CN109297736B - Cleaning robot capability test equipment - Google Patents
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- CN109297736B CN109297736B CN201811062980.2A CN201811062980A CN109297736B CN 109297736 B CN109297736 B CN 109297736B CN 201811062980 A CN201811062980 A CN 201811062980A CN 109297736 B CN109297736 B CN 109297736B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 95
- 238000012360 testing method Methods 0.000 title claims abstract description 91
- 239000000428 dust Substances 0.000 claims abstract description 171
- 239000002245 particle Substances 0.000 claims abstract description 146
- 238000001514 detection method Methods 0.000 claims abstract description 28
- 230000004888 barrier function Effects 0.000 claims abstract description 22
- 238000004088 simulation Methods 0.000 claims abstract description 12
- 238000005259 measurement Methods 0.000 claims abstract description 10
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 20
- 229910052742 iron Inorganic materials 0.000 claims description 10
- 238000011056 performance test Methods 0.000 claims description 7
- 230000000007 visual effect Effects 0.000 claims description 7
- 230000007480 spreading Effects 0.000 claims description 6
- 238000003892 spreading Methods 0.000 claims description 6
- 238000007885 magnetic separation Methods 0.000 claims description 4
- 239000003086 colorant Substances 0.000 claims description 2
- 229910003460 diamond Inorganic materials 0.000 claims description 2
- 239000010432 diamond Substances 0.000 claims description 2
- 230000004069 differentiation Effects 0.000 claims description 2
- 239000011347 resin Substances 0.000 description 11
- 229920005989 resin Polymers 0.000 description 11
- 238000005303 weighing Methods 0.000 description 6
- 239000000463 material Substances 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000010408 sweeping Methods 0.000 description 4
- 238000009826 distribution Methods 0.000 description 2
- 238000010410 dusting Methods 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000011148 porous material Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000012780 transparent material Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
- G01M99/005—Testing of complete machines, e.g. washing-machines or mobile phones
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
- G01M99/008—Subject matter not provided for in other groups of this subclass by doing functionality tests
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Abstract
The invention relates to cleaning machine humanized energy test equipment, which comprises a measurement platform, a measurement device and an auxiliary component, wherein a hard floor dust removal capability test dust scattering area and a corner dust removal capability test dust scattering area are arranged in the measurement platform; a plurality of initial areas are arranged in the measurement platform, and the cleaning robot to be measured is placed in one of the initial areas when detection starts; the measuring device comprises four high-precision CCD cameras, dust simulation particles, a noise tester and a collision detection sensor; the auxiliary components comprise barriers, particle distributors, a dust scattering area baffle for testing the dust removing capability of corners and a particle distinguishing device. Compared with the prior art, the invention simultaneously tests the basic performances of coverage rate, hard floor dust removing capability, corner dust removing capability, obstacle avoiding capability, noise, equipment stability and repeatability, and has the advantages of convenient operation, short test time, acquisition of a plurality of detection data at one time, accurate detection data and the like.
Description
Technical Field
The invention relates to robot detection equipment, in particular to cleaning machine humanity energy test equipment.
Background
The floor sweeping robot, also called automatic sweeping machine, intelligent dust collector, robot dust collector, etc., is one kind of intelligent household appliance and can complete floor cleaning automatically inside room with certain artificial intelligence. With the continuous development of the economy in China, the incomes of people can be controlled and continuously improved, the residence area of people is continuously increased, the living and consumption habits are changed, and especially the demand for product intellectualization is increasingly increased; in addition, the rapid-paced life brought by the urban process leads to the reduction of the household working time of people. Therefore, the sweeping robot is gradually accepted by the consumers. According to market data, sales of the sweeping robots in China are increased from 56.5 ten thousand in 2013 to 400 ten thousand in 2017.
