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CN107009390A - An automatic test system for the motion function of a service robot - Google Patents

An automatic test system for the motion function of a service robot Download PDF

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Publication number
CN107009390A
CN107009390A CN201710263385.4A CN201710263385A CN107009390A CN 107009390 A CN107009390 A CN 107009390A CN 201710263385 A CN201710263385 A CN 201710263385A CN 107009390 A CN107009390 A CN 107009390A
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motion
data
interface
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王孝良
周订订
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Dalian University of Technology
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Dalian University of Technology
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0095Means or methods for testing manipulators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/008Manipulators for service tasks
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02Sensing devices

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to the technical field of robot manufacturing, in particular to an automatic test system for motion functions of a service robot, which comprises an objective motion attitude monitoring module and an automatic computer test platform, wherein the objective motion attitude monitoring module comprises a data acquisition unit, an MCU (microprogrammed control Unit), a data interaction unit and a power management unit, the data acquisition unit comprises a triaxial geomagnetic sensor, a triaxial angular velocity sensor and a triaxial acceleration sensor, and an analog signal conditioning circuit connected with the triaxial geomagnetic sensor, the triaxial angular velocity sensor and the triaxial acceleration sensor, the MCU comprises a signal acquisition interface and a data fusion, motion attitude judgment and data interaction interface sequentially connected with the signal acquisition interface, the data interaction unit comprises a USB (universal serial bus) circuit and a WiFi (wireless fidelity) circuit, the invention binds RCs of a plurality of service robots with the corresponding objective motion attitude monitoring modules respectively, and the automatic computer test platform can judge whether instructions sent to the RCs of the service robots are correctly executed or not according to feedback data of the objective Therefore, the automatic and efficient group measurement target is realized when the service robot is produced in batches.

Description

一种服务机器人运动功能自动测试系统An automatic test system for the motion function of a service robot

技术领域technical field

本发明涉及一种服务机器人运动功能自动测试系统,属于机器人制造技术领域。The invention relates to an automatic test system for the motion function of a service robot, which belongs to the technical field of robot manufacturing.

背景技术Background technique

多数服务机器人采用轮式行走机构,其运动性能是评价品质的重要指标。在服务机器人的批量生产中,出厂功能与性能检验是一项必备的生产环节。服务机器人具有离散性个体特征,其出厂测试通常是在模拟实用环境的空旷场地内进行,运动功能测试是出厂测试的主要内容之一。在运动功能测试中,受命令控制的服务机器人应对不同运动命令做出正确的响应。实际生产中,服务机器人部件的安装与接线可能出现错误,进而导致服务机器人的运动响应错误,此类错误无法通过读取机器人RC正确反映。目前,运动功能测试是通过测试人员在现场逐一进行观察、判断,进而得出结论,此类方法无疑效率低下。因此,设计一套服务机器人运动功能自动测试系统势在必行,是在服务机器人批量生产、出厂群测的场景下提高测试效率、准确性与自动化水平的最佳手段。Most service robots use wheeled walking mechanisms, and their motion performance is an important indicator for evaluating quality. In the mass production of service robots, factory function and performance inspection is an essential production link. The service robot has discrete individual characteristics, and its factory test is usually carried out in an open space that simulates a practical environment. The motor function test is one of the main contents of the factory test. In the motor function test, the command-controlled service robot should respond correctly to different motion commands. In actual production, there may be errors in the installation and wiring of the service robot components, which will lead to errors in the motion response of the service robot. Such errors cannot be correctly reflected by reading the robot RC. At present, the motor function test is through the testers to observe and judge one by one on the spot, and then draw conclusions. Such methods are undoubtedly inefficient. Therefore, it is imperative to design an automatic test system for the motion function of service robots, which is the best way to improve the test efficiency, accuracy and automation level in the scenario of mass production and group testing of service robots.

发明内容Contents of the invention

为了克服现有技术中存在的不足,本发明目的是提供一种服务机器人运动功能自动测试系统。该系统能够通过计算机自动测试平台采集安装在服务机器人上的运动姿态客观监测模块的数据,测试出服务机器人运动功能的正确性,自动、高效的完成服务机器人出厂群测目标。In order to overcome the deficiencies in the prior art, the purpose of the present invention is to provide an automatic test system for the motion function of a service robot. The system can collect the data of the objective monitoring module of motion posture installed on the service robot through the computer automatic test platform, test the correctness of the motion function of the service robot, and automatically and efficiently complete the group test target of the service robot.

