CN112330122A - Floor sweeping robot intelligent degree quantitative evaluation method and system - Google Patents
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Abstract
The invention discloses a floor sweeping robot intelligent degree quantitative evaluation method, which comprises the following steps: constructing a floor sweeping robot intelligent degree quantitative evaluation system, wherein the evaluation system comprises a detection induction evaluation system, a route planning evaluation system and a movement cleaning evaluation system; building an intelligent degree testing environment of the sweeping robot corresponding to the evaluation system; in a set test task scene, acquiring multiple groups of quantitative evaluation data of the sweeping robot in different test task scenes, and constructing an intelligent degree quantitative evaluation index of the sweeping robot, wherein the quantitative evaluation index comprises cleanliness, high efficiency, safety and functionality; and constructing an intelligent degree quantization function of the sweeping robot according to the intelligent degree quantization evaluation index, and determining the intelligent degree of the sweeping robot according to the quantization function. The invention provides a quantitative index of the intelligent degree of the sweeping robot.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a floor sweeping robot intelligent degree quantitative evaluation method and system.
Background
The floor sweeping robot is also called an automatic cleaner, intelligent dust collection, a robot dust collector and the like, is one of intelligent household appliances, and can automatically finish floor cleaning work in a room by means of certain artificial intelligence.
At present, the performance test of the sweeping robot has corresponding indexes (QB/T4833-2015 cleaning robot for household and similar purposes), the standard is the current industry standard for checking the performance indexes of the cleaning robot products in China, and the performance indexes of the cleaning robot products related to the standard have the following characteristics: coverage, hard floor dust removal capability, corner dust removal capability, fall protection capability, obstacle crossing capability, automatic charging function, cleaning appointment function, remote control function, noise, working life and the like.
The intelligent degree of robot of sweeping the floor is higher and higher, and the function is more and more various. The existing standard only covers the working performance of the sweeping robot, and along with the increasing of the intelligent degree of the sweeping robot, the existing performance standard cannot evaluate the intelligent degree of the sweeping robot, no specific quantitative standard exists for the intelligent degree of the sweeping robot, and the existing intelligent evaluation scheme of the sweeping robot lacks systematicness and perfectness, so that more comprehensive quantitative indexes are needed for evaluating the intelligent degree of the sweeping robot.
Disclosure of Invention
Based on this, the invention aims to provide a method and a system for quantitatively evaluating the intelligent degree of a sweeping robot, and provide a quantitative index of the intelligent degree of the sweeping robot.
In order to achieve the purpose, the invention provides a floor sweeping robot intelligent degree quantitative evaluation method, which comprises the following steps:
s1, constructing a floor sweeping robot intelligent degree quantitative evaluation system, wherein the evaluation system comprises a detection induction evaluation system, a route planning evaluation system and a motion sweeping evaluation system;
s2, setting up an intelligent degree testing environment of the sweeping robot corresponding to the evaluation system, and making a corresponding testing scheme based on each evaluation system, wherein the testing scheme comprises a testing environment, a testing task, a testing object and a testing index;
s3, acquiring multiple groups of quantitative evaluation data of the sweeping robot in different test task scenes in the test task scene set in the S2, and constructing an intelligent degree quantitative evaluation index of the sweeping robot, wherein the quantitative evaluation index comprises cleanliness, high efficiency, safety and functionality;
s4, constructing an intelligent degree quantization function of the sweeping robot according to the intelligent degree quantization evaluation index, and determining the intelligent degree of the sweeping robot according to the quantization function.
Preferably, the evaluation step of the route planning evaluation system includes:
the route planning evaluation system comprises a static scene evaluation and a dynamic scene evaluation, corresponding static scene evaluation environments and dynamic scene test environments are respectively set up, and different route planning test scenes are set;
in each route planning test scene, recording the starting time and the finishing time of cleaning of the sweeping robot and the cleaning speed;
calculating a sweeping stroke finished by the sweeping robot in each route planning test scene;
and calculating to obtain the total cleaning travel of the sweeping robot in different route planning test scenes according to the cleaning travel in each route planning test scene, and obtaining the high-efficiency quantitative evaluation index of the sweeping robot.
