or server, etc.), causes the processor to perform part or all of the steps of the methods described above according to this application.

[0098] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A method for testing the tipping collision of an embodied robot, characterized in that, Includes the following steps: Obtain the structural parameters of the robot under test, and determine the tilting collision test parameters of the robot under test; the tilting collision test parameters include a preset tilting direction and a preset tilting angle; The lifting and release device is driven to adjust the robot under test to the preset tilt angle and release it, so that the robot under test tilts towards the test platform in the preset tilt direction and has a rigid collision with the collision surface of the test platform; During the tipping and collision process, response data of at least one key part of the robot under test is acquired; Based on the response data, the collision impact load characteristics and buffer energy absorption characteristics of the robot under test are obtained, and the structural strength and buffer protection performance evaluation results of the robot under test are generated.

2. The method according to claim 1, characterized in that, The driving lifting and releasing device adjusts the robot under test to the preset tilting angle and releases it, causing the robot under test to tilt towards the test platform in the preset tilting direction and undergo a rigid collision with the collision surface of the test platform, including: The lifting and release device is driven to tilt the test platform on which the robot under test is placed to a preset tilt angle and then release it, or the lifting and release device is driven to tilt the robot under test to a preset tilt angle and then release it, so that the robot under test tilts toward the test platform in the preset tilt direction and collides rigidly with the test platform. The formula for calculating the preset tilt angle is as follows: ； ； in, This indicates the preset tilt angle of the embodied robot; B represents the critical tilting angle of the embodied robot; H represents the maximum support span of the embodied robot's supporting leg along the preset tilting direction; and H represents the height of the embodied robot's center of gravity. Indicates excessive tilt angle. >0°.

3. The method according to claim 2, characterized in that, The The value range is 5° to 15°.

4. The method according to claim 1, characterized in that, The response data includes: collision force values ​​collected by force sensors arranged on the robot under test and the test platform, triaxial acceleration g values ​​collected by acceleration sensors arranged on the robot under test during the collision process, and images of the robot as a whole and key parts marked points during the tipping collision process collected by image acquisition equipment.

5. The method according to claim 4, characterized in that, The step of obtaining the collision impact load characteristics and buffer energy absorption characteristics of the robot under test based on the response data includes: The response data is preprocessed to generate collision force-time curves, acceleration-time curves, displacement-time curves, and collision force-displacement curves, and the collision impact load characteristics and buffer energy absorption characteristics of the robot under test are obtained; wherein, the collision impact load characteristics and buffer energy absorption characteristics of the robot under test include at least one of the following: impact duration, peak collision force, peak acceleration, collision velocity, collision displacement, impulse, absorbed energy, coefficient of restitution, and stiffness.

6. The method according to claim 1, characterized in that, The step of obtaining the collision impact load characteristics and buffer energy absorption characteristics of the robot under test based on the response data, and generating the structural strength and buffer protection performance evaluation results of the robot under test, further includes: Based on the response data and the preset load transfer functions of external components and internal elements, the collision impact load characteristics and buffer energy absorption characteristics of each key part and internal element of the robot under test are calculated. The feature quantity is compared with a preset evaluation threshold to generate an evaluation result of the structural strength and buffer protection performance of the robot under test.

7. The method according to claim 1, characterized in that, The process of acquiring the structural parameters of the robot under test and determining the tipping collision test parameters of the robot under test includes: Obtain the structural parameters of the robot under test, and determine the preset tilting direction, preset tilting angle, and test platform parameters of the robot under test; The predicted collision area is determined based on the preset tilting direction of the robot under test and the structural parameters of the robot under test. The arrangement and number of data acquisition devices on the test platform and the robot under test are determined based on the predicted collision area.

8. A control device for testing the tipping collision of an embodied robot, characterized in that, include: The pre-test processing module is used to acquire the structural parameters of the robot under test and determine the tilting collision test parameters of the robot under test; the tilting collision test parameters include a preset tilting direction and a preset tilting angle; The attitude control and release module is used to drive the lifting and release device to adjust the robot under test to the preset tilt angle and release it, so that the robot under test tilts towards the test platform in the preset tilt direction and has a rigid collision with the collision surface of the test platform. The data acquisition module is used to acquire response data of at least one key part of the robot under test during the tipping and collision process; The data processing and evaluation module is used to obtain the collision impact load characteristics and buffer energy absorption characteristics of the robot under test based on the response data, and to generate the structural strength and buffer protection performance evaluation results of the robot under test.

9. A tilting collision testing system for an embodied robot, characterized in that, include: The testing platform is used to carry the robot under test and conduct tipping and collision tests. The lifting and releasing device is used to adjust the robot under test to the preset tilting angle and release it, so that the robot under test tilts towards the test platform in the preset tilting direction and has a rigid collision with the collision surface of the test platform. The data acquisition device is used to acquire response data of at least one key part of the robot under test during the tipping and collision process; The device includes a robot tilting and collision test control unit, used to acquire the structural parameters of the robot under test and determine the tilting and collision test parameters of the robot under test; the tilting and collision test parameters include a preset tilting direction and a preset tilting angle; the device drives the lifting and releasing device to adjust the robot under test to the preset tilting angle and release it, so that the robot under test tilts towards the test platform according to the preset tilting direction and has a rigid collision with the collision surface of the test platform; during the tilting and collision process, the device acquires response data of at least one key part of the robot under test; based on the response data, the device obtains the collision impact load characteristic quantity and buffer energy absorption characteristic quantity of the robot under test, and generates the structural strength and buffer protection performance evaluation results of the robot under test.

10. A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method of any one of claims 1 to 7.

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