The quality difference of the cleaning robot products in the current market is large, key parameters are not marked by various factories, related standards are lacking in China, the vast consumers cannot detect the performance of the products, and a third-party quality inspection mechanism detects and authenticates partial indexes according to QB/T4833-2015 cleaning robots for household and similar purposes. The cleaning robot product performance indexes related to the standard are as follows: coverage rate, hard floor dust removal capability, corner dust removal capability, anti-falling capability, obstacle surmounting capability, automatic charging function, reserved cleaning function, remote control function, noise, service life and the like, wherein the three performance indexes of coverage rate, hard floor dust removal capability and corner dust removal capability are core indexes for showing the service capability of a cleaning robot. Considering the complexity of the room conditions of the family, the robot needs to have the external environment sensing capability, so the performance test method should fully consider the working environment of the robot, especially the indoor setting of the clean bottom surface; the automatic dust collection function has stability and repeatability, and the cleaning performance of the robot is not affected by different initial positions, so that in the test, a plurality of initial positions are set according to different conditions to determine the stability of the dust collection performance; in consideration of comfort feeling of people, robot noise should be within a certain range, and human life is not affected.
At present, only one or two indexes can be tested in the cleaning robot function testing device, and the cleaning robot function testing device cannot be comprehensively tested; or each index is required to be detected successively, and especially three core functions of coverage rate, hard floor dust removing capability and corner dust removing capability are required to be tested one by one, so that a great deal of time and labor are required to be consumed. Therefore, it is important to design a detection device capable of simultaneously detecting multiple indexes of the cleaning robot to improve the detection efficiency.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide cleaning robot performance testing equipment.
The aim of the invention can be achieved by the following technical scheme:
A cleaning robot performance test device comprises a measurement platform, a measurement device and an auxiliary component,
The measuring platform comprises a bottom plate, side plates and a top plate, and a hard floor dust removal capability test dust scattering area and a corner dust removal capability test dust scattering area are arranged on the bottom plate of the measuring platform; a plurality of initial areas are arranged on a bottom plate of the measuring platform, and the cleaning robot to be measured is placed in one of the initial areas when the detection starts;
Preferably, the measuring platform is of a cuboid structure.
According to the detection standard in QB/T4833-2015 cleaning robot for household and similar applications, the area of the measuring platform is 20m 2, and the length of the measuring platform is 5m and the width of the measuring platform is 4m.
The side plate of the measuring platform is made of transparent materials, preferably glass, so that the working condition of the robot inside the measuring platform can be conveniently observed.
The measuring device comprises four high-precision CCD cameras which are respectively arranged at four corners of the top plate of the measuring platform, and the visual field formed by the four cameras in a matched mode covers the whole bottom plate of the measuring platform; the measuring device further comprises distinguishable dust simulation particles, a noise tester and a collision detection sensor, different dust simulation particles are respectively arranged in the dust scattering area for the hard floor dust removal capability test and the dust scattering area for the corner dust removal capability test, the noise tester is arranged on a side plate of the measuring platform, and the collision detection sensor is arranged on the cleaning robot body to be measured; the collision detection sensor detects the collision times of the cleaning robot to be detected, the obstacle, the side plate of the measuring platform and the auxiliary component placed on the bottom plate of the measuring platform, and transmits signals to the display device and records the signals.
The auxiliary components comprise barriers, particle distributors, a dust scattering area baffle for testing the dust removing capability of corners and a particle distinguishing device; the barrier is arranged on the bottom plate of the measuring platform; the particle distributor is provided with particles for cleaning and detecting the cleaning robot to be tested, and uniformly scattering the particles to the dust scattering area for testing the dust removing capability of the hard floor and the dust scattering area for testing the dust removing capability of the corner; the baffle plate of the dust-scattering area for testing the dust-removing capability of the corners is arranged on the bottom plate of the measuring platform; the particle differentiation device automatically differentiates different particles.
According to the invention, different distinguishable particles are respectively placed in the dust removing capability test dust scattering area of the hard floor and the dust removing capability test dust scattering area of the corner, in the one-time experiment process, the robot cleans the bottom plate of the measuring platform, sucks the particles in the two areas, and distinguishes and measures the two particles mixed in the cleaning box of the robot by arranging the particle distinguishing device, so that the dust removing capability of the hard floor and the dust removing capability of the corner can be obtained simultaneously through one-time experiment, and the measuring time is greatly reduced.