Preferably, the total sweeping stroke LeffCalculated by formula (1);
cleaning total stroke L by formula (2) and formula (3)effCarrying out normalization processing to obtain an efficient quantitative evaluation index E of the sweeping roboteff；
Leff *＝vmaxtf (3)；
Wherein, t0Is a starting time, tfIs the current time, vtThe speed of the sweeping robot is determined, j is the current route planning test scene, m is the total number of the route planning test scenes,
for the travel when the intelligent degree of the sweeping robot reaches the highest level, vmaxThe maximum speed of the sweeping robot can be reached.
Preferably, the evaluation step of the sports sweeping evaluation system includes:
building a cleaning system test environment, and placing corresponding sundries in a specified area of the cleaning system test environment; the sweeping robot carries out sweeping in each specified area;
calculating quantitative data of sundry residues in all the specified areas;
calculating the cleanliness quantitative evaluation index of the sweeping robot for different sundries;
the cleanness quantitative evaluation index EcleCalculated by equation (4):
wherein i is sundries, n is sundry type, mi1M is the total mass of the sundries before cleaningi2The total mass of the impurities after cleaning.
Preferably, the evaluation step of the sports sweeping evaluation system further includes:
building a corresponding motion system test environment;
sending a designated instruction to the sweeping robot, wherein the designated instruction comprises forward movement, backward movement, steering and traveling according to a specified route;
recording the time for the sweeping robot to finish the specified instruction and the quantitative data of the motion accuracy;
and calculating the kinetic energy characteristic of the sweeping robot when the sweeping robot touches the colliding object, and obtaining the safety quantitative evaluation index of the sweeping robot.
Preferably, the kinetic energy characteristic KriskThe calculation is carried out according to the formula (5),
the kinetic energy characteristic K is determined by the formula (6) and the formula (7)riskCarrying out normalization processing to obtain a safety quantitative index E of the sweeping robotrisk；
Wherein, t0Is a starting time, tfIs the current time, m0Is the quality of the sweeping robot, vtIn order to speed up the sweeping robot,
the kinetic energy characteristic v when the intelligent degree of the sweeping robot reaches the highest levelmaxThe maximum speed of the sweeping robot can be reached.
Preferably, the functional quantitative evaluation index of the sweeping robot is calculated by formula (8), and is used for representing the functional evaluation standard of the sweeping robot:
and N is the number of the functions of the sweeping robot.
Preferably, the quantization function is equation (9);
Eint＝Ecle+Eeff+Erisk+Efunc (9)；
wherein E isintFor the intellectualized degree of the sweeping robot, EcleFor quantitative evaluation of cleanliness, EeffFor high efficiency quantitative evaluation index, EriskTo quantify indicators for safety, EfuncIs a functional quantitative evaluation index.
Preferably, the method comprises:
the intelligent degree of the sweeping robot is classified according to the intelligent quantitative degree of the sweeping robot, if the intelligent quantitative degree is between 0 and 1, the intelligent degree is the lowest level, if the intelligent quantitative degree is between 1 and 2, the intelligent level is the lower level, if the intelligent quantitative degree is between 2 and 3, the intelligent level is the higher level, and if the intelligent quantitative degree is between 3 and 4, the intelligent level is the highest level.
