TWM451536U - System and device for examining bottom surface equilibrium - Google Patents

Abstract

The present invention discloses a device for examining bottom surface equilibrium. The device includes a supporting module and a detecting module. The movable cleaning device is disposed on the supporting surface of the supporting module, which includes at least one distance sensor and a processing unit coupled to the distance sensor. The movable cleaning device includes a first testing point and a second testing point. The distance sensor measures the distance between the first testing point and a first reference point, and generates a first distance signal. Also, the distance sensor generates a second distance signal. The processing unit determining the movable cleaning device equilibrium according to the first distance signal and the second distance signal.

Description

Bottom balance test system and device

The present invention relates to a bottom balance test system and apparatus, and more particularly to a bottom balance test system and apparatus for detecting a mobile cleaning apparatus.

With the rapid development of technology, many automated machines have been widely used in many different fields. For example, in an automated machine used in a home environment, an automated cleaning device not only makes the user's life more convenient, but also saves time and effort for the user to do family work.

Traditionally, when cleaning the floor of a home, the user needs to hold a broom, a shovel or a vacuum cleaner, and sweeping the area in one area and one area is very time consuming and laborious. In order to make it easier for users to clean the home environment, in recent years, a programmable mobile cleaning device has been developed, allowing the user to set the cleaning mode of the mobile cleaning device, thereby enabling the mobile cleaning device to be systematically implemented. Sweeping action.

Therefore, before mass production of the mobile cleaning device, it is necessary to measure whether the bottom surface of the mobile cleaning device is balanced to ensure that the sold mobile cleaning device can be stably moved. However, the traditional detection technology still needs to manually measure the caliper to know whether the bottom surface of the mobile cleaning device is balanced. In addition to the time and labor required, the accuracy of the measurement is also a big problem.

The present invention provides a bottom balance test system for determining whether the bottom surface of the mobile cleaning device is balanced by the bottom balance test device of the bottom balance test system.

The present embodiment provides a bottom balance test system including a mobile cleaning device and a bottom balance test device. The mobile cleaning device has a transmission module and a cleaning module, wherein the transmission module is connected to the cleaning module. The transmission module has at least one motor and at least one wheel, and the transmission module has a first bottom surface, and the first bottom surface has a first test point and a second test point. In addition, the bottom balance testing device includes a carrying module and a detecting module. The carrying module has a carrying surface, and the detecting module is disposed under the carrying module. The detection module includes at least one distance sensor and a processing unit, wherein the distance sensor is electrically connected to the processing unit. The mobile cleaning device is placed on the bearing surface, so that the distance sensor is used to measure the distance between the first test point and a first reference point, thereby generating a first distance signal, and measuring the second test point and the first The distance between the two reference points is based on which a second distance signal is generated. The processing unit determines whether the mobile cleaning device is balanced according to the first distance signal from the distance sensor and the second distance signal.

The present invention is to provide a bottom balance test device for judging whether the bottom surface of the mobile cleaning device is balanced.

Another embodiment of the present invention provides a bottom balance test device for testing the balance of the bottom surface of the mobile cleaning device. The mobile cleaning device has a drive module and a cleaning module, wherein the drive module is coupled to the cleaning module. The transmission module has at least one motor and at least one wheel. The transmission module has a first bottom surface, and the first bottom surface has a first test point and a second test point. The bottom balance testing device includes a carrying module and a detecting module. The carrying module has a carrying surface, and the detecting module is disposed under the carrying module. The detection module includes at least one distance sensor and a processing unit, wherein the distance sensor is electrically connected to the processing unit. Mobile cleaning device placed on the bearing surface The distance sensor is configured to measure a distance between the first test point and a first reference point, thereby generating a first distance signal, and measuring a distance between the second test point and a second reference point, A second distance signal is generated. The processing unit determines whether the mobile cleaning device is balanced according to the first distance signal from the distance sensor and the second distance signal.

In summary, the present invention provides a bottom balance test system and device, by placing a mobile cleaning device on a carrying module, and using the detecting module to measure the first test located on the bottom surface of the mobile cleaning device. Point and second test point. The processing unit determines whether the bottom surface of the mobile cleaning device is balanced according to the first distance signal and the second distance signal measured by the distance sensor on the bottom surface of the mobile cleaning device. Thereby, the bottom balance test procedure of the mobile cleaning device is made more precise, the detection time required and the human strength measurement cost are shortened.