为了实现上述发明目的,解决己有技术中存在的问题,本发明采取的技术方案是:一种服务机器人运动功能自动测试系统,包括运动姿态客观监测模块和计算机自动测试平台,所述运动姿态客观监测模块包括数据采集单元、MCU单元、数据交互单元及电源管理单元,其中,所述数据采集单元包括三轴地磁传感器、三轴角速度传感器、三轴加速度传感器并与其相连的模拟信号调理电路,所述MCU单元包括信号采集接口并与其依次相连的数据融合、运动姿态判断及数据交互接口,所述数据交互单元包括USB电路及WiFi电路,所述电源管理单元分别与数据采集单元、MCU单元及数据交互单元相连,所述模拟信号调理电路通过AD转换接口与信号采集接口相连,所述三轴角速度传感器和三轴地磁传感器分别通过IIC总线与信号采集接口相连,所述数据交互接口通过USB总线与USB电路相连,另外,数据交互接口还通过SPI接口与WiFi电路相连,所述计算机自动测试平台包括RC绑定模块并与其依次相连的运动设定模块、运动采集模块、运动展示模块、测试分析模块及存储模块,所述运动姿态客观监测模块通过USB或WiFi与计算机自动测试平台相连。In order to achieve the purpose of the above invention and solve the problems existing in the existing technology, the technical solution adopted by the present invention is: an automatic test system for the motion function of a service robot, including an objective monitoring module of motion posture and a computer automatic test platform, the motion posture is objectively The monitoring module includes a data acquisition unit, an MCU unit, a data interaction unit and a power management unit, wherein the data acquisition unit includes a three-axis geomagnetic sensor, a three-axis angular velocity sensor, a three-axis acceleration sensor and an analog signal conditioning circuit connected thereto. The MCU unit includes a signal acquisition interface and data fusion, motion posture judgment and data interaction interface connected to it in sequence, the data interaction unit includes a USB circuit and a WiFi circuit, and the power management unit is connected with the data acquisition unit, the MCU unit and the data exchange unit respectively. The interactive unit is connected, the analog signal conditioning circuit is connected to the signal acquisition interface through the AD conversion interface, the three-axis angular velocity sensor and the three-axis geomagnetic sensor are respectively connected to the signal acquisition interface through the IIC bus, and the data interaction interface is connected to the signal acquisition interface through the USB bus. The USB circuit is connected. In addition, the data interaction interface is also connected with the WiFi circuit through the SPI interface. The computer automatic test platform includes an RC binding module and a motion setting module, a motion acquisition module, a motion display module, and a test analysis module connected to it in turn. and a storage module, the objective monitoring module of motion attitude is connected with the computer automatic test platform through USB or WiFi.