In order to achieve the above object, the present invention provides a system for quantitatively evaluating the intelligent degree of a floor sweeping robot, which comprises:
the system comprises a building module, a road sweeping robot intelligent degree quantitative evaluation system and a control module, wherein the floor sweeping robot intelligent degree quantitative evaluation system comprises a detection induction evaluation system, a route planning evaluation system and a motion sweeping evaluation system;
the test module is used for building an intelligent degree test environment of the sweeping robot corresponding to the evaluation system and formulating a corresponding test scheme based on each evaluation system, wherein the test scheme comprises a test environment, a test task, a test object and a test index;
the quantitative evaluation module is used for acquiring multiple groups of quantitative evaluation data of the sweeping robot in different test task scenes in the test task scenes set by the test module and constructing an intelligent degree quantitative evaluation index of the sweeping robot, wherein the quantitative evaluation index comprises cleanliness, high efficiency, safety and functionality;
and the evaluation module is used for constructing an intelligent degree quantization function of the sweeping robot according to the intelligent degree quantization evaluation index and determining the intelligent degree of the sweeping robot according to the quantization function.
Compared with the prior art, the intelligent degree quantitative evaluation method and system for the intelligent floor sweeping robot have the beneficial effects that: the technical problem that the performance evaluation standard of the sweeping robot in the prior art cannot systematically evaluate the sweeping robot with higher and higher intelligent degree is solved, a quantification function and a quantification index of the intelligent degree of the sweeping robot are established, quantification evaluation of the intelligent degree of the sweeping robot is achieved, the quantification evaluation index covers the working efficiency, functionality, safety, interactivity, responsiveness and the like of the sweeping robot, meanwhile, the index has a specific quantification standard, and the intelligent degree of the sweeping robot is subjected to level classification.
Drawings
Fig. 1 is a schematic flow chart of an intelligent degree quantitative evaluation method for an intelligent sweeping robot according to an embodiment of the invention.
FIG. 2 is a schematic diagram of a scenario of an ambient environment test according to an embodiment of the present invention.
FIG. 3 is a schematic diagram of a static scene assessment environment according to an embodiment of the present invention.
FIG. 4 is a schematic diagram of a dynamic scenario evaluation environment, according to an embodiment of the present invention.
FIG. 5 is a schematic diagram of a clean test environment in accordance with an embodiment of the present invention.
Fig. 6 is a schematic diagram of an intelligent degree quantitative evaluation system of an intelligent sweeping robot according to an embodiment of the invention.
Detailed Description
The present invention will be described in detail with reference to the specific embodiments shown in the drawings, which are not intended to limit the present invention, and structural, methodological, or functional changes made by those skilled in the art according to the specific embodiments are included in the scope of the present invention.
As shown in fig. 1, according to an embodiment of the present invention, the present invention provides a method for quantitatively evaluating an intelligent degree of an intelligent sweeping robot, the method including:
s1, constructing a floor sweeping robot intelligent degree quantitative evaluation system, wherein the evaluation system comprises a detection induction evaluation system, a route planning evaluation system and a motion sweeping evaluation system;
s2, setting up an intelligent degree testing environment of the sweeping robot corresponding to the evaluation system, and making a corresponding testing scheme based on each evaluation system, wherein the testing scheme comprises a testing environment, a testing task, a testing object and a testing index;
s3, acquiring multiple groups of quantitative evaluation data of the sweeping robot in different test task scenes in the test task scene set in the S2, and constructing an intelligent degree quantitative evaluation index of the sweeping robot, wherein the quantitative evaluation index comprises cleanliness, high efficiency, safety and functionality;
s4, constructing an intelligent degree quantization function of the sweeping robot according to the intelligent degree quantization evaluation index, and determining the intelligent degree of the sweeping robot according to the quantization function.
The intelligent degree quantitative evaluation system of the sweeping robot is constructed and comprises a detection induction evaluation system, a route planning evaluation system and a motion sweeping evaluation system, and the intelligent degree quantitative evaluation of the sweeping robot is evaluated based on the three systems. The detection induction evaluation system is a system for detecting and identifying the surrounding environment of the sweeping robot. In the detection and induction system, two aspects of evaluation are mainly performed. On one hand, the equipment of the sensing environment is independently evaluated according to the current mainstream detection modes, such as infrared detection, RPS laser ranging, bionic ultrasonic detection and the like. For example, the infrared detection mode performs quantitative evaluation on the performance of the infrared emitting device and the infrared receiving device according to the existing quantitative standard. For example, a sweeping robot adopting an infrared laser radar performs independent evaluation on the performance of the laser radar device according to the current laser radar standard. On the other hand, for the detection induction system with multiple sensors working together, the surrounding environment information generated by fusing the detection results of the multiple sensors is used as the index to be detected, the index is compared with the actual environment to obtain the accuracy of the position information of the multiple sensors working together, and the evaluation basis of the quantitative index is carried out according to the direction, distance, size and the like of the error.
