CN220340398U - Detection equipment for cleaning robot radar device - Google Patents

Abstract

The utility model discloses a detection device of a cleaning robot radar device, comprising: the base is used for bearing the robot to be tested; the support table is arranged on the base and provided with a plurality of electric push rods; the top of the robot to be tested is provided with a radar device, and the electric push rod can strike the radar device at the top of the robot to be tested; and the main controller is connected with the radar device and is used for judging whether the radar device is qualified or not according to radar signals generated when the electric push rod impacts the radar device at the top of the robot to be tested. According to the utility model, the plurality of electric push rods are arranged on the supporting table and are used for impacting the radar device at the top of the robot to be tested, so that the collision performance of the radar device is tested, and test data are transmitted to the main controller, so that whether the radar device is qualified or not is automatically judged, the testing steps are simple, and the testing result is accurate.

Description

Detection equipment for cleaning robot radar device

Technical Field

The utility model relates to the field of radar testing of cleaning robots, in particular to detection equipment of a radar device of a cleaning robot.

Background

With the continuous development of technology, cleaning robots are increasingly used in life, and in robots appearing on the market, lidar is a key component for realizing positioning and navigation. However, since the lidar is provided to be sufficiently large in order to secure a scanning range, it is generally provided to be protruded on a cleaning robot such as a top of a sweeping robot. Therefore, the laser radar is easy to collide and squeeze in the working process of the cleaning robot. Therefore, a pressure sensor needs to be arranged in the laser radar component, so that the laser radar can be retracted in time when encountering collision, and further damage is prevented.

Therefore, there is a need for a test apparatus for collision test of a cleaning robot radar device, which ensures the quality of the cleaning robot.

Disclosure of Invention

The utility model mainly aims to provide detection equipment for a radar device of a cleaning robot, and aims to solve the problem that the conventional equipment cannot perform collision test on the radar device of the cleaning robot.

To achieve the above object, the present utility model proposes a detection apparatus of a cleaning robot radar device, the detection apparatus comprising:

the base is used for bearing the robot to be tested;

the support table is arranged on the base in a crossing manner and is provided with a plurality of electric push rods;

the radar device is arranged at the top of the robot to be tested, and the electric push rod can strike the radar device at the top of the robot to be tested.

And the main controller is connected with the radar device and is used for judging whether the radar device is qualified or not according to radar signals generated when the electric push rod impacts the radar device at the top of the robot to be tested.

In some embodiments, the support table includes at least a test site and a mounting site;

the supporting table is movably arranged between the test position and the installation position;

when the supporting table is located at the test position, the electric push rod can strike the radar device.

In some embodiments, at least a portion of the electric pushers are spaced apart and disposed circumferentially about the radar device when the support table is in the test position; and/or the number of the groups of groups,

when the supporting table is located at the test position, at least one electric push rod is located above the radar device.

In some embodiments, the supporting table drives the electric push rod to ascend or descend.

In some embodiments, the supporting platform comprises a support, a telescopic rod and a mounting plate, wherein the support is spanned on the base, the telescopic rod is arranged on the support, the mounting plate is arranged at one end of the telescopic rod, which is close to the base, the telescopic rod is arranged on the support, and the electric push rod is arranged on the mounting plate.

In some embodiments, a gear is disposed on a surface of the mounting plate facing the bracket, and a limiting member is disposed on the bracket corresponding to the gear.

In some embodiments, the base includes a bottom shell, a connecting rod, and a carrying platform rotatably connected to the bottom shell via the connecting rod.

In some embodiments, at least one of a limit post, a protection plate, and a wire chase is provided on the carrying platform.

In some embodiments, a test box is connected to the base, and the test box is used for detecting a scanning range of the radar device of the robot to be tested.

In some embodiments, the base is provided with a plurality of cleats at the bottom.

In some embodiments, the connection parts of the two ends of the bracket and the base are respectively provided with a plurality of reinforcing plates.

According to the utility model, the plurality of electric push rods are arranged on the supporting table and are used for impacting the radar device at the top of the robot to be tested, so that the collision performance of the radar device is tested, and test data are transmitted to the main controller, so that whether the radar device is qualified or not is automatically judged, the test steps are simple, meanwhile, an accurate test result can be obtained, and the factory qualification rate of the cleaning robot is improved.