本发明有益效果是:一种服务机器人运动功能自动测试系统,包括运动姿态客观监测模块和计算机自动测试平台,所述运动姿态客观监测模块包括数据采集单元、MCU单元、数据交互单元及电源管理单元,其中,所述数据采集单元包括三轴地磁传感器、三轴角速度传感器、三轴加速度传感器并与其相连的模拟信号调理电路,所述MCU单元包括信号采集接口并与其依次相连的数据融合、运动姿态判断及数据交互接口,所述数据交互单元包括USB电路及WiFi电路,所述电源管理单元分别与数据采集单元、MCU单元及数据交互单元相连,所述模拟信号调理电路通过AD转换接口与信号采集接口相连,所述三轴角速度传感器和三轴地磁传感器分别通过IIC总线与信号采集接口相连,所述数据交互接口通过USB总线与USB电路相连,另外,数据交互接口还通过SPI接口与WiFi电路相连,所述计算机自动测试平台包括RC绑定模块并与其依次相连的运动设定模块、运动采集模块、运动展示模块、测试分析模块及存储模块,所述运动姿态客观监测模块通过USB或WiFi与计算机自动测试平台相连。与已有技术相比,本发明是将多台服务机器人的RC分别与对应的运动姿态客观监测模块相绑定后,计算机自动测试平台能通过运动姿态客观监测模块的反馈数据判断出向各个服务机器人RC发出的指令是否被正确执行,从而实现服务机器人批量生产时自动、高效的群测目标。The beneficial effects of the present invention are: an automatic test system for the motion function of a service robot, including an objective monitoring module for motion posture and a computer automatic test platform, and the objective monitoring module for motion posture includes a data acquisition unit, an MCU unit, a data interaction unit and a power management unit , wherein, the data acquisition unit includes a three-axis geomagnetic sensor, a three-axis angular velocity sensor, a three-axis acceleration sensor and an analog signal conditioning circuit connected thereto, and the MCU unit includes a signal acquisition interface and is sequentially connected to the data fusion, motion attitude Judgment and data interaction interface, the data interaction unit includes a USB circuit and a WiFi circuit, the power management unit is connected to the data acquisition unit, the MCU unit and the data interaction unit respectively, and the analog signal conditioning circuit is connected to the signal acquisition unit through the AD conversion interface The interface is connected, the three-axis angular velocity sensor and the three-axis geomagnetic sensor are respectively connected to the signal acquisition interface through the IIC bus, the data interaction interface is connected to the USB circuit through the USB bus, and in addition, the data interaction interface is also connected to the WiFi circuit through the SPI interface , the computer automatic test platform includes an RC binding module and a motion setting module, a motion acquisition module, a motion display module, a test analysis module and a storage module connected to it in sequence, and the objective monitoring module of the motion posture communicates with the computer through USB or WiFi Automated test bench connected. Compared with the prior art, the present invention binds the RCs of multiple service robots to the corresponding objective monitoring modules of motion posture, and the computer automatic test platform can judge the direction of each service robot through the feedback data of the objective monitoring module of motion posture. Whether the instructions issued by the RC are executed correctly, so as to achieve the goal of automatic and efficient group testing during mass production of service robots.

附图说明Description of drawings

图1是本发明系统的原理框图。Fig. 1 is a functional block diagram of the system of the present invention.

图2是本发明系统的整体工作流程图。Fig. 2 is the overall working flowchart of the system of the present invention.

图3是本发明系统中运动姿态客观监测模块的软件程序流程图。Fig. 3 is a software program flow chart of the objective monitoring module of motion attitude in the system of the present invention.

具体实施方式detailed description

下面结合附图对本发明作进一步说明。The present invention will be further described below in conjunction with accompanying drawing.

如图1所示,一种服务机器人运动功能自动测试系统,包括运动姿态客观监测模块和计算机自动测试平台,运动姿态客观监测模块主要负责服务机器人运动姿态的采集、判断及上传;计算机自动测试平台主要负责服务机器人“群测”目标的实现。所述运动姿态客观监测模块包括数据采集单元、MCU单元、数据交互单元及电源管理单元,其中,所述数据采集单元由一个三轴加速度传感器ADXL335、一个三轴角速度传感器ITG3050、一个三轴地磁传感器AK8963及一路模拟信号调理电路组成,负责采集运动姿态客观监测模块坐标系下的三轴加速度数据、三轴角速度数据、三轴地磁数据;ADXL335、ITG3050、AK8963布放时轴向必须一致,以确保能精确、高效完成坐标系的融合与转换。ITG3050与AK8963输出为数字信号,输出接口为IIC总线,与MCU的I2C1_SCL(PB6)、I2C1_SDA(PB7)引脚相连;两者通过不同的IIC地址区别。ADXL335输出为模拟电压信号,电压大小表示加速度大小,经过模拟信号调理电路后,与MCU的ADC1_1(PA1)、ADC1_2(PA2)、ADC1_1(PA3)引脚相连,由MCU的内部ADC模块完成模拟量到数字量的转换。模拟信号调理电路主要包括带宽为1000Hz的低通RC滤波器和以AD8603为核心的放大电路。As shown in Figure 1, a service robot motion function automatic testing system includes an objective monitoring module of motion posture and a computer automatic testing platform. The objective monitoring module of motion posture is mainly responsible for the collection, judgment and uploading of the motion posture of the service robot; Mainly responsible for the realization of the goal of "group testing" of service robots. The objective monitoring module of motion posture includes a data acquisition unit, an MCU unit, a data interaction unit and a power management unit, wherein the data acquisition unit consists of a triaxial acceleration sensor ADXL335, a triaxial angular velocity sensor ITG3050, a triaxial geomagnetic sensor Composed of AK8963 and one analog signal conditioning circuit, it is responsible for collecting the three-axis acceleration data, three-axis angular velocity data, and three-axis geomagnetic data under the coordinate system of the objective monitoring module of motion posture; the axes of ADXL335, ITG3050, and AK8963 must be consistent when deployed to ensure It can accurately and efficiently complete the fusion and transformation of the coordinate system. The output of ITG3050 and AK8963 is a digital signal, and the output interface is an IIC bus, which is connected to the I2C1_SCL (PB6) and I2C1_SDA (PB7) pins of the MCU; the two are distinguished by different IIC addresses. The ADXL335 output is an analog voltage signal, and the voltage represents the acceleration. After the analog signal conditioning circuit, it is connected to the ADC1_1 (PA1), ADC1_2 (PA2), and ADC1_1 (PA3) pins of the MCU, and the analog signal is completed by the internal ADC module of the MCU. to digital conversion. The analog signal conditioning circuit mainly includes a low-pass RC filter with a bandwidth of 1000Hz and an amplifier circuit with AD8603 as the core.