The route planning and evaluation system is a system for processing the surrounding environment data obtained by the sensing system by the sweeping robot and optimizing the optimal sweeping route through an algorithm. In the system, the route algorithm intelligentization degree of the sweeping robot is evaluated independently. Due to the diversification of the actual environment, the evaluation method can be divided into static scene evaluation and dynamic scene evaluation. In the static scene evaluation, different static indoor scenes are selected, the time required by the sweeping completion of the sweeping robot to be tested and the area ratio covered by the motion trail are recorded, and the quantitative evaluation of the route planning algorithm in the static scenes is realized. In daily home, the sweeper robot is often in the same room as a person or a pet, so that the route planning system under a dynamic scene needs to be evaluated. In a dynamic scene, obstacles with irregular movement are arranged, the movement of people, pets and the like in an actual environment is simulated, the time required by the cleaning completion of the tested sweeping robot and the area ratio covered by the movement track are recorded indoors, and the quantitative evaluation of a route planning algorithm in the dynamic scene is realized.
And the motion cleaning evaluation system executes corresponding advancing and cleaning actions according to the route calculated in the motion planning system. The system mainly comprises a cleaning device (a brush head and a dust collector) and a moving device, and can be used for carrying out independent quantitative evaluation on the moving cleaning system. The quantitative evaluation of the cleaning device is carried out by taking the cleaning rate of different sundries as an index, common sundries comprise human hair, pet hair, dust, food residues, paper scraps and the like, the sundries are respectively placed in specified areas, and the measured robot measures the sundry residue degree of the specified area after completing a specified stroke, thereby completing the quantitative measurement of the cleaning device. The moving devices comprise a traveling device, a steering device and the like, and the measured robot action capacity needs to be measured in different environments due to different types of home floors (carpets). The method comprises the steps of respectively selecting a plurality of common floor types, such as wood floors, marble tiles, carpets and the like, sending forward, backward, steering, advancing along a specified route and other instructions to a tested sweeping robot in the environment, recording the time for the tested sweeping robot to finish the specified instructions and the movement accuracy, and finishing the quantitative measurement of a movement device.
And building an intelligent degree test environment of the sweeping robot corresponding to the evaluation system, and formulating a corresponding test scheme based on each evaluation system, wherein the test scheme comprises a test environment, a test task, a test object and a test index, and in a set test task scene, acquiring multiple groups of quantitative evaluation data of the sweeping robot in different test task scenes. The intelligent degree test environment of the sweeping robot is constructed to meet the requirements of closed test space, repeatable test and the like. The closed test space is arranged, the actual home environment is restored to provide a test platform for the floor sweeping robot test, the floor sweeping robot needs to test different systems respectively, corresponding test tasks are completed in different test scenes, and the whole motion track, the motion time, the response of other devices and the like of the floor sweeping robot are recorded.
Aiming at a detection induction evaluation system, a corresponding detection induction evaluation environment is built, a sweeping robot adopts an infrared laser radar device to collect the surrounding environment, point cloud data collected by the infrared laser radar is evaluated according to the current standard (GB/T36100-2018), and specific evaluation indexes comprise point cloud density, elevation precision, plane precision, coarse difference rate and strength quality. And evaluating the accuracy of the environment acquisition data of the sweeping robot. In this embodiment, 0.5m × 0.5m obstacles are arranged and respectively placed at 0.5m in front of the sweeping robot, 1m on the right side, 2m behind and 5m on the left side, as shown in fig. 2(a, B, C and D are obstacles), a detection sensing test is performed, the detection sensing evaluation system obtains surrounding environment data of the sweeping robot, the surrounding environment data includes the position, distance and size of the obstacle, the surrounding environment data is compared with the actual environment to obtain the accuracy of detection sensing, and the accuracy is used as a quantitative index of the detection sensing evaluation system.