The distribution density of the dust-simulated particles was 50g/m 2 according to the detection standard in QB/T4833-2015 cleaning robot for household and similar applications.
The dust simulation particles are respectively and uniformly distributed in the dust removing capability test dust scattering area of the hard floor and the dust removing capability test dust scattering area of the corner.
The particles are made of plastic materials and iron materials, and the particle distinguishing device is particle magnetic separation equipment.
The particles are plastic particles with two different colors, and the particle distinguishing device is a color sorting machine.
The particles are particles with two different diameters, and the particle distinguishing device is a screen.
The initial areas are three, namely an angular initial area, a side plate middle position initial area and a measuring platform middle position initial area.
The dust-removing capability test dust-scattering area of the hard floor is rectangular, square, diamond, triangle or round.
The baffle of the dust scattering area for the corner dust removal capability test is a cuboid baffle, the baffle is placed at the corner of the measuring platform, and the edge of the baffle and the area of the side plate width of the measuring platform, which is 50 mm, are the dust scattering area for the corner dust removal capability test.
The corner dust removal capability test dust scattering area baffle comprises a first connecting plate, a second connecting plate and a third connecting plate, wherein two ends of the second connecting plate are respectively and vertically connected with the first connecting plate and the third connecting plate, and an area 50 mm wide in the corner dust removal capability test dust scattering area baffle is the corner dust removal capability test dust scattering area.
The distance between any adjacent obstacles on the bottom plate of the measuring platform, the distance between the obstacles and the side plates, and the distance between the obstacles and the baffle of the dust scattering area for testing the dust removing capability of the corners are all larger than 20 mm, and the height of the obstacles is not lower than that of the cleaning robot to be detected.
The detection steps of the invention are as follows:
(1) Placing barriers on a bottom plate of a measuring platform, wherein the difference between the spacing between any adjacent barriers on the bottom plate of the measuring platform, the spacing between the barriers and the surrounding side plates and the spacing between the barriers and the baffle of a dust scattering area for testing the dust removing capability of corners and the maximum diameter of a cleaning robot to be detected is larger than 20 mm, and the height of the barriers is not lower than the height of the cleaning robot to be detected; the area of the area to be cleaned is
S0＝S1-S2
Wherein S 0 is the area of the area to be cleaned; s 1 is the area of a bottom plate of the measuring platform; s 2 is the sum of the bottom areas of the baffle plates of the dust scattering area for the obstacle and corner dust removal capability test;
(2) Uniformly distributing the first particles in a dust removing capability test dust scattering area of the hard floor by using a particle distributor; uniformly distributing the second type of particles in the corner dust removal capability test dust scattering area by using a particle distributor, and respectively recording the mass of the particles distributed in the hard floor dust removal capability test dust scattering area and the corner dust removal capability test dust scattering area, wherein the mass of the particles is respectively recorded as g 1 and g 2;
(3) Placing the cleaning robot to be tested in an initial area positioned at an angle, starting the cleaning robot to be tested, and closing the cleaning robot after the cleaning robot to be tested works for 30 minutes; recording the working track of the cleaning robot through a visual image obtained by shooting with a high-precision CCD camera to obtain an uncleaned area S 3; the cleaning area of the cleaning robot is S 0-S3;
According to the working track of the cleaning robot and the size of a cleaning opening of the cleaning robot, which are recorded by visual images obtained by shooting with a high-precision CCD camera, an image of a cleaning area of the robot can be obtained, when the area is blackened, a white area is an uncleaned area, and the area is measured on the white area, so that an uncleaned area S 3 can be obtained;
(4) Taking out a cleaning box of the cleaning robot, pouring out particles in the cleaning box, and weighing to obtain the mass g 3 of the particles adsorbed by the cleaning robot; putting the particles into a particle distinguishing device, distinguishing a first particle and a second particle, respectively weighing the first particle and the second particle, wherein the mass of the first particle is g 4 and the mass of the second particle is g 5;
(5) The number of times that the robot collides with the obstacle, which is detected by the collision detection sensor, is read; reading the decibel number of the noise measuring instrument;
(6) Placing the cleaning robot in an initial area at the middle position of the side plate and measuring the initial area at the middle position of the measuring platform again;
Coverage= (S) 0-S3)/S0
Hard floor dust removal capacity = g 4/g1
Corner dusting power = g 5/g2.