Drawings

FIG. 1 is a schematic view of a detection apparatus of a cleaning robot radar device according to an embodiment of the present utility model;

FIG. 2 is a schematic view of another embodiment of a detection apparatus of a cleaning robot radar device according to the present utility model;

FIG. 3 is a schematic view showing the structure of a detecting apparatus of a radar device for a cleaning robot according to still another embodiment of the present utility model;

FIG. 4 is a schematic view showing the structure of a detecting apparatus of a radar device for a cleaning robot according to still another embodiment of the present utility model;

in the figure:

100. a base; 110. a bottom case; 120. a carrying platform; 121. a limit column; 122. a protection plate; 123. a wire slot; 130. a connecting rod; 140. a test box; 150. an anti-slip pad; 200. a robot to be tested; 210. a radar device; 300. a support table; 310. an electric push rod; 320. a bracket; 321. a limiting piece; 322. a reinforcing plate; 330. a telescopic rod; 340. a mounting plate; 341. a gear piece.

Detailed Description

The following description of the embodiments of the present utility model will be made more clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present utility model are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.

It will also be understood that when an element is referred to as being "mounted" or "disposed" on 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.

Furthermore, the description of "first," "second," etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present utility model.

The present utility model proposes a detection apparatus of a cleaning robot radar device, referring to fig. 1 to 4, the detection apparatus comprising:

a base 100 for carrying a robot 200 to be tested;

the support table 300 is arranged on the base 100, and a plurality of electric push rods 310 are arranged on the support table 300;

the radar device 210 is arranged on the top of the robot 200 to be tested, and the electric push rod 310 can strike the radar device 210 on the top of the robot 200 to be tested.

And the main controller is connected with the radar device 210 and is used for judging whether the radar device 210 is qualified according to a radar signal when the electric push rod 310 impacts the radar device 210 at the top of the robot 200 to be tested.

The base 100 is used as a structure for carrying the robot 200 to be tested, the shape and the size of the base are not limited, and the base can be a cylinder, a prism or an irregular shape; the base 100 is typically made of a corrosion resistant alloy material to extend the useful life. The top surface of the base 100 is generally a solid planar structure, and the size and height of the base 100 can be adjusted as needed to accommodate different types of robots 200 to be tested, it being understood that the area of the top surface of the base 100 is generally larger than the rectangular body of the robots 200 to be tested. The top surface of the base 100 may be provided with a jig to fix the position of the robot 200 to be measured, while the inside of the base 100 may be provided with a cavity to accommodate additional parts such as a power supply or a module to expand additional functions, etc. Preferably, the top of the base 100 is subjected to anti-slip treatment, so that the robot 200 to be tested can be effectively prevented from sliding; and can install the foot nail that can height-adjusting at the bottom edge of base 100 for base 100 can set up on uneven ground or adjust the height of base 100 as required, improves its suitability.

The electric putter 310 is connected to a cylinder, and reciprocates under the action of the cylinder to strike the radar device 210. The electric push rod 310 is fixedly connected with the base 100, and can be connected with the base 100 by using modes of bonding, interference fit or threaded connection; the electric push rod 310 can be mounted on the flat plate, and the electric push rod 310 is indirectly mounted on the base 100 by connecting the flat plate with the base 100, so that detachable connection between the electric push rod 310 and the base 100 can be realized, and the electric push rod 310 can be conveniently replaced and cleaned and maintained. Preferably, the head of the electric putter 310, which is in contact with the robot 200 to be tested, may be made of different materials, such as wood, metal, plastic, rubber, etc., so as to simulate the situation when the radar device 210 collides with different kinds of obstacles, so that the test result is more accurate.

The main controller is electrically connected to the robot under test 200, and is configured to collect signals when the radar device 210 of the robot under test 200 is impacted, so as to determine whether the sensor inside the radar device 210 can work normally. The master controller, which typically includes computer hardware and software, such as chips and information handling programs, may communicate with the control system of the robot 200 under test, receiving and processing data from the radar device 210 of the robot 200 under test.