所述MCU单元包括信号采集接口并与其依次相连的数据融合、运动姿态判断及数据交互接口,MCU采用STM32F411CEU6,首先通过IIC总线和AD转换接口采集得到运动姿态客观监测模块坐标系下的三轴加速度数据、三轴角速度数据、三轴地磁数据,其次将九轴数据融合为地理坐标系下的姿态数据和加速度数据,然后根据融合后的数据判断服务机器人的运动姿态,最后将结果通过USB总线和SPI接口输出。数据融合算法采用基于扩展卡尔曼滤波器的两阶段修正算法,第一阶段依据三轴加速度数据修正姿态角,第二阶段依据三轴地磁数据修正姿态角。姿态的表示方式有欧拉角、旋转矩阵、四元数等三种,其中欧拉角存在万向锁问题,不能用于迭代计算。两阶段修正算法的迭代过程如下:The MCU unit includes a signal acquisition interface and the data fusion, motion posture judgment and data interaction interface connected to it in turn. The MCU adopts STM32F411CEU6, and first collects the three-axis acceleration under the coordinate system of the motion posture objective monitoring module through the IIC bus and the AD conversion interface. Data, three-axis angular velocity data, three-axis geomagnetic data, and then the nine-axis data is fused into attitude data and acceleration data under the geographic coordinate system, and then the motion attitude of the service robot is judged according to the fused data, and finally the result is passed through the USB bus and SPI interface output. The data fusion algorithm adopts a two-stage correction algorithm based on the extended Kalman filter. The first stage corrects the attitude angle based on the three-axis acceleration data, and the second stage corrects the attitude angle based on the three-axis geomagnetic data. There are three ways to express the attitude: Euler angle, rotation matrix, and quaternion. Among them, the Euler angle has a gimbal lock problem and cannot be used for iterative calculations. The iterative process of the two-stage correction algorithm is as follows:

第一步,根据三轴角速度数据计算姿态角四元数,式(1)为一阶毕卡法迭代公式,The first step is to calculate the attitude angle quaternion according to the three-axis angular velocity data. Equation (1) is the iterative formula of the first-order Picard method.

其中,表示姿态对应的单位四元数,初始值可取 in, Indicates the unit quaternion corresponding to the attitude, the initial value can be taken

ωx,ωy,ωz表示三轴角速度数据;ω x , ω y , ω z represent triaxial angular velocity data;

Δt表示采样间隔;Δt represents the sampling interval;

第二步,根据式(1)已求出的四元数,可求出地理坐标系到无线运动姿态客观监测模块坐标系下的旋转矩阵其表示从n系向b系的转换关系,In the second step, according to the quaternion obtained by formula (1), the rotation matrix from the geographic coordinate system to the coordinate system of the wireless motion posture objective monitoring module can be obtained It represents the conversion relationship from n series to b series,

第三步,根据式(2),将恒定重力加速度g从地理坐标系分解到无线运动姿态客观监测模块坐标系,In the third step, according to formula (2), the constant gravitational acceleration g is decomposed from the geographic coordinate system into the coordinate system of the wireless motion posture objective monitoring module,

对式(3)求雅克比矩阵Hk1 Calculate the Jacobian matrix H k1 of formula (3)