Compared with the prior art, the invention simultaneously tests the basic performances of coverage rate, hard floor dust removal capability, corner dust removal capability, obstacle avoidance capability and noise, obtains data once, greatly shortens the detection time of each robot, and sets three initial areas for detecting the robot, thereby obtaining the stability and repeatability of the robot, more comprehensively detecting the performance of the robot, and has the advantages of convenient operation, short test time, obtaining a plurality of detection data once, accurate detection data and the like.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
In the figure, 1 is a measuring platform, 21 is a dust scattering area for testing the dust removing capability of corners, 22 is a dust scattering area for testing the dust removing capability of hard floors, 31 is an angular initial area, 32 is a side plate middle initial area, 33 is a measuring platform middle initial area, 41 is a first obstacle, 42 is a second obstacle, 43 is a third obstacle, 44 is a fourth obstacle, 45 is a fifth obstacle, 5 is a dust scattering area baffle for testing the dust removing capability of corners, and 6 is a noise measuring instrument.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
Example 1
The human performance testing equipment for the cleaning machine has the structure shown in fig. 1, and comprises a measuring platform 1, a measuring device and auxiliary components, wherein the measuring platform 1 is of a cuboid structure and comprises a bottom plate, side plates and a top plate, the length of the measuring platform is 5m, and the width of the measuring platform is 4m; a hard floor dust removing capability test dust scattering area 22 and a corner dust removing capability test dust scattering area 21 are arranged on the bottom plate of the measuring platform 1, and the hard floor dust removing capability test dust scattering area 22 is a rectangular area; three initial areas, namely an angular initial area 31, a side plate middle position initial area 32 and a measurement platform middle position initial area 33, are arranged on the bottom plate of the measurement platform 1, wherein a circle represents a cleaning robot, a rectangular frame and a triangular frame represent areas where the cleaning robot is placed, and the cleaning robot to be measured is placed in one of the initial areas when detection starts;
the measuring device comprises four high-precision CCD cameras which are respectively arranged at four corners of the top plate of the measuring platform, and the visual field formed by the four cameras in a matched mode covers the whole bottom plate of the measuring platform; the measuring device also comprises distinguishable dust simulation particles, a noise tester 6 and a collision detection sensor; the dust simulation particles are white and black square resin particles with the particle diameters of 4 millimeters, the white resin particles are placed in the dust removing capability test dust scattering area 22 of the hard floor, and the black resin particles are placed in the corner dust removing capability test dust scattering area 21; the noise tester 6 is installed on the side plate of the measuring platform, and is 0.5m away from the ground, the collision detection sensor is installed on the cleaning robot body to be measured, and when the robot collides with other objects, the sensor sends a collision signal, and the display device displays and counts.