In some embodiments, support table 300 includes at least a test site and a mounting site;

the support table 300 is movably disposed between the testing position and the mounting position;

the electric putter can strike the radar apparatus when the support table 300 is in the test position.

When the support table 300 is at the installation position, the electric push rod 310 is far away from the robot 200 to be tested, so that enough space is reserved for taking and placing the robot 200 to be tested; when the support table 300 is in the test position, the electric push rod 310 approaches the radar device 210 of the robot 200 to be tested, so as to perform impact test on the radar device 210. There are various ways to adjust the position of the support stand 300, for example, the bottom of the support stand 300 is hinged to the base 100, so that the support stand 300 can be rotated to adjust its angle, and when the support stand 300 is tilted backward, that is, in the installation position, the support stand 300 is perpendicular to the base 100, and in the test position. The supporting table 300 can be detachably connected with the base 100, and the connecting position of the supporting table 300 and the base 100 is adjusted to be in a mounting position when the supporting table 300 is arranged at the edge of the base 100 and in a testing position when the supporting table 300 is arranged in the middle of the base 100. It should be understood that the connection between the support table 300 and the base 100 is various, including that a rotation shaft is provided on the support table 300 to rotatably connect the base 100, so any manner of adjusting the position of the support table 300 should be within the scope of the present utility model and will not be described herein.

In some embodiments, at least a portion of the electric pushrods 310 are spaced apart and disposed circumferentially about the radar device 210 when the support table 300 is in the testing position; and/or the number of the groups of groups,

when the support stand 300 is located at the test position, at least one electric putter 310 is located above the radar apparatus 210.

The electric push rods 310 arranged circumferentially are used for simulating the situation that the side surface of the radar device 210 is impacted in all directions, and the electric push rods 310 arranged above the radar device 210 are used for simulating the situation that the top of the radar device 210 is impacted. Preferably, to simulate a more realistic test environment, the electric putter 310 is electrically connected to the main controller, and the main controller may control the electric putter 310 to be started alone or simultaneously. In the use process of the cleaning robot, the radar device 210 is not impacted from the top or the side, and the situation is generally complex, so that by simultaneously starting part or all of the electric pushrods 310, the impact forces of the electric pushrods 310 can synthesize the resultant force in other directions, so as to obtain more test data, and the test result is more fit for the actual life. Further, the angle at which the electric putter 310 hits the radar device 210 may be adjusted as required, so that the test result is more accurate.

As shown in fig. 1, in some embodiments, the support stand 300 drives the electric putter 310 up or down.

In this embodiment, the supporting table 300 is in a liftable form, because the electric push rod 310 is disposed on the supporting table 300, when the supporting table 300 drives the electric push rod 310 to rise, enough space needs to be reserved between the supporting table 300 and the base 100 to facilitate taking and placing of the robot 200 to be tested, at this time, the supporting table 300 is in a mounting position, and the supporting table 300 is in a testing position when being lowered to a position where the electric push rod 310 can just realize testing. It can be appreciated that the supporting table 300 can be manually lifted, and an air cylinder or other driving structures can be arranged to enable the supporting table 300 to automatically lift, and the driving structures are electrically connected with the main controller at the moment, so that the main controller can automatically control the lifting time and the lifting position of the supporting table 300, further realize the automation of testing, and save human resources.

As shown in fig. 1 and 2, in some embodiments, the support stand 300 includes a support 320, a telescopic rod 330, and a mounting plate 340, the support 320 straddles the base, the telescopic rod 330 is disposed on the support 320, the mounting plate 340 is disposed at an end of the telescopic rod 330 near the base 100, the telescopic rod 330 is disposed on the support 320, and the electric push rod 310 is disposed on the mounting plate 340.

The supporter 320 plays a role of supporting the telescopic rod 330 and the mounting plate 340, and spans the base 100, so that the supporter 320 has sufficient stability. The telescoping pole 330 is typically a length adjustable device that allows a worker or by a master controller to control the length of the telescoping pole 330 to meet the needs of the individual situation. The mounting plate 340 is typically formed of a flat plate for mounting the power push rod 310 and other structures or components.