The route planning evaluation system comprises static scene evaluation and dynamic scene evaluation. Therefore, corresponding static scene evaluation environments and dynamic scene evaluation environments are set up, such as the static scene evaluation environment shown in fig. 3 and the dynamic scene evaluation environment shown in fig. 4. The static scene evaluation environment selects different static indoor scenes. In a dynamic scene test environment, irregular obstacles are arranged to simulate the movement of people, animals and the like in an actual environment. Setting different route planning test scenes, recording the starting time, the finishing time and the cleaning speed of the cleaning robot in each route planning test scene, calculating the cleaning travel finished by the cleaning robot in each route planning test scene, and calculating the total cleaning travel finished by the cleaning robot in different route planning test scenes according to the cleaning travel in each route planning test scene to obtain the high-efficiency quantitative evaluation index of the cleaning robot. Total cleaning stroke LeffCalculated by formula (1);
cleaning total stroke L by formula (2) and formula (3)effCarrying out normalization processing to obtain an efficient quantitative evaluation index E of the sweeping roboteff；
Leff *＝vmaxtf (3)；
Wherein, t0Is a starting time, tfIs the current time, vtThe speed of the sweeping robot is determined, j is the current route planning test scene, m is the total number of the route planning test scenes,
for the travel when the intelligent degree of the sweeping robot reaches the highest level, vmaxThe maximum speed of the sweeping robot can be reached.
The motion cleaning evaluation system comprises a cleaning system and a motion system, and a corresponding cleaning system test environment and a corresponding motion system test environment are respectively established. The cleaning rates of different impurities are used as quantitative indexes. Common sundries comprise human hair, pet hair, dust, food residues and paper scraps, corresponding sundries are respectively placed in specified areas of a cleaning system test environment, as shown in fig. 5, the cleaning robot cleans the specified areas in the test environment, quantitative data of sundry residues in all the specified areas are calculated, quantitative evaluation indexes of cleanliness of the cleaning robot on different sundries are calculated, and the quantitative evaluation index of cleanliness EcleThe calculation is carried out according to the formula (4),
wherein i is sundries, n is sundry type, mi1M is the total mass of the sundries before cleaningi2The total mass of the impurities after cleaning.
The method comprises the steps of building a corresponding motion system test environment, selecting several common floor types such as wood floors, marble tiles, carpets and the like, sending a specified instruction to a sweeping robot, wherein the specified instruction comprises advancing, retreating, steering and advancing according to a specified route, recording the time for the sweeping robot to finish the specified instruction and quantitative data of motion accuracy, calculating the kinetic energy characteristic of the sweeping robot when the sweeping robot touches a collision object, and obtaining the safety quantitative evaluation index of the sweeping robot. The kinetic energy characteristic KriskThe calculation is carried out according to the formula (5),
by the formula (6) and the formula (7) For the kinetic energy characteristic KriskCarrying out normalization processing to obtain a safety quantitative index E of the sweeping robotrisk；
Wherein, t0Is a starting time, tfIs the current time, m0Is the quality of the sweeping robot, vtIn order to speed up the sweeping robot,
the kinetic energy characteristic v when the intelligent degree of the sweeping robot reaches the highest levelmaxThe maximum speed of the sweeping robot can be reached.