In order to further understand the features and technical contents of this creation, please refer to the following detailed description and drawings of this creation, but these descriptions and drawings are only used to illustrate this creation, not the right to this creation. The scope is subject to any restrictions.

[First Embodiment of Bottom Balance Test System]

FIG. 1A is a perspective view of a bottom balance test system according to an embodiment of the present invention. FIG. 1B is a functional block diagram of a bottom balance test system according to an embodiment of the present invention. Referring to FIG. 1A and FIG. 1B, the bottom balance testing system 1 of the present embodiment includes a mobile cleaning device 10 and a bottom balance testing device 20. The mobile cleaning device 10 includes a transmission module 12 and a cleaning module 14, and the transmission module 12 is coupled to the cleaning module 14, and the transmission module 12 has at least a motor 124 and wheels 126. In practice, clear The cleaning module 14 can be a sweeper assembly for wiping the floor, and the motor 124 drives the wheels 126 to rotate to cause the drive module 12 to push the cleaning module 14, so that the mobile cleaning device 10 can be moved and cleaned on the ground.

Here, the motor 124 in the present embodiment may be a stepping motor, an induction motor, a synchronous motor, a servo motor, a linear motor or a reversible motor. Wait. Additionally, the wheel 126 can be a circular wheel made of plastic, rubber, metal, or other suitable material. This creation does not limit the type of motor and wheel. However, when the mobile cleaning device 10 is used, in order to prevent the bottom surface of the mobile cleaning device 10 from being unbalanced, the bottom surface balance testing device 20 disclosed in the embodiment is used to test whether the bottom surface of the mobile cleaning device 10 is balanced. .

The bottom balance testing device 20 includes a carrying module 22 and a detecting module 24, and the carrying module 22 has a carrying surface 222 for placing the mobile cleaning device 10 on the carrying surface 222. In addition, the transmission module 12 has a first bottom surface 122, and the first bottom surface 122 has a first test point P1 and a second test point P2. The first bottom surface 122 contacts the bearing surface 222 and slightly extends beyond the bearing surface 222 such that the first test point P1 and the second test point P2 may not be blocked by the bearing surface 222. In practice, the carrier module 22 is generally composed of a carrier platform 220 and a plurality of carrier posts 224. The carrying surface 222 of the carrying platform 220 can be used to place the mobile cleaning device 10 while the carrying column 224 supports the carrying platform 220. The bearing surface 222 is substantially a horizontal plane, so that when the mobile cleaning device 10 is placed on the bearing surface 222, the bottom surface of the mobile cleaning device 10 can be kept horizontal.

1C and 1D are another perspective views of a bottom balance test system according to an embodiment of the present invention. Referring to FIG. 1C, since the first bottom surface 122 contacts the bearing surface 222, and the bottom surface of the cleaning module 14 is substantially aligned with the lowest point of the wheel 126, the carrier platform 220 can also be designed with a recess for the wheel 126. 226. In addition, referring to FIG. 1D, the carrier platform 220 can be designed to conform to the shape of the bottom surface of the mobile cleaning device 10 for smoothly placing the mobile cleaning device 10 in addition to the wheels 126. The first bottom surface 122 substantially contacts the bearing surface 222 and slightly extends beyond the bearing surface 222 such that the first test point P1 and the second test point P2 may not be obscured by the bearing surface 222. However, this creation does not limit the manner in which the mobile cleaning device 10 is placed on the carrier platform 220.

The detection module 24 is located below the carrier module 22 and has a distance sensor 242 and a processing unit 244 . The distance sensor 242 is electrically connected to the processing unit 244 . The distance sensor 242 is configured to measure the distance between the test point (the first test point P1 and the second test point P2) and the reference point (the first reference point Q1 and the second reference point Q2), and respectively generate a distance signal according to the distance (first distance signal S1 and second distance signal S2). The processing unit 244 separately receives the two distance signals, and accordingly determines whether the bottom surface of the mobile cleaning device 10 is balanced.

In detail, first, the distance sensor 242 first measures the distance between the first test point P1 and the first reference point Q1, and transmits the measured data to the processing unit 244 in the form of the first distance signal S1. . Next, the distance sensor 242 is moved to measure the distance between the second test point P2 and the second reference point Q2, and the measured data is transmitted to the processing unit 244 in the form of the second distance signal S2. Thereby, the processing unit 244 calculates the two distance signals according to the first distance signal S1 and the second distance signal S2. Whether there is a deviation value between S1 and S2. The processing unit 244 can determine whether the deviation value is within a predetermined acceptable range, and can determine whether the bottom surface of the mobile cleaning device 10 is balanced.