第四步,以式(1)中Ak为系统阵,式(4)中Hk1为观测阵,构造卡尔曼滤波器,完成第一阶段修正;The fourth step is to use A k in formula (1) as the system matrix, and H k1 in formula (4) as the observation matrix, construct a Kalman filter, and complete the first-stage correction;

第五~六步,同样以式(1)中Ak为系统阵,以地磁数据构造观测阵,构造卡尔曼滤波器,完成第二阶段修正,循环至第一步。The fifth to sixth steps, also use A k in formula (1) as the system array, construct the observation array with geomagnetic data, construct the Kalman filter, complete the second stage of correction, and cycle to the first step.

运动姿态判断采用基于经验的特征匹配算法,基本运动姿态包括左转45°、右转45°、左转90°、右转90°、左转180°、右转180°、前进、后退等八种。根据数据融合结果中水平方向姿态角数据的变化,即可判断出前六种转向情况;再结合水平方向加速度数据的变化,即可区分前进、后退情况。在运动姿态判断中,水平方向姿态角数据是判断运动姿态的主要依据。数据融合结果中水平方向姿态角误差一般在±3°以内,对于间隔最小45°的转向容易区分。The motion posture judgment adopts the feature matching algorithm based on experience, and the basic motion posture includes turning left 45°, turning right 45°, turning left 90°, turning right 90°, turning left 180°, turning right 180°, forward, backward, etc. kind. According to the change of the attitude angle data in the horizontal direction in the data fusion result, the first six steering situations can be judged; combined with the change of the acceleration data in the horizontal direction, the forward and backward situations can be distinguished. In the motion posture judgment, the attitude angle data in the horizontal direction is the main basis for judging the motion posture. In the data fusion results, the attitude angle error in the horizontal direction is generally within ±3°, and it is easy to distinguish the steering with a minimum interval of 45°.

数据交互单元包括USB和WiFi两部分,USB是无线运动姿态客观监测模块出厂信息、应用信息的配置接口,USB除用于数据传输外,还具有供电、充电功能,充电芯片采用锂电池管理芯片BQ24086。USB通信使用MCU内部总线控制器,数据传输引脚为USB_FS_DM(PA11)、USB_FS_DM(PA12)。WiFi是无线运动姿态客观监测模块与计算机自动测试平台数据交互的接口;计算机自动测试平台通过该接口读取运动姿态客观监测模块的运动姿态数据;在运动姿态客观监测模块与计算机自动测试平台通过WiFi组网成功的情况下,WiFi接口可以实现和USB接口相同的应用信息配置功能。WiFi通信使用RS110-N-11-02模块,与MCU通过SPI接口连接,连接引脚为SPI1_NSS(PA4)、SPI1_SCK(PA5)、SPI1_MISO(PA6)、SPI1_MOSI(PA7)。The data interaction unit includes USB and WiFi. USB is the configuration interface for the factory information and application information of the wireless motion posture objective monitoring module. In addition to data transmission, USB also has power supply and charging functions. The charging chip adopts lithium battery management chip BQ24086 . USB communication uses the MCU internal bus controller, and the data transmission pins are USB_FS_DM (PA11), USB_FS_DM (PA12). WiFi is the data interaction interface between the wireless motion posture objective monitoring module and the computer automatic test platform; the computer automatic test platform reads the motion posture data of the motion posture objective monitoring module through this interface; In the case of successful networking, the WiFi interface can realize the same application information configuration function as the USB interface. The RS110-N-11-02 module is used for WiFi communication, and it is connected to the MCU through the SPI interface. The connection pins are SPI1_NSS(PA4), SPI1_SCK(PA5), SPI1_MISO(PA6), and SPI1_MOSI(PA7).

