CN211534240U

CN211534240U - Optical flow calibration test equipment for floor sweeping robot

Info

Publication number: CN211534240U
Application number: CN201921845223.2U
Authority: CN
Inventors: 胡小玲; 刘晖; 冯浩鹏
Original assignee: Shenzhen Kaifa Technology Co Ltd
Current assignee: Shenzhen Kaifa Technology Co Ltd
Priority date: 2019-10-30
Filing date: 2019-10-30
Publication date: 2020-09-22
Anticipated expiration: 2029-10-30

Abstract

The utility model discloses a test equipment is markd to robot light stream of sweeping floor for carry out the light stream to the robot product that awaits measuring of sweeping floor and mark the test, equipment includes: the medium rack comprises a medium rack and a medium, wherein the medium is arranged on the medium rack; the extending direction of the sliding rail of the electric sliding table is consistent with the extending direction of the medium; the rotary platform is fixed on the sliding block of the electric sliding table and can rotate in the horizontal plane; product location platform for fixed product that awaits measuring sets up just be located rotary platform the medium top, the utility model discloses utilize the product linear motion of electronic slip table drive top, it is rotatory to utilize rotary platform to drive the product, need not artificial intervention in the whole testing process and can simulate actual running state and accomplish and mark the test, has realized automatic test, and its easy operation, convenience have reduced operating personnel work load, have saved the human cost, have also improved efficiency of software testing and measuring accuracy.

Description

Optical flow calibration test equipment for floor sweeping robot

Technical Field

The utility model relates to a robot test field of sweeping the floor especially relates to a test equipment is markd to robot light stream of sweeping the floor.

Background

At present, the calibration test of the optical flow component of the sweeping robot is used for detecting that a certain assembly error exists when the optical flow component is installed in the sweeping robot, and the manual pushing of a product to move and the manual rotation of 180 degrees are adopted for calibration detection, so that a large amount of manpower and material resources are needed, the test efficiency is low, and the test result is not necessarily reliable.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model lies in, to prior art's above-mentioned defect, a test equipment is markd to robot light stream of sweeping the floor is provided.

The utility model provides a technical scheme that its technical problem adopted is: the utility model provides a test equipment is markd to light stream of robot of sweeping floor for carry out light stream to the robot of sweeping floor awaiting measuring product and mark the test, equipment includes:

the medium rack comprises a medium rack and a medium, wherein the medium is arranged on the medium rack;

the extending direction of the sliding rail of the electric sliding table is consistent with the extending direction of the medium;

the rotary platform is fixed on the sliding block of the electric sliding table and can rotate in the horizontal plane;

and the product positioning platform is used for fixing a product to be detected and is arranged on the rotating platform and positioned above the medium.

The test equipment is markd to robot light stream of sweeping floor in, still include motion control board wiring board and with a plurality of laser sensor that the wiring board is connected, the wiring board is connected with the motion control board in the computer through relevant communication line, the servo motor that electronic slip table and rotary platform were still connected through the driver that corresponds respectively to the wiring board, a plurality of laser sensor set up on the rotary platform, set up on the product location platform and just to a plurality of through-holes that set up with a plurality of laser sensor, a plurality of laser sensor are used for the level of supplementary detection product and place.

The test equipment is markd to robot light stream of sweeping floor in, the sliding ring that leads electricity is connected at product location platform center, the sliding ring that leads electricity passes through the communication line and is connected with the computer, the product is fixed to behind the rotary platform with the sliding ring electricity that leads electricity is connected.

The test equipment is markd to robot light stream of sweeping floor in, all cables that equipment and master control computer are connected are attached to the tow chain structurally, the tow chain structure is located the rear of slide rail.

The test equipment is markd to robot light stream of sweeping floor in, be provided with on the product location platform with the uide pin that the constant head tank of robot bottom of sweeping floor matches, with the locating pin that the locating hole of robot bottom of sweeping floor matches, with drive wheel locating piece that the drive wheel of robot bottom of sweeping floor matches and with the universal wheel locating surface that the universal wheel of robot bottom of sweeping floor matches.

The optical flow of robot of sweeping floor demarcates test equipment in, the quantity of medium is two, and two blocks of media set up side by side, and form a bar gap between two blocks of media, the slide rail is located under the bar gap.