In practice, the distance sensor 242 can be a photo sensor, an ultrasonic sensor, or an ultrasonic sensor. For example, the photodetector can be an infrared sensor or a laser sensor, and the creation of the distance sensor 242 is not limited herein.

It should be noted that both the first reference point Q1 and the second reference point Q2 are a dummy reference point located on the distance sensor 242. The purpose of the first reference signal Q1 and the second reference signal Q2 is to measure the first distance signal S1 and the second distance signal S2, so that the first distance signal S1 and the second distance signal S2 are The judgment is accurate.

In addition, it is worth noting that the number of test points (the first test point P1 and the second test point P2) in the present embodiment is two, but in other creative embodiments, the mobile cleaning device is more confirmed. 10 Whether the bottom surface is balanced, the number of test points can be more than two, so this creation does not limit the number of test points to only two.

[Second Embodiment of Bottom Balance Test System]

2A is a perspective view of the bottom balance testing system of the second embodiment of the present invention. 2B is a functional block diagram of a bottom balance test system according to a second embodiment of the present invention. Referring to Figures 2A and 2B, the bottom balance test system 1' of the second embodiment of the present invention includes a mobile cleaning device 10' and a bottom balance test device 20'. The bottom balance test system 1 of the first embodiment is similar to the bottom balance test system 1' of the second embodiment, and the mobile cleaning device 10' also includes a drive module and a cleaning module. However, there is still a difference between the bottom balance test systems 1 and 1'. The following is the bottom balance test Each component of the system 1' will be described in detail.

The mobile cleaning device 10' includes a transmission module 12' and a cleaning module 14', and the transmission module 12' is coupled to the cleaning module 14'. In the second embodiment of the present invention, the mobile cleaning device 10' is a two-wheeled automatic sweeper, and thus the transmission module 12' includes motors 124, 124' and wheels 126, 126'. The wheels 126, 126' are respectively disposed on opposite sides of the transmission module 12', and the motors 124, 124' are disposed inside the transmission module 12' and are respectively used to drive the wheels 126, 126'. In the second embodiment of the present invention, the mobile cleaning device 10' has two wheels, but in other creative embodiments, the number of wheels of the mobile cleaning device is not limited, and the mobile cleaning device may be three-wheeled or four. Wheeled automatic sweeper.

The transmission module 12' is different from the transmission module 12 in that the transmission module 12' has at least one positioning portion N1, and the range of the first bottom surface 122' includes the bottom surface of the positioning portion N1. The first bottom surface 122' has a first test point P1 and a second test point P2. In addition, the cleaning module 14 has a second bottom surface 142 and the second bottom surface 142 is aligned with the lowest point of the wheels 126, 126'. The second bottom surface 142 has a third test point P3 and a fourth test point P4.

The bottom balance testing device 20' includes a carrying module 22' and a detecting module 24', and the detecting module 24' is located below the carrying module 22'. In practice, the carrier module 22 can be comprised of a carrier platform 220' and a plurality of carrier posts 224. The carrier column 224 is used to support the carrier platform 220, and the carrier platform 220' has a bearing surface 222' for placing the mobile cleaning device 10'. When the mobile cleaning device 10' is placed on the carrying platform 220', the first bottom surface 122 and the second bottom surface 142 substantially contact the bearing surface 222', and slightly beyond the bearing surface 222', thereby making the first test point P1, The second test point P2, the third test point P3, and the fourth test point P4 may not be carried by the bearing surface. Blocked by 222'.

As described above, the carrying platform 220' further has at least one positioning structure M1, and the positioning structure M1 is located on the carrying surface 222'. The positioning structure M1 can be used to fix the positioning portion N1 on the positioning structure M1, so that the mobile cleaning device 10' is placed on the bearing surface 222' in a fixed position, thereby conveniently measuring whether the bottom surface of the mobile cleaning device 10' is balanced. In addition, since the first bottom surface 122' and the second bottom surface 142 are in contact with the bearing surface 222', and the second bottom surface 142 is aligned with the lowest point of the wheels 126, 126', the height of the positioning structure M1 may be the first bottom surface 122' and The difference in height between the second bottom surfaces 142. Thereby, the design flexibility of the carrier platform 220' can be increased, that is, the carrier platform 220' can be a substantially horizontal platform. However, in practice, the present invention does not limit the design of the positioning structure M1 and the carrying platform 220'.