The auxiliary components comprise barriers, a particle distributor, a corner dust removal capability test dust scattering area baffle 5 and a particle distinguishing device; five obstacles, namely a first obstacle 41, a second obstacle 42, a third obstacle 43, a fourth obstacle 44, a fifth obstacle 45 and a cleaning robot to be detected, are arranged in the embodiment, wherein the shapes of the five obstacles are different, and the height of the five obstacles is larger than that of the cleaning robot to be detected; the barrier is put on measuring platform's bottom plate, when setting up the barrier position, should guarantee that interval, barrier and the interval of curb plate all around between the arbitrary adjacent barrier on the measuring platform bottom plate and the barrier with the difference between the corner dust removal capability test dust scattering area baffle and the cleaning robot maximum diameter that waits to detect all is greater than 20 millimeters. The particle distributor is provided with particles for cleaning and detecting the cleaning robot to be detected, the particle distributor uniformly spreads the particles to a hard floor dust removing capability test dust spreading area and a corner dust removing capability test dust spreading area, in order to prevent the particles from rolling out of the dust spreading area when the particles are distributed by the particle distributor, when the particles are distributed, a baffle plate with matched shapes is arranged at the boundary of the hard floor dust removing capability test dust spreading area and the corner dust removing capability test dust spreading area, and after the particle distribution is finished, the baffle plate is taken out of the measuring platform; the specific structure of the particle distributor in this embodiment is shown in chinese patent CN205667848U. The baffle 5 of the dust removing capacity testing dust scattering area of the corner is of a cuboid structure, the baffle is placed on a bottom plate of the corner of the measuring platform, two side faces of the cuboid structure are respectively contacted with the side plates, and the other two side faces of the cuboid structure and the area of the side plate width of the measuring platform, which is 50 mm, are the dust removing capacity testing dust scattering area 2 of the corner. The particle distinguishing device is used for sorting different particles, the particle distinguishing device in the embodiment is a color sorting machine, the structure of the particle distinguishing device is shown in Chinese patent CN206747065U, white resin particles and black resin particles in test particles in the cleaning robot cleaning box are sorted out, and the weights are measured respectively.
The measuring method comprises the following steps:
(1) Placing barriers on a bottom plate of a measuring platform, wherein the difference between the spacing between any adjacent barriers on the bottom plate of the measuring platform, the spacing between the barriers and the surrounding side plates and the spacing between the barriers and the baffle of a dust scattering area for testing the dust removing capability of corners and the maximum diameter of a cleaning robot to be detected is more than 20 mm; the area of the area to be cleaned is
S0＝S1-S2
Wherein S 0 is the area of the area to be cleaned; s 1 is the area of a bottom plate of the measuring platform; s 2 is the sum of the bottom areas of the baffle plates of the dust scattering area for the obstacle and corner dust removal capability test;
(2) Uniformly distributing white resin particles in the dust removing capability test dust scattering area 22 of the hard floor by using a particle distributor; uniformly distributing black resin particles in a corner dust removal capability test dust scattering area 21 by using a particle distributor, and respectively recording the quality of the white and black resin particles, namely g 1 and g 2;
(3) Placing the cleaning robot to be tested in the angular initial area 31, starting the cleaning robot to be tested, and closing the cleaning robot after the cleaner of the cleaning robot to be tested is manually operated for 30 minutes; recording the working track of the cleaning robot through a visual image obtained by shooting with a high-precision CCD camera to obtain an uncleaned area S 3; the cleaning area of the cleaning robot is S 0-S3;
According to the working track of the cleaning robot and the size of a cleaning opening of the cleaning robot, which are recorded by visual images obtained by shooting with a high-precision CCD camera, an image of a cleaning area of the robot can be obtained, when the area is blackened, a white area is an uncleaned area, and the area is measured on the white area, so that an uncleaned area S 3 can be obtained;
(4) Taking out a cleaning box of the cleaning robot, pouring out particles in the cleaning box, and weighing to obtain the mass g 3 of the particles adsorbed by the cleaning robot; putting the particles into a color sorter, and dividing the mixed particles into white and black resin particles by the sorter, wherein the white and black resin particles are respectively weighed, and the mass of the white and black resin particles is g 4 and g 5 respectively;
(5) The number of times that the robot collides with the obstacle, which is detected by the collision detection sensor, is read; reading the decibel number of the noise measuring instrument;
(6) Placing the cleaning robot in a side plate middle position initial area 32, measuring a platform middle position initial area 33, and measuring again to obtain data;
Coverage= (S) 0-S3)/S0
Hard floor dust removal capacity = g 4/g1
Corner dusting power = g 5/g2.
Compared with the prior art, the invention simultaneously tests the basic performances of coverage rate, hard floor dust removal capability, corner dust removal capability, obstacle avoidance capability and noise, obtains data once, greatly shortens the detection time of each robot, and sets three initial areas for detecting the robot, thereby obtaining the stability and repeatability of the robot, more comprehensively detecting the performance of the robot, and has the advantages of convenient operation, short test time, obtaining a plurality of detection data once, accurate detection data and the like.