The functional quantitative evaluation index of the sweeping robot is obtained by calculation according to the formula (8) and is used for representing the functional evaluation standard of the sweeping robot,
wherein N is the number of functions of the sweeping robot, for example, the sweeping robot supports a voice interaction function, and has a storage function and an automatic low-power homing function, and if the number of functions N is 4, which are respectively sweeping, voice interaction, storage and automatic homing, then the function evaluation criterion E is satisfiedfunc＝0.75。
And constructing an intelligent degree quantization function of the sweeping robot according to the intelligent degree quantization evaluation index, and determining the intelligent degree of the sweeping robot according to the quantization function. The quantization function is equation (9);
Eint＝Ecle+Eeff+Erisk+Efunc (9)；
wherein E isintFor the intellectualized degree of the sweeping robot, EcleFor quantitative evaluation of cleanliness, EeffFor high efficiency quantitative evaluation index, EriskTo quantify indicators for safety, EfuncIs a functional quantitative evaluation index. The intelligent degree of the sweeping robot is classified according to the intelligent quantitative degree of the sweeping robot, if the intelligent quantitative degree is between 0 and 1, the intelligent degree is the lowest level, if the intelligent quantitative degree is between 1 and 2, the intelligent level is the lower level, if the intelligent quantitative degree is between 2 and 3, the intelligent level is the higher level, and if the intelligent quantitative degree is between 3 and 4, the intelligent level is the highest level.
As shown in fig. 6, according to an embodiment of the present invention, the present invention provides an intelligent degree quantitative evaluation system for an intelligent floor sweeping robot, the system includes:
the construction module 60 is used for constructing a floor sweeping robot intelligent degree quantitative evaluation system, wherein the evaluation system comprises a detection induction evaluation system, a route planning evaluation system and a motion cleaning evaluation system;
the test module 61 is used for building an intelligent degree test environment of the sweeping robot corresponding to the evaluation system, and making a corresponding test scheme based on each evaluation system, wherein the test scheme comprises a test environment, a test task, a test object and a test index;
the quantitative evaluation module 62 is used for acquiring multiple groups of quantitative evaluation data of the sweeping robot in different test task scenes in the test task scenes set by the test module, and constructing an intelligent degree quantitative evaluation index of the sweeping robot, wherein the quantitative evaluation index comprises cleanliness, high efficiency, safety and functionality;
and the evaluation module 63 constructs an intelligent degree quantization function of the sweeping robot according to the intelligent degree quantization index, and determines the intelligent degree of the sweeping robot according to the quantization function.
The construction module constructs a floor sweeping robot intelligent degree quantitative evaluation system which comprises a detection induction evaluation system, a route planning evaluation system and a motion cleaning evaluation system, and the intelligent quantitative degree of the floor sweeping robot is evaluated based on the three systems. The detection induction evaluation system is a system for detecting and identifying the surrounding environment of the sweeping robot. The route planning and evaluation system is a system for processing the surrounding environment data obtained by the sensing system by the sweeping robot and optimizing the optimal sweeping route through an algorithm. And the motion cleaning evaluation system executes corresponding advancing and cleaning actions according to the route calculated in the motion planning system.
The testing module builds an intelligent degree testing environment of the sweeping robot corresponding to the evaluation system, and a corresponding testing scheme is formulated based on each evaluation system, wherein the testing scheme comprises a testing environment, a testing task, a testing object and a testing index. The intelligent degree test environment of the sweeping robot is constructed to meet the requirements of closed test space, repeatable test and the like.
The quantitative evaluation module acquires multiple groups of quantitative evaluation data of the sweeping robot in different test task scenes in the test task scenes set by the test module, and constructs an intelligent degree quantitative evaluation index of the sweeping robot, wherein the quantitative evaluation index comprises cleanliness, high efficiency, safety and functionality. Aiming at a detection induction evaluation system, a corresponding detection induction evaluation environment is built, point cloud data acquired by the infrared laser radar is evaluated according to the current standard, and specific evaluation indexes comprise point cloud density, elevation precision, plane precision, coarse difference rate and strength quality. The route planning evaluation system comprises a static scene evaluation and a dynamic scene evaluation; therefore, corresponding static scene evaluation environments and dynamic scene evaluation environments are set up, different route planning test scenes are set, and the high-efficiency quantitative evaluation index of the sweeping robot is calculated in each route planning test scene. The motion cleaning evaluation system comprises a cleaning system and a motion system, and a corresponding cleaning system test environment and a corresponding motion system test environment are respectively established. The cleaning robot cleans in each specified area in a test environment, calculates quantitative data of sundry residues in all the specified areas, and calculates the cleanliness quantitative evaluation indexes of the cleaning robot on different sundries. The method comprises the steps of building a corresponding motion system test environment, sending an appointed instruction to a sweeping robot, recording quantitative data of time for the sweeping robot to complete the appointed instruction and motion accuracy, calculating kinetic energy characteristics of the sweeping robot when the sweeping robot touches a collision object, and obtaining safety quantitative evaluation indexes of the sweeping robot.