The detection module 24' includes a plurality of distance sensors 242'. As shown in FIG. 2A, the detection module 124 includes two distance sensors 242' and a processing unit 244', and the distance sensor 242', 243' is electrically connected to the processing unit 244'. The distance sensors 242', 243' each include a transmitting element U1 and a receiving element T1, and the transmitting element U1 and the receiving element T1 are both located on the reference plane C1. It should be noted that, in the present embodiment, the distance sensors 242', 243' may be a photo sensor, an ultrasonic sensor, or an ultrasonic sensor. For example, the photodetector can be an infrared sensor or a laser sensor. It should be noted that, in general, the knowledger can design the detection module 24' as a mechanical design for automatically measuring the distance. Accordingly, the present invention does not limit the implementation of the distance sensor 242.

In detail, the transmitting element U1 respectively emits light to each test. Point (first test point P1, second test point P2, third test point P3, and fourth test point P4), and receiving element T1 receives reflection from each of the above test points (first test point P1, second test) The light of the point P2, the third test point P3, and the fourth test point P4) are respectively generated according to the distance signals (the first distance signal S1, the second distance signal S2, the third distance signal S3, and the fourth distance signal S4) . The processing unit 244' receives the distance signals, respectively, and determines whether the bottom surface of the mobile cleaning device 10' is balanced.

The bottom balance testing device 20' further includes a support frame 26 and a display device 28. The display device 28 is disposed on the support frame and electrically connected to the processing unit 244'. The display device 28 can receive the distance signal (the first distance signal S1, the second distance signal S2, the third distance signal S3, and the fourth distance signal S4) from the processing unit 244', and display the distance signal on the screen. The inspector is thereby made to know whether the bottom surface of the mobile cleaning device 10' is balanced. In the second embodiment of the present invention, the support frame 26 is an inner hollow casing and has openings V1, V2, V3 and V4. Generally, the housing of the support frame 26 is connected above and used to support the carrier module 22', and the lower portion of the housing of the support frame 26 is accommodated by the distance sensors 242', 243' and the processing unit 244'. . In addition, the support frame 26 may also be a frame composed of a platform and a plurality of pillars. This creation does not limit the structure of the support frame 26.

In general, the detection module 24' further includes a slide rail 246 and a plurality of mirrors R1 for the purpose of facilitating measurement of whether the bottom surface of the mobile cleaning device 10' is balanced. In practice, the slide rails 246 are located below the support frame 26, and the distance sensors 242', 243' are respectively disposed on the slide rails. 246, and can be moved by the slide rail 246, according to each test point (first test point P1, second test point P2, third test point P3 and fourth test point P4). In addition, the mirror R1 is disposed on the support frame 26, and the detecting person can adjust each mirror R1 to an appropriate position so that each test point can be displayed (first test point P1, second test point P2, third The image of the test point P3 and the fourth test point P4).

It is worth noting that the purpose of the slide rails 246 is to enable the distance sensors 242', 243' to be easily moved so that each test point can be measured more accurately and quickly. Therefore, the slide rail 246 may be composed of a plurality of tracks of a specific design route, or may be a ring-shaped track surrounding the frame frame 26. This creation does not limit the track route design of the slide rails 246. As shown in FIG. 2A, the slide rail 246 is composed of two fixed-track tracks, one end of the defined slide rail 246 is the first position D1, and when the distance sensors 242', 243' are located at the first position of the slide rail. At D1, the positions of the openings V1 and V2 are respectively corresponding to the lower positions, so that the openings V1 and V2 can respectively expose the distance sensors 242' and 243'. In addition, the other end point defining the slide rail 246 is the second position D2, and when the distance sensors 242', 243' are located at the second position D2 of the slide rail, respectively, respectively corresponding to the positions of the openings V3, V4, Thus, the apertures V3, V4 can respectively reveal the distance sensors 242', 243'.

In detail, in an ideal case, when the mobile cleaning device 10 ′ is placed on the carrying platform 220 ′, the positioning portion N1 is engaged with the positioning structure M, thereby making the first bottom surface 122 and the second bottom surface The 142 can substantially contact the load bearing surface 222' and the mobile cleaning device 10' does not slip or rock. The first bottom surface 122 and the second bottom surface 142 slightly exceed the bearing surface 222', thereby making the first test point P1, the second test point P2, and the third The test point P3 and the fourth test point P4 are exposed without being blocked by the carrying surface 222'.