Example 2
The equipment composition and connection of this example are similar to those of example 1, with the main differences: the dust simulation particles are particles with the particle size of 4 mm, the materials of the dust simulation particles are plastic materials and magnetic iron materials respectively, and in order to keep the quality of each plastic particle and the quality of each iron particle consistent, the iron particles in the embodiment are hollow structures; correspondingly, the particle distinguishing device is a particle magnetic separation device, and in the embodiment, a particle magnetic separation device as reported in patent CN207105351U is adopted.
Step (2) of the measuring method of the invention is to uniformly distribute plastic particles in the dust removing capability test dust scattering area 22 of the hard floor by using a particle distributor; the iron particles are uniformly distributed in the dust-scattering area 21 for testing the dust-removing ability of the corners by a particle distributor, and the quality of the iron particles and the quality of the plastic particles are respectively recorded as g 1 and g 2
Step (4) taking out the cleaning box of the cleaning robot, pouring out particles in the cleaning box, and weighing to obtain the mass g 3 of the particles adsorbed by the cleaning robot; and sucking out iron particles in the mixed particles by using a magnet, placing the iron particles into a container, weighing the rest particles which are plastic particles, wherein the mass of the iron particles and the mass of the plastic particles are g 4 and g 5 respectively.
The corner dust removal capability test dust scattering area baffle in the embodiment comprises a first connecting plate, a second connecting plate and a third connecting plate, wherein two ends of the second connecting plate are respectively and vertically connected with the first connecting plate and the third connecting plate, and the area 50 mm wide along the corner dust removal capability test dust scattering area baffle is the corner dust removal capability test dust scattering area.
Example 3
The equipment composition and connection of this example are similar to those of example 1, with the main differences: the dust simulation particles are round particles with the particle size of 4 mm and the particle size of 2mm, and the corresponding particle distinguishing device is a screen with the pore size of 3 mm; step (2) uniformly distributing particles with the particle size of 4 mm in the dust removing capability test dust scattering area 22 of the hard floor by using a particle distributor; the particles with the particle size of 2mm are uniformly distributed in the corner dust removal capability test dust scattering area 21 by a particle distributor, and the particle mass with the particle size of 4 mm and the particle mass with the particle size of 2mm are respectively recorded as g 1 and g 2.
Step (4) taking out the cleaning box of the cleaning robot, pouring out particles in the cleaning box, and weighing to obtain the mass g 3 of the particles adsorbed by the cleaning robot; the two kinds of particles with different particle diameters are screened by a screen, the mass of the two kinds of particles with the particle diameters is measured, and the mass of the particles with the particle diameters of 4mm and 2mm is g 4 and g 5 respectively.
The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the claims without affecting the spirit of the invention.
Claims (8)
1. The cleaning robot performance test equipment comprises a measurement platform (1), a measurement device and auxiliary components, and is characterized in that,
The measuring platform (1) comprises a bottom plate, side plates and a top plate, wherein the bottom plate is provided with a hard floor dust removing capability test dust scattering area (22) and a corner dust removing capability test dust scattering area (21); the base plate is provided with a plurality of initial areas, and the cleaning robot to be tested is placed in one of the initial areas when the detection starts;
The measuring device comprises four high-precision CCD cameras which are respectively arranged at four corners of a top plate of the measuring platform, and a visual field formed by the four cameras in a matched mode covers the bottom plate of the whole measuring platform; the measuring device further comprises distinguishable dust simulation particles, a noise tester (6) and a collision detection sensor, wherein different dust simulation particles are respectively arranged in the dust scattering area (22) for the hard floor dust removal capability test and the dust scattering area (21) for the corner dust removal capability test, the noise tester (6) is arranged on a side plate of the measuring platform, and the collision detection sensor is arranged on the cleaning robot body to be measured;
The auxiliary component comprises an obstacle, a particle distributor, a corner dust removal capability test dust scattering area baffle (5) and a particle distinguishing device; the obstacle is arranged on the bottom plate of the measuring platform (1); the particle distributor is provided with particles for cleaning and detecting a cleaning robot to be tested, and uniformly scattering the particles to a dust scattering area (22) for testing the dust removing capability of the hard floor and a dust scattering area (21) for testing the dust removing capability of the corner; the baffle (5) of the dust scattering area for testing the dust removing capability of the corners is arranged on the bottom plate of the measuring platform (1); the particle distinguishing device sorts different particles;
the dust simulation particles are respectively and uniformly arranged in a dust removing capability test dust scattering area (22) of the hard floor and a dust removing capability test dust scattering area (21) of the corner;
The initial area is provided with three initial areas, namely an angular initial area (31), a side plate middle position initial area (32) and a measuring platform middle position initial area (33).