The utility model discloses a test equipment is markd to robot light stream of sweeping floor has following beneficial effect: the utility model discloses utilize the product linear motion of electronic slip table drive top, it is rotatory to utilize rotary platform to drive the product, need not artificial intervention in the whole testing process and can simulate actual running state and accomplish and mark the test, has realized automatic test, and its easy operation, convenience have reduced operating personnel work load, have saved the human cost, have also improved efficiency of software testing and precision of software testing.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts:

fig. 1 is a schematic structural view of the optical flow calibration testing device of the sweeping robot of the present invention;

FIG. 2 is a schematic structural view of a product positioning platform;

fig. 3 is a schematic circuit diagram of the present invention;

fig. 4 is the utility model discloses demarcate the test schematic diagram.

Detailed Description

In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. Exemplary embodiments of the present invention are shown in the drawings. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete. It should be understood that the embodiments and specific features in the embodiments of the present invention are described in detail in the present application, but not limited to the present application, and the technical features in the embodiments and specific features in the embodiments of the present invention can be combined with each other without conflict.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.

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

Referring to fig. 1-2, the utility model discloses a test equipment is markd to robot light stream of sweeping the floor for carry out the light stream to the robot product that awaits measuring of sweeping the floor and mark the test. The apparatus comprises: medium frame 1, medium 2, electronic slip table 5, rotary platform 7 etc..

Wherein the medium 2 is disposed on the medium shelf 1. Particularly, medium 2 is rectangular plate-like and level setting, and whole medium frame 1 sets up on equipment bottom plate 4, and the quantity of medium 2 is two, and two blocks of medium 2 set up side by side, and forms a bar gap between two blocks of medium 2, and the slide rail of electronic slip table 5 is located under the bar gap, the extending direction of slide rail with the extending direction of medium 2 is unanimous.

The rotary platform 7 is driven to rotate by a servo motor 71, the rotary platform 7 is fixed on a sliding block of the electric sliding table 5, and the rotary platform 7 can rotate in a horizontal plane. As shown in fig. 2, two supporting blocks 9 are fixed on the sliding block of the electric sliding table 5, and mainly provide an installation space for the servo motor 71.

Continuing to refer to fig. 2, product positioning platform 3 and product size looks adaptation, product positioning platform 3 is used for the fixed product that awaits measuring, and product positioning platform 3 sets up on rotary platform 7 and be located medium 2 top, product positioning platform 3 and medium 2 interval certain distance, and product positioning platform 3 can realize rotatoryly under rotary platform 7's drive.

With reference to fig. 2 and 3, the whole device also comprises a motion control card terminal block, which may be arranged in the space provided by the support block 9, and a plurality of laser sensors 8 connected to said terminal block. The wiring board is connected with the motion control card in the computer through related communication wires, and the related communication between the whole equipment and the computer is communicated through the path. The wiring board is also respectively connected with the servo motors of the electric sliding table 5 and the rotary platform 7 through corresponding drivers. In this embodiment, specifically be four laser sensor 8, four laser sensor 8 set up on rotary platform 7, and distribute in the position at roughly four angles of product, set up on product location platform 3 and just to four through-holes that set up with many four laser sensor 8, so laser can pass the through-hole and reach the product bottom, and four laser sensor 8 are used for the supplementary product that detects whether level is placed, for example judge whether the distance that four laser sensor 8 detected is unanimous, if the error meets the requirements, think the product is level placement, otherwise can remind.

With reference to fig. 2, the center of the product positioning platform 3 is connected to a conductive slip ring 16, the conductive slip ring 16 is connected to a computer through a communication line, the product is fixed to the rotating platform 7 and then electrically connected to the conductive slip ring 16, and on the other hand, after the product is placed on the product positioning platform 3, the communication line 15 connected to the computer is required to be plugged into a USB interface of the product.

In this embodiment, all cables (including the communication cable between wiring board and the computer and the communication cable before product and the computer) that are connected with the master control computer in the equipment are attached to tow chain structure 6, tow chain structure 6 is located the rear of the slide rail of electronic slip table 5, and tow chain structure 6 sets up side by side with the slide rail of electronic slip table 5.