The evaluation module constructs an intelligent degree quantization function of the sweeping robot according to the intelligent degree quantization evaluation index, and determines the intelligent degree of the sweeping robot according to the quantization function. Reference is made in particular to the description of the method section. And carrying out grade classification on the intelligent degree of the sweeping robot according to the intelligent quantitative degree of the sweeping robot.
Although the preferred embodiments of the present invention have been disclosed for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims.
Claims (10)
1. The intelligent degree quantitative evaluation method for the sweeping robot is characterized by comprising the following steps of:
s1, constructing a floor sweeping robot intelligent degree quantitative evaluation system, wherein the evaluation system comprises a detection induction evaluation system, a route planning evaluation system and a motion sweeping evaluation system;
s2, setting up an intelligent degree testing environment of the sweeping robot corresponding to the evaluation system, and making a corresponding testing scheme based on each evaluation system, wherein the testing scheme comprises a testing environment, a testing task, a testing object and a testing index;
s3, acquiring multiple groups of quantitative evaluation data of the sweeping robot in different test task scenes in the test task scene set in the S2, and constructing an intelligent degree quantitative evaluation index of the sweeping robot, wherein the quantitative evaluation index comprises cleanliness, high efficiency, safety and functionality;
s4, constructing an intelligent degree quantization function of the sweeping robot according to the intelligent degree quantization evaluation index, and determining the intelligent degree of the sweeping robot according to the quantization function.
2. The method for quantitatively evaluating the intelligent degree of a floor sweeping robot according to claim 1, wherein the evaluation step of the route planning evaluation system comprises the following steps:
the route planning evaluation system comprises a static scene evaluation and a dynamic scene evaluation, corresponding static scene evaluation environments and dynamic scene test environments are respectively set up, and different route planning test scenes are set;
in each route planning test scene, recording the starting time and the finishing time of cleaning of the sweeping robot and the cleaning speed;
calculating a sweeping stroke finished by the sweeping robot in each route planning test scene;
and calculating to obtain the total cleaning travel of the sweeping robot in different route planning test scenes according to the cleaning travel in each route planning test scene, and obtaining the high-efficiency quantitative evaluation index of the sweeping robot.
3. The floor sweeping robot intelligentized degree quantitative evaluation method according to claim 2, wherein the total sweeping stroke L iseffCalculated by formula (1);
cleaning total stroke L by formula (2) and formula (3)effCarrying out normalization processing to obtain an efficient quantitative evaluation index E of the sweeping roboteff；
Leff *＝vmaxtf (3)；
Wherein, t0Is a starting time, tfIs the current time, vtThe speed of the sweeping robot is determined, j is the current route planning test scene, m is the total number of the route planning test scenes,
for the travel when the intelligent degree of the sweeping robot reaches the highest level, vmaxThe maximum speed of the sweeping robot can be reached.
4. The quantitative evaluation method for the intelligent degree of the sweeping robot as claimed in claim 3, wherein the evaluation step of the motion sweeping evaluation system comprises:
building a cleaning system test environment, and placing corresponding sundries in a specified area of the cleaning system test environment;
the sweeping robot carries out sweeping in each specified area;
calculating quantitative data of sundry residues in all the specified areas;
calculating the cleanliness quantitative evaluation index of the sweeping robot for different sundries;
the cleanness quantitative evaluation index EcleCalculated by equation (4):
wherein i is sundries, n is sundry type, mi1M is the total mass of the sundries before cleaningi2The total mass of the impurities after cleaning.