The distance sensors 242', 243' are respectively disposed on the slide rails 246 and are located at the first position D1 such that the apertures V1, V2 respectively reveal the distance sensors 242', 243'. The radiating element U1 of the distance sensor 242' emits the light A1 to the first test point P1 while the transmitting element U1 of the distance sensor 243' emits the light A2 to the second test point P2. The receiving element T1 of the distance sensor 242' receives the light A1 reflected from the first test point P1, and the receiving element T1 of the distance sensor 243' receives the light A2 reflected from the second test point P2.

At this time, the inspector can use the image displayed by each mirror R1 to confirm whether the emitted light A1 and the light A2 respectively correspond to the first test point P1 and the second test point P2. Next, the distance sensors 242', 243' respectively generate a first distance signal S1 and a second distance signal S2, and transmit the distance signals to the processing unit 244'. The processing unit 244' compares the first distance signal S1 and the second distance signal S2, and accordingly the distance signal is converted into data and displayed on the display device 28. The inspector can compare the data displayed on the display device 28 with respect to whether the difference between the two data matches a predetermined difference. If the difference between the two data matches the preset difference, it can be determined that the first bottom surface 122' is in a balanced state.

As described above, the distance sensors 242', 243' are moved to the second position D2 by the slide rails, so that the apertures V3, V4 respectively reveal the distance sensors 242', 243'. The radiating element U1 of the distance sensor 242' emits the light A1 to the third test point P3 while the transmitting element U1 of the distance sensor 243' emits the light A2 to the fourth test point P4. The receiving element T1 of the distance sensor 242' receives the light A1 reflected from the third test point P3, and The receiving element T1 of the distance sensor 243' receives the light ray A2 reflected from the fourth test point P4.

Similarly, the inspector can still confirm whether the emitted light A1 and the light A2 correspond to the third test point P3 and the fourth test point P4 respectively by the image displayed by each mirror R1. Next, the distance sensors 242', 243' respectively generate a third distance signal S3 and a fourth distance signal S4, and transmit the distance signals to the processing unit 244'. The processing unit 244' compares the third distance signal S3 and the fourth distance signal S4, and accordingly the distance signal is converted into data and displayed on the display device 28. The inspector can compare the data displayed on the display device 28 with respect to whether the difference between the two data matches a predetermined difference. If the difference between the two data matches the preset difference, it can be determined that the second bottom surface 142' is in a balanced state. In the normal case, the first bottom surface 122' and the second bottom surface 142' are in a balanced state, and accordingly, it can be determined that the bottom surface of the mobile cleaning device 10' is balanced.

In addition, FIG. 2C is another side view of the bottom balance testing device of the second embodiment of the present invention. As shown in FIG. 2C, in order to enable the distance sensor to be easily moved, the detecting module 24' may also include a turntable 248 and a rotating shaft 249, and the turntable 248 is connected to the rotating shaft 249, and the turntable 248 may be on a horizontal surface. Rotate relative to the rotating shaft 249. The support frame has openings O1 and O2, and two mirrors R2 are disposed on both sides of the two openings O1 and O2. The distance sensor 242' is disposed on the turntable 248 to emit light A1. The light A1 is incident on the mirror R2 through the opening O1, and is reflected to the first test point P1. Thereby, the distance sensor 242' can emit the light A1 to each test point by the rotation of the turntable 248 (the first test point P1, the second test point P2, the third test point P3, and the fourth test point P4). ).

In practice, the slide rails 246 may be driven by a pneumatic cylinder that drives the hydraulic cylinders to simultaneously transport the distance sensors 242', 243' from the first position D1 to the second position D2. In addition, the turntable 248 and the rotating shaft 249 may be a rotating disk, and in order to enable the distance sensor 242' to more accurately emit the light A1 to each test point, the turntable 248 and the rotating shaft 249 may be automatic indexing rotary disks, and the distance may be The sensors 242', 243' are disposed thereon, but the creation is not limited to the slide rails 246 or the turntable 248 and the rotating shaft 249. It should be noted that regardless of the present embodiment, the slide rail 246 or the turntable 248 and the rotating shaft 249 are used, and those skilled in the art can adjust the number of the distance sensors to match the bottom surface of the mobile cleaning device 10'. The purpose of balance. Accordingly, the creation is not limited to the number of distance sensors.