电源管理单元由四路可控电源组成,电源控制芯片型号为TPS78230,1路控制数据采集单元的供电,1路控制MCU单元的供电,1路控制USB电路的供电,1路控制WiFi电路的供电。各路电源通断控制基本规则如下:The power management unit is composed of four controllable power supplies, the power control chip model is TPS78230, 1 way controls the power supply of the data acquisition unit, 1 way controls the power supply of the MCU unit, 1 way controls the power supply of the USB circuit, and 1 way controls the power supply of the WiFi circuit . The basic rules for on-off control of each power supply are as follows:

①如果一定时间内未接收到来自USB的指令,关闭USB电路的供电;① If no command from the USB is received within a certain period of time, turn off the power supply of the USB circuit;

②如果一定时间内未接收来自WiFi的指令,同时关闭WiFi电路和数据采集单元的供电;②If no command from WiFi is received within a certain period of time, turn off the power supply of WiFi circuit and data acquisition unit at the same time;

③如果长时间内未接收到来自USB或WiFi的指令,关闭模块内所有供电;③ If no command from USB or WiFi is received for a long time, turn off all power supplies in the module;

④如果操作人员外部触发模块启动按键,打开MCU单元和数据交互单元的供电;④ If the operator triggers the module start button externally, turn on the power supply of the MCU unit and the data interaction unit;

⑤如果接收到来自WiFi的数据采集指令,打开数据采集单元的供电。⑤ If a data collection command from WiFi is received, turn on the power supply of the data collection unit.

经分析、测试,此方案主要功耗集中在无线数据传输,全速工作时,电流约为80mA,使用1000mAH电池,可保证无线运动姿态客观监测模块有效工作12~13小时,完全满足实际需求。After analysis and testing, the main power consumption of this solution is concentrated in wireless data transmission. When working at full speed, the current is about 80mA. Using a 1000mAH battery can ensure that the wireless motion posture objective monitoring module can work effectively for 12 to 13 hours, fully meeting the actual needs.

计算机自动测试平台主要由RC绑定模块、运动设定模块、运动采集模块、运动展示模块、测试分析模块及存储模块组成。The computer automatic test platform is mainly composed of RC binding module, motion setting module, motion acquisition module, motion display module, test analysis module and storage module.

RC绑定模块用于将服务机器人RC与其上安装的运动姿态客观监测模块绑定。进场测试机器人开机后,通过无线网络与运动姿态客观监测模块、计算机自动测试平台组网连接,由于每个服务机器人RC与运动姿态客观监测模块都有唯一的IP地址,故利用IP地址将服务机器人RC与对应的运动姿态客观监测模绑定。绑定信息存储在服务机器人计算机自动测试平台的绑定信息表中。The RC binding module is used to bind the service robot RC to the objective monitoring module of motion posture installed on it. After the robot enters the field for testing, it is connected to the objective monitoring module of movement posture and the computer automatic test platform through the wireless network. Since each service robot RC and the objective monitoring module of movement posture have a unique IP address, the service The robot RC is bound to the corresponding objective monitoring model of motion posture. The binding information is stored in the binding information table of the computer automatic test platform of the service robot.

运动设定模块用于设定向服务机器人RC下发指令的类型和顺序,运动设定信息为左转45°、右转45°、左转90°、右转90°、左转180°、右转180°、前进、后退等八种基本运动模式的任意综合。设定信息存储在计算机自动测试平台的运动设定信息表中,是判断服务机器人是否正确执行下发指令的依据。The motion setting module is used to set the type and sequence of instructions issued to the service robot RC. The motion setting information is 45° left turn, 45° right turn, 90° left turn, 90° right turn, 180° left turn, Any combination of eight basic motion modes such as turning right 180°, forward, and backward. The setting information is stored in the motion setting information table of the computer automatic test platform, which is the basis for judging whether the service robot executes the issued instructions correctly.

运动采集模块用于从无线运动姿态客观监测模块获取待测服务机器人响应指令时的测试数据。测试数据必然是左转45°、右转45°、左转90°、右转90°、左转180°、右转180°、前进、后退、错误动作等九种中的一种。运动采集信息存储在服务机器人计算机自动测试平台的运动采集信息表中。The motion collection module is used to obtain test data when the service robot under test responds to instructions from the wireless motion posture objective monitoring module. The test data must be one of the nine types of left turn 45°, right turn 45°, left turn 90°, right turn 90°, left turn 180°, right turn 180°, forward, backward, and wrong action. The motion collection information is stored in the motion collection information table of the service robot computer automatic test platform.

运动展示模块使用基于OpenGL的三维驱动模型,利用运动采集信息表中的数据,在服务机器人计算机自动测试平台端模拟服务机器人的实际运动。该模块作用为让操作人员现场测试时更加直观、清晰的了解测试流程和结果。The motion display module uses a three-dimensional drive model based on OpenGL, uses the data in the motion collection information table, and simulates the actual motion of the service robot on the service robot computer automatic test platform. The function of this module is to allow operators to understand the test process and results more intuitively and clearly during on-site testing.