5. The method for quantitatively evaluating the intelligent degree of a sweeping robot according to claim 4, wherein the evaluating step of the motion sweeping evaluation system further comprises:
building a corresponding motion system test environment;
sending a designated instruction to the sweeping robot, wherein the designated instruction comprises forward movement, backward movement, steering and traveling according to a specified route;
recording the time for the sweeping robot to finish the specified instruction and the quantitative data of the motion accuracy;
and calculating the kinetic energy characteristic of the sweeping robot when the sweeping robot touches the colliding object, and obtaining the safety quantitative evaluation index of the sweeping robot.
6. The floor sweeping robot intelligentized degree quantitative evaluation method according to claim 5, wherein the kinetic energy characteristic K isriskThe calculation is carried out according to the formula (5),
the kinetic energy characteristic K is determined by the formula (6) and the formula (7)riskCarrying out normalization processing to obtain a safety quantitative index E of the sweeping robotrisk；
Wherein, t0Is a starting time, tfIs the current time, m0Is the quality of the sweeping robot, vtIn order to speed up the sweeping robot,
the kinetic energy characteristic v when the intelligent degree of the sweeping robot reaches the highest levelmaxThe maximum speed of the sweeping robot can be reached.
7. The method for quantitatively evaluating the intelligent degree of the sweeping robot according to claim 6, wherein the functional quantitative evaluation index of the sweeping robot is calculated by formula (8), and is used for representing the functional evaluation standard of the sweeping robot;
and N is the number of the functions of the sweeping robot.
8. The method for quantitatively evaluating the intelligent degree of a floor sweeping robot according to claim 7, wherein the quantitative function is an equation (9);
Eint＝Ecle+Eeff+Erisk+Efunc (9)；
wherein E isintFor the intellectualized degree of the sweeping robot, EcleFor quantitative evaluation of cleanliness, EeffFor high efficiency quantitative evaluation index, EriskTo quantify indicators for safety, EfuncIs a functional quantitative evaluation index.
9. The quantitative evaluation method for the intelligent degree of the sweeping robot according to claim 8, which comprises the following steps:
according to the intelligent degree of the sweeping robot, carrying out grade classification on the intelligent degree of the sweeping robot;
if the intelligent quantization degree is between 0 and 1, the intelligent grade is the lowest grade;
if the intelligent quantization degree is between 1 and 2, the intelligent level is lower level;
if the intelligent quantization degree is between 2 and 3, the intelligent grade is higher;
and if the intelligent quantization degree is between 3 and 4, the intelligent grade is the highest grade.
10. The utility model provides a system for quantitatively evaluating the intelligent degree of a floor sweeping robot, which is characterized in that the system comprises:
the system comprises a building module, a road sweeping robot intelligent degree quantitative evaluation system and a control module, wherein the floor sweeping robot intelligent degree quantitative evaluation system comprises a detection induction evaluation system, a route planning evaluation system and a motion sweeping evaluation system;
the test module is used for building an intelligent degree test environment of the sweeping robot corresponding to the evaluation system and formulating a corresponding test scheme based on each evaluation system, wherein the test scheme comprises a test environment, a test task, a test object and a test index;
the quantitative evaluation module is used for acquiring multiple groups of quantitative evaluation data of the sweeping robot in different test task scenes in the test task scenes set by the test module and constructing an intelligent degree quantitative evaluation index of the sweeping robot, wherein the quantitative evaluation index comprises cleanliness, high efficiency, safety and functionality;
and the evaluation module is used for constructing an intelligent degree quantization function of the sweeping robot according to the intelligent degree quantization evaluation index and determining the intelligent degree of the sweeping robot according to the quantization function.
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