Preferably, the bracket 320 is composed of two vertical plates vertically connected to two sides of the base 100 and a transverse plate connecting the two vertical plates, and the telescopic rod 330 is disposed on the transverse plate to drive the mounting plate 340 and the electric push rod 310 on the mounting plate 340 to move up and down. Preferably, the mounting plate 340 has an i-shape, four telescopic rods 330, and one end of each of the four telescopic rods 330 is vertically connected to the protruding position of the i-shaped plate, and the other end is connected to the bracket 320, so that the whole support table 300 is more stable. A telescopic cylinder is further provided between the supporter 320 and the mounting plate 340 to implement the lifting function of the support plate 300.

As shown in fig. 1, in some embodiments, a gear 341 is disposed on a surface of the mounting plate 340 facing the bracket 320, and a limiting member 321 is disposed on the bracket 320 corresponding to the gear 341.

When the supporting table 300 rises to a certain height, the gear piece 341 on the mounting plate 340 is abutted against the limiting piece 321, so that the supporting table 300 is limited to continuously rise, collision between the electric push rod 310 and the support 320 is avoided, and the service life of equipment is shortened. Preferably, the gear 341 is cylindrical, and the number of the gear 341 is two and the gear 341 is respectively arranged at two ends of the mounting plate 340, so that excessive pressure between the gear 341 and the limiting piece 321 is prevented; the gear 341 may be adhered to the mounting plate 340, or may be integrally formed with the mounting plate 340, which is not limited in the present utility model.

As shown in fig. 1 and 3, in some embodiments, the base 100 includes a bottom chassis 110, a connection bar 130, and a bearing table 120, and the bearing table 120 is rotatably connected to the bottom chassis 110 through the connection bar 130.

The inside cavity that is of drain pan 110 can be used to place parts such as power, motor, wire, is provided with plummer 120 on the drain pan 110, and during the test, the robot 200 that awaits measuring is placed on plummer 120, drives the robot 200 that awaits measuring through rotatory plummer 120 and turns to for electric putter 310 can strike the test to radar device 210's different positions, makes the test more comprehensive. The bearing table 120 is connected with the bottom shell 110 through a connecting rod 130, wherein the bearing table 120 is fixedly connected with the connecting rod 130, and the connecting rod 130 is rotationally connected with the bottom shell 110; the connecting rod 130 is arranged to drive the bearing platform 120 to rotate, so that the bearing platform 120 does not need to be directly connected with the bottom shell 110, and the resistance is small during rotation. Preferably, the center of the bearing platform 120 is provided with an opening, and the inside of the connecting rod 130 is a through cavity and is communicated with the opening, so that a wire can pass through the inside of the connecting rod 130 and then extend out of the opening, and the whole equipment is tidier.

As shown in fig. 3 and 4, in some embodiments, at least one of a limit post 121, a protection plate 122, and a wire slot 123 is provided on the carrying platform 120. The limiting columns 121 and the protection plates 122 are disposed on the periphery of the robot 200 to be tested and are used for limiting the position of the robot 200 to be tested, so that the robot 200 to be tested cannot move due to the rotation of the bearing table 120 or the collision of the electric push rod 310 in the testing process, and the accuracy of the testing result is ensured. The wire grooves 123 are used to accommodate wires to maintain the surface regularity of the carrier 120 and prevent the wires from being crushed.

As shown in fig. 2, in some embodiments, a test box 140 is connected to the base 100, and the test box 140 is used to detect a scanning range of the radar device 210 of the robot 200 to be tested.

The test box 140 is a rectangular box with one opening, and the opening of the test box 140 faces the base 100, and can be fixed on the base 100 by a screw connection, an adhesive connection or the like, or can be detachably connected by a pin connection or the like. Preferably, the test box is provided with a handle, so that the test box is convenient to detach, take and put. The bottom surface of the test box 140 that can be observed by the robot 200 to be tested is provided with a scale and a mark, so that the radar device 210 of the robot 200 to be tested can conveniently identify, wherein the scale range is typically-10 degrees to +/-10 degrees. During the test, the radar device 210 scans the mark, and then observes whether the angle fed back by the radar device 210 corresponds to the scale, so as to detect whether the scanning range of the radar device 210 is accurate.