2. The cleaning robot performance test apparatus of claim 1, wherein the particles are made of plastic and iron, and the particle sorting device is a particle magnetic separation apparatus.
3. The cleaning robot performance test device of claim 1, wherein the particles are plastic particles of two different colors, and the particle differentiating means is a color sorter.
4. The cleaning robot performance test device of claim 1, wherein the particles are of two different diameters and the particle differentiation means is a screen.
5. The cleaning machine human performance test device of claim 1, wherein the hard floor dust removal capability test dust spreading area (22) is rectangular, square, diamond, triangular or circular.
6. The cleaning machine humanized energy test device according to claim 1, wherein the corner dust removal capability test dust scattering area baffle (5) is a cuboid baffle, is placed at the corner of the measuring platform, and the corner dust removal capability test dust scattering area (21) is a 50mm wide area along the edge of the baffle and the side plate of the measuring platform.
7. The cleaning machine humanized energy test device according to claim 1, wherein the corner dust removal capability test dust scattering area baffle (5) comprises a first connecting plate, a second connecting plate and a third connecting plate, two ends of the second connecting plate are respectively and vertically connected with the first connecting plate and the third connecting plate, and an area with a width of 50mm along the corner dust removal capability test dust scattering area baffle is the corner dust removal capability test dust scattering area (21).
8. The cleaning robot humanized energy testing device according to claim 1, wherein the difference between the distance between any adjacent barrier on the bottom plate of the measuring platform, the distance between the barrier and the side plate, the distance between the barrier and the baffle of the dust scattering area for testing the dust removing capability of the corner and the maximum diameter of the cleaning robot to be detected is larger than 20 mm, and the height of the barrier is not lower than the height of the cleaning robot to be detected.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811062980.2A CN109297736B (en) | 2018-09-12 | 2018-09-12 | Cleaning robot capability test equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811062980.2A CN109297736B (en) | 2018-09-12 | 2018-09-12 | Cleaning robot capability test equipment |
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| CN109297736A CN109297736A (en) | 2019-02-01 |
| CN109297736B true CN109297736B (en) | 2024-05-07 |
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| CN201811062980.2A Active CN109297736B (en) | 2018-09-12 | 2018-09-12 | Cleaning robot capability test equipment |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110285990A (en) * | 2019-06-28 | 2019-09-27 | 北京云迹科技有限公司 | Robot automatically testing platform |
| CN111175061A (en) * | 2019-12-30 | 2020-05-19 | 苏州绿创检测技术服务有限公司 | Floor dust removal capacity detection method for cleaning robot |
| CN111238854B (en) * | 2020-04-28 | 2020-08-04 | 浙江欣奕华智能科技有限公司 | Method, device, equipment and medium for determining coverage rate of sweeping robot |
| CN112330122A (en) * | 2020-10-28 | 2021-02-05 | 中国计量大学 | Floor sweeping robot intelligent degree quantitative evaluation method and system |
| CN114674582B (en) * | 2020-12-24 | 2024-03-22 | 沈阳新松机器人自动化股份有限公司 | Coverage rate testing device for dry cleaning robot |
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