[Possible effects of the examples]

In summary, the present invention provides a bottom balance test system and device, by placing a mobile cleaning device on a carrying module, and using the detecting module to measure the first test located on the bottom surface of the mobile cleaning device. Point, second test point, third test point, and fourth test point. The processing unit determines whether the bottom surface of the mobile cleaning device is based on the first distance signal, the second distance signal, the third distance signal, and the fourth distance signal measured by the distance sensor on the bottom surface of the mobile cleaning device. balance. Thereby, the bottom balance test procedure of the mobile cleaning device is made more precise, the detection time required and the human strength measurement cost are shortened.

The above description is only an embodiment of the present invention, and is not intended to limit the scope of the patent of the present invention.

1, 1'‧‧‧ Bottom Balance Test System

10, 10'‧‧‧Mobile cleaning device

12, 12'‧‧‧ Drive Module

122, 122'‧‧‧ first bottom

124, 124' ‧ ‧ motor

126, 126’ ‧ ‧ wheels

14, 14'‧‧‧ Cleaning Module

142‧‧‧second bottom surface

20, 20'‧‧‧ bottom balance test device

22, 22'‧‧‧ Carrying Module

220, 220’‧‧‧ bearing platform

222, 222’‧‧‧ bearing surface

224, 224’‧‧‧ bearing column

226‧‧‧ recess

24, 24'‧‧‧Detection Module

242, 242', 243'‧‧‧ distance sensors

244, 244’ ‧ ‧ processing unit

246‧‧‧rails

248‧‧‧ Turntable

249‧‧‧ shaft

26‧‧‧Support frame

28‧‧‧Display device

A1, A2‧‧‧ rays

C1‧‧‧ reference plane

D1‧‧‧ first position

D2‧‧‧ second position

N1‧‧‧ Positioning Department

M1‧‧‧ Positioning structure

O1, O2‧‧‧ openings

P1‧‧‧ first test point

P2‧‧‧ second test point

P3‧‧‧ third test point

P4‧‧‧ fourth test point

Q1‧‧‧ first reference point

Q2‧‧‧second reference point

R1, R2‧‧‧ mirror

S1‧‧‧first distance signal

S2‧‧‧Second distance signal

S3‧‧‧ third distance signal

S4‧‧‧fourth distance signal

T1‧‧‧ receiving components

U1‧‧‧Transmission components

V1, V2, V3, V4‧‧‧ openings

FIG. 1A is a perspective view of a bottom balance test system according to an embodiment of the present invention.

FIG. 1B is a functional block diagram of a bottom balance test system according to an embodiment of the present invention.

FIG. 1C is another perspective view of the bottom balance test system according to an embodiment of the present invention.

FIG. 1D is another perspective view of the bottom balance test system according to an embodiment of the present invention.

2A is a perspective view of the bottom balance testing system of the second embodiment of the present invention.

2B is a functional block diagram of a bottom balance test system according to a second embodiment of the present invention.

2C is another side view of the bottom balance test system of an embodiment of the present invention.

1‧‧‧Bottom balance test system

10‧‧‧Mobile cleaning device

12‧‧‧Drive Module

122‧‧‧ first bottom surface

126‧‧‧ Wheels

14‧‧‧ cleaning module

20‧‧‧Bottom balance test device

22‧‧‧ Carrying Module

220‧‧‧Loading platform

224‧‧‧Loading column

24‧‧‧Detection module

242‧‧‧ Distance sensor

244‧‧‧Processing unit

P1‧‧‧ first test point

P2‧‧‧ second test point

Claims (18)