测试分析模块对比运动设定信息表内容与运动采集信息表内容,其真实反映了向服务机器人RC下达的指令与服务机器人实际运动的一致性。根据对比结果,生成测试报告及报警信息等。The test analysis module compares the content of the motion setting information table with the content of the motion collection information table, which truly reflects the consistency between the instructions issued to the service robot RC and the actual motion of the service robot. According to the comparison results, generate test reports and alarm information, etc.

存储模块使用MySQL5.6数据库,作用为存储并维护运动设定信息、运动采集信息、测试报告等。MySQL5.6数据库与C++集成开发环境的连接使用Connector/C++1.1驱动程序。The storage module uses MySQL5.6 database, which is used to store and maintain motion setting information, motion collection information, test reports, etc. The connection between the MySQL5.6 database and the C++ integrated development environment uses the Connector/C++1.1 driver.

如图2,整个系统工作流程大致如下:As shown in Figure 2, the entire system workflow is roughly as follows:

①操作人员将各个运动姿态客观监测模块安装在各个待测机器人之上;① The operator installs each movement attitude objective monitoring module on each robot to be tested;

②操作人员依次将各对待测机器人和运动姿态客观监测模块绑定,绑定操作为:将一对待测机器人和运动姿态客观监测模块开机,计算机自动测试平台自动扫描并发现,将两者ID标识记录,人工确认绑定;②The operator binds each robot to be tested and the objective monitoring module of motion posture in turn. The binding operation is: turn on a pair of robots to be tested and the objective monitoring module of motion posture, and the computer automatic test platform automatically scans and finds them, and identifies the two IDs. Record, manually confirm the binding;

③计算机自动测试平台按预设测试流程向各个服务机器人RC依次发出各类测试指令;基本测试指令包括左转45°、右转45°、左转90°、右转90°、左转180°、右转180°、前进、后退等八种;③The computer automatic test platform sends various test instructions to each service robot RC in turn according to the preset test process; the basic test instructions include turning left 45°, turning right 45°, turning left 90°, turning right 90°, and turning left 180° , turn right 180°, forward, backward and so on eight kinds;

④运动姿态客观监测模块连续监测服务机器人运动状态,并向计算机自动测试平台反馈数据;④ The objective monitoring module of motion posture continuously monitors the motion state of the service robot and feeds back data to the computer automatic test platform;

⑤计算机自动测试平台对比反馈数据与发送的测试指令;⑤ The computer automatic test platform compares the feedback data with the test instructions sent;

⑥计算机自动测试平台自动生成测试报告,并存储相关数据。⑥ The computer automatic test platform automatically generates test reports and stores relevant data.

Claims (1)

1. The utility model provides a service robot motion function automatic test system, includes the objective monitoring module of motion gesture and computer automatic test platform, its characterized in that: the motion attitude objective monitoring module comprises a data acquisition unit, an MCU unit, a data interaction unit and a power management unit, wherein the data acquisition unit comprises a triaxial geomagnetic sensor, a triaxial angular velocity sensor and a triaxial acceleration sensor and an analog signal conditioning circuit connected with the triaxial acceleration sensor, the MCU unit comprises a signal acquisition interface and a data fusion, motion attitude judgment and data interaction interface sequentially connected with the signal acquisition interface, the data interaction unit comprises a USB circuit and a WiFi circuit, the power management unit is respectively connected with the data acquisition unit, the MCU unit and the data interaction unit, the analog signal conditioning circuit is connected with the signal acquisition interface through an AD conversion interface, the triaxial angular velocity sensor and the triaxial geomagnetic sensor are respectively connected with the signal acquisition interface through an IIC bus, and the data interaction interface is connected with the USB circuit through a USB bus, in addition, the data interaction interface is also connected with a WiFi circuit through an SPI interface, the automatic computer test platform comprises an RC binding module and a motion setting module, a motion acquisition module, a motion display module, a test analysis module and a storage module which are sequentially connected with the RC binding module, and the objective motion attitude monitoring module is connected with the automatic computer test platform through a USB or WiFi.
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