As shown in fig. 1, in some embodiments, the bottom of the base 100 is provided with a number of skid pads 150.

The anti-slip pad 150 is made of a rubber material to increase friction. Preferably, the number of the anti-slip pads 150 is four, and the anti-slip pads are respectively disposed at four corners of the bottom of the base 100 to improve the stability of the base 100. The bottom of the base 100 may be further provided with a screw capable of adjusting the height, so that the apparatus can adapt to uneven ground, and the application range is enlarged.

As shown in fig. 1, in some embodiments, a plurality of reinforcing plates 322 are respectively provided at both ends of the supporter 320 and at the junction of the base 100.

Because the supporting table 300 spans the base 100 and has a large span, in such a case, the joint surface between the supporting table 300 and the base 100 can bear a limited load, so that a plurality of reinforcing plates 322 are added on a common vertical surface therebetween to increase the strength of the joint surface. In this embodiment, there are four reinforcing plates 322, and two mutually perpendicular reinforcing plates 322 are disposed at each end of the support stand 300, one of which is fixed to the base 100, and the other of which is disposed on a common vertical plane of the base 100 and the support stand 300.

The side testing device provided by the utility model can be used for testing the collision performance of the radar device 210 by arranging the plurality of electric push rods 310 on the supporting table 300 to strike the radar device 210 at the top of the robot 200 to be tested and transmitting the testing data to the main controller so as to automatically judge whether the radar device 210 is qualified or not, has simple testing steps, can obtain accurate testing results and improves the factory qualification rate of the cleaning robot.

The above description of the preferred embodiments of the present utility model should not be taken as limiting the scope of the utility model, but rather should be understood to cover all modifications, variations and adaptations of the present utility model using its general principles and the following detailed description and the accompanying drawings, or the direct/indirect application of the present utility model to other relevant arts and technologies.

Claims (11)

1. A detection apparatus for a cleaning robot radar device, characterized by comprising:

the base is used for bearing the robot to be tested;

the support table is arranged on the base and provided with a plurality of electric push rods;

the top of the robot to be tested is provided with a radar device, and the electric push rod can strike the radar device at the top of the robot to be tested;

and the main controller is connected with the radar device and is used for judging whether the radar device is qualified or not according to radar signals generated when the electric push rod impacts the radar device at the top of the robot to be tested.

2. The apparatus according to claim 1, wherein,

the supporting table at least comprises a test position and an installation position;

the supporting table is movably arranged between the test position and the installation position;

when the supporting table is located at the test position, the electric push rod can strike the radar device.

3. The apparatus according to claim 2, wherein,

when the supporting table is positioned at the test position, at least part of the electric push rods are spaced and arranged around the circumference of the radar device; and/or the number of the groups of groups,

when the supporting table is located at the test position, at least one electric push rod is located above the radar device.

4. The apparatus according to claim 2, wherein,

the supporting table drives the electric push rod to ascend or descend.

5. The inspection apparatus of claim 4 wherein the support includes a bracket, a telescoping rod and a mounting plate, the bracket straddling the base, the telescoping rod being disposed on the bracket, the mounting plate being disposed at an end of the telescoping rod adjacent the base, the electric push rod being disposed on the mounting plate.

6. The detecting apparatus according to claim 5, wherein a stopper is provided on a side of the mounting plate facing the bracket, and a stopper is provided on the bracket corresponding to the stopper.

7. The inspection apparatus of claim 1 wherein said base includes a bottom shell, a connecting rod, and a carrier rotatably connected to said bottom shell by said connecting rod.

8. The inspection apparatus of claim 7, wherein at least one of a limit post, a shield plate, and a wire chase is provided on the carrying platform.

9. The detection apparatus according to claim 1, wherein a test box for detecting a scanning range of a radar device of the robot to be detected is connected to the base.

10. The detection apparatus according to any one of claims 1-9, wherein the bottom of the base is provided with a number of anti-skid pads.

11. The detecting apparatus according to claim 5, wherein a plurality of reinforcing plates are provided at the connection portions of both ends of the bracket and the base, respectively.