Specifically, as shown in fig. 2, the product positioning platform 3 is provided with a guide pin 10 protruding upwards from the left and right sides, the guide pin is matched with a positioning groove in the bottom of the sweeping robot, the product positioning platform 3 is provided with a positioning pin 11 protruding upwards from the front and back sides, the positioning hole is matched with a positioning hole in the bottom of the sweeping robot, the product positioning platform 3 is provided with a V-shaped driving wheel positioning block 14 matched with a driving wheel in the bottom of the sweeping robot from the left and right sides, and the product positioning platform 3 is provided with a universal wheel positioning surface 13 matched with a universal wheel in the bottom of the sweeping robot.

The workflow of this embodiment is: firstly, matching a positioning groove of a sweeping robot with a guide pin 10, wherein the positioning hole of the product is also matched with a positioning pin 11, a wheel moving wheel is clamped into a driving wheel positioning block 14, and a universal wheel is positioned on a universal wheel positioning surface 13; then, the whole equipment is controlled to work through a computer, four laser sensors 8 below the product detect the distance, and the computer judges whether the product is horizontal according to a feedback result; after the electric sliding table 5 moves the product for a certain distance, the value of XY in the optical flow component is read, and the deflection angle theta between the optical flow component and the movement direction is calculated, specifically, as shown in fig. 4, 101 denotes a product, 102 denotes an optical flow component, an arrow denotes a moving direction, if qualified, the direction of X should coincide with the direction of the arrow, the direction of Y should be perpendicular to the direction of the arrow, i.e., the value of Y should be 0, the value of X should be the actual movement distance, therefore, if Y is not 0, the angle theta needs to be calculated according to the value of X, Y, if theta is larger than the specification value, the product is judged to be unqualified directly, if theta is smaller than the specification value, the deflection angle theta is written into the product for correction, then the rotary platform 7 is controlled to rotate the product by 180 degrees, and then the electric sliding table 5 is controlled to drive the product to return to the initial position, then, whether the movement distance X read by the product optical flow assembly is consistent with the actual movement distance is confirmed.

To sum up, the utility model discloses a test equipment is markd to robot light stream of sweeping floor has following beneficial effect: the utility model discloses utilize the product linear motion of electronic slip table drive top, it is rotatory to utilize rotary platform to drive the product, need not artificial intervention in the whole testing process and can simulate actual running state and accomplish and mark the test, has realized automatic test, and its easy operation, convenience have reduced operating personnel work load, have saved the human cost, have also improved efficiency of software testing and precision of software testing.

While the embodiments of the present invention have been described with reference to the accompanying drawings, the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many modifications may be made by one skilled in the art without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. The utility model provides a test equipment is markd to robot light stream of sweeping floor for carry out light stream to the robot product that awaits measuring of sweeping floor and mark the test, its characterized in that, equipment includes:

2. The optical flow calibration test equipment for the floor sweeping robot according to claim 1, further comprising a motion control card wiring board and a plurality of laser sensors connected with the wiring board, wherein the wiring board is connected with the motion control card in a computer through related communication lines, the wiring board is further connected with a servo motor of the electric sliding table and a servo motor of the rotary platform through corresponding drivers, the plurality of laser sensors are arranged on the rotary platform, a plurality of through holes which are arranged right opposite to the plurality of laser sensors are formed in the product positioning platform, and the plurality of laser sensors are used for assisting in detecting whether the product is placed horizontally.

3. The optical flow calibration test equipment for the floor sweeping robot according to claim 1, wherein a conductive slip ring is connected to the center of the product positioning platform and connected with a computer through a communication line, and the product is fixed to the rotating platform and then electrically connected with the conductive slip ring.

4. The optical flow calibration test equipment for the floor sweeping robot according to claim 1, wherein all cables connected with the master control computer are attached to a drag chain structure, and the drag chain structure is located behind the slide rail.

5. The optical flow calibration test equipment for the floor sweeping robot according to claim 1, wherein a guide pin matched with a positioning groove in the bottom of the floor sweeping robot, a positioning pin matched with a positioning hole in the bottom of the floor sweeping robot, a driving wheel positioning block matched with a driving wheel in the bottom of the floor sweeping robot, and a universal wheel positioning surface matched with a universal wheel in the bottom of the floor sweeping robot are arranged on the product positioning platform.

6. The optical flow calibration test equipment for the floor sweeping robot according to claim 1, wherein the number of the media is two, the two media are arranged side by side, a strip-shaped gap is formed between the two media, and the slide rail is located right below the strip-shaped gap.