A bottom balance test system includes: a mobile cleaning device having a drive module and a cleaning module, the drive module being coupled to the cleaning module, the drive module having at least one motor and at least one wheel The drive module has a first bottom surface, the first bottom surface has a first test point and a second test point, and a bottom balance test device includes: a load bearing module having a bearing surface, the mobile type The cleaning device is disposed on the carrying surface; and a detecting module is disposed under the carrying module, and includes at least one distance sensor and a processing unit, wherein the distance sensor is electrically connected to the processing unit, The distance sensor measures the distance between the first test point and a first reference point to generate a first distance signal, and measures the distance between the second test point and a second reference point. A second distance signal is generated, and the processing unit determines whether the mobile cleaning device is balanced according to the first distance signal and the second distance signal. The bottom balance test system of claim 1, wherein the mobile cleaning device has at least one positioning portion, and the bearing surface has at least one positioning structure, and the positioning portion is fixed to the positioning structure. The bottom balance test system of claim 1, wherein the detection module comprises a plurality of distance sensors, and one of the distance sensors generates the first distance signal, and the other distance sense The detector generates the second distance signal. The bottom balance test system of claim 3, wherein each of the distance sensors has a transmitting component and a receiving component, and the transmitting component and the receiving component are located on a reference plane, and the transmitting component emits a Light to the first test point, the receiving component receives the light reflected from the first test point, and emits a light to the second test point, the receiving component receiving the light reflected from the second test point. The bottom balance test system of claim 3, wherein the bottom balance test device further comprises a support frame, the support frame is connected to the load bearing module, and the support frame has at least one opening, The detecting module is disposed on the support frame, and the opening exposes the distance sensor. The bottom balance test system of claim 5, wherein the cleaning module has a second bottom surface, and the second bottom surface has a third test point and a fourth test point. The bottom balance test system of claim 6, wherein the detection module further includes a slide rail, the slide rail is located below the support frame, and the distance sensor is disposed on the slide rail. And the distance sensor measures the first test point, the second test point, the third test point, and the fourth test point by moving the slide rail. The bottom balance test system of claim 6, wherein the detection module further comprises at least two mirrors, the mirrors are disposed on the support frame, and the mirrors display the light projection to the An image of the first test point, the second test point, the third test point, and the fourth test point. The bottom balance test system of claim 7, wherein the bottom balance test device further comprises a display device disposed on the support The processing unit is electrically connected to the processing unit, and the display device receives the first distance signal, the second distance signal, the third distance signal, and the fourth distance signal. A bottom balance test device for testing a bottom balance of a mobile cleaning device, the mobile cleaning device having a drive module and a cleaning module, the drive module being coupled to the cleaning module, and the drive module having at least a motor and at least one wheel, the transmission module has a first bottom surface, and the first bottom surface has a first test point and a second test point, the bottom balance test device includes: a load bearing module having a load The mobile cleaning device is disposed on the carrying surface; and a detecting module is disposed under the carrying module, and the detecting module includes at least one distance sensor and at least one processing unit, wherein the The distance sensor measures a test distance of the first test point and a reference position, thereby generating a first distance, and measuring a test distance of the second test point and another reference position, thereby generating a second The distance, and the processing units determine the balance of the mobile cleaning device according to the first distance and the value of the second distance. The bottom balance test system of claim 10, wherein the mobile cleaning device has at least one positioning portion, and the bearing surface has at least one positioning structure, and the positioning portion is fixed to the positioning structure. The bottom balance test system of claim 10, wherein the detection module comprises a plurality of distance sensors, and one of the distance sensors generates the first distance signal, and the other distance sense The detector generates the second distance signal. The bottom balance test system of claim 12, wherein each of the distance sensors has a transmitting component and a receiving component, and the transmitting component and the receiving component are located on a reference plane, and the transmitting component emits a Light to the first test point, the receiving component receives the light reflected from the first test point, and emits a light to the second test point, the receiving component receiving the light reflected from the second test point. The bottom balance test system of claim 12, wherein the bottom balance test device further comprises a support frame, the support frame is connected to the load bearing module, and the support frame has at least one opening, The detecting module is disposed on the support frame, and the opening exposes the distance sensor. The bottom balance test system of claim 14, wherein the cleaning module has a second bottom surface, and the second bottom surface has a third test point and a fourth test point. The bottom balance test system of claim 15, wherein the detection module further includes a slide rail, the slide rail is located below the support frame, and the distance sensor is disposed on the slide rail. And the distance sensor measures the first test point, the second test point, the third test point, and the fourth test point by moving the slide rail. The bottom balance test system of claim 15, wherein the detection module further comprises at least two mirrors, the mirrors are disposed on the support frame, and the mirrors display the light projection to the An image of the first test point, the second test point, the third test point, and the fourth test point. The bottom balance test system as described in claim 16 of the patent application, The bottom balance test device further includes a display device disposed on the support frame and electrically connected to the processing unit, the display device receiving the first distance signal, the second distance signal, the third distance signal, and The fourth distance signal.