Testing device and method compatible with multiple sensors

Abstract

The invention relates to a testing method compatible with various sensors, which adopts a testing device compatible with various sensors and comprises the following steps of: arranging positioning base stations at four corners of a testing room, suspending an induction end on one side wall of the testing room, heating a robot end heating device to a preset constant temperature, and simulating human hand swinging by an arm device. The wheel device simulates walking and moves according to a preset test path and test time; when it is detected that the robot moves, the transmitting module transmits a moving stopping instruction, and the robot is in a static state after the receiving module receives the instruction; the positioning module sends robot stop position information to the positioning PC; the positioning PC marks the position information on a map; and after preset interval time, the transmitting module transmits a static state releasing instruction to the robot end, the arm device starts to swing, the wheel device starts to move, and the robot is in a moving state. According to the scheme, testing of the infrared sensor and the microwave sensor can be compatible, one testing device and one testing method are commonly used, and the testing cost is reduced.

Description

Technical Field

[0001] The present invention relates to the field of sensor testing technology, and in particular to a testing device and method compatible with multiple sensors. Background Art

[0002] A sensor is also called an inductor. The sensing range of a sensor is a major parameter for evaluating product performance. The reliability of the sensing range parameter and the measurement method of the parameter are extremely important.

[0003] The mainstream sensors in the current market are divided into two categories: infrared sensors and microwave sensors. Due to the different detection principles of infrared sensors and microwave sensors, different testing methods are used.

[0004] The existing sensor sensing range testing method has the following defects:

[0005] (1) Different types of sensors require different testing devices and methods, which results in the test equipment not being universal and high testing costs.

[0006] (2) In order to simulate the actual application scenarios of sensors, a large test space is required, resulting in a shortage of commercial land for manufacturers.

[0007] In order to overcome the above-mentioned shortcomings, we invented a testing device and method that is compatible with multiple sensors. Summary of the invention

[0008] The purpose of the present invention is to solve the problem that different types of sensors use different test devices and methods, which results in the incompatibility of test equipment and high test costs. In order to simulate actual application scenarios, a large test space is required, which leads to the shortage of commercial land for manufacturers. The specific solution is as follows:

[0009] A method for testing multiple sensors is provided, which uses a device for testing multiple sensors. The device includes a sensing end, a robot end wirelessly connected to the sensing end, and a PC end wirelessly connected to the robot end. The sensing end includes a sensor, a sensor control chip electrically connected to the sensor, and a transmitting module electrically connected to the sensor control chip. The robot end includes a receiving module and a main control chip electrically connected to the receiving module. The main control chip is electrically connected to a heating device, an arm device, a wheel device, a positioning module, and a display device, respectively. The PC end includes a positioning PC. The testing method is performed according to the following steps:

[0010] Step 1: Set up positioning base stations at the four corners of the test room, turn on the PC in the test room, and set the temperature and humidity of the test room to a constant state;

[0011] Step 2: Hang the sensing end on the wall of one side of the test room, with its height from the ground being the test height, and connect the power supply of the sensing end to make it work;

[0012] Step 3, turn on the power of the robot end, heat the heating device to a preset constant temperature, set the test parameters of the robot on the display device, and then prepare for the test;

[0013] Step 4, the arm device swings in a manner simulating a human hand swing, and the wheel device moves in a manner simulating a human walking speed according to a preset test path and a preset test time;

[0014] Step 5: When the sensor detects the movement of the robot, the sensor control chip sends a command to the transmitting module, and the transmitting module sends a stop movement command to the robot. After receiving the stop movement command, the receiving module on the robot immediately notifies the main control chip.

[0015] Step 6: The main control chip controls the arm device to stop swinging and the wheel device to stop moving, and the robot is placed in a stationary state;

[0016] Step 7: The main control chip controls the positioning module to send the robot's stopping position information to the positioning PC;

[0017] Step 8, the positioning PC marks the location information where the robot stops on the map;

[0018] Step 9: After the robot is stationary, the sensor fails to detect a moving object. After a preset interval, the sensor control chip controls the transmitting module to send a command to the robot to release the stationary state. After receiving the command, the receiving module of the robot immediately notifies the main control chip.

[0019] Step 10, the main control chip controls the arm device to start swinging and the wheel device to start moving, and the robot is put into motion;

[0020] Step 11, looping through steps 5 to 11 until the preset path endpoint is reached, then the main control chip controls the wheel device to turn 180 degrees, looping through steps 4 to 11 until the first half of the test is completed, and then going to step 12;

[0021] Step 12, rotate the sensor 180 degrees, and repeat steps 4 to 11 to start the second half of the test until the test is completed, then go to step 13;

[0022] Step 13, adjust other sensitivity gears of the sensor, and re-execute steps 4 to 13 until the test is completed, and then go to step 14;

[0023] Step 14: After completing the test of all sensitivity levels of the sensor, the entire test is completed and the test map is exported from the positioning PC.

[0024] Furthermore, the temperature of the test room is 25±3°C.

[0025] Furthermore, the test height is the declared height divided by the robot reduction factor.

[0026] Furthermore, the test height is divided into three levels, and the level classification is as follows: Level 1 is that the test height is the same as the declared height, and the ratio of the robot to that of a human is the same. The test height of this level is 0.9-15 meters, and the height of the robot at this level is 175CM; Level 2 is that the test height is half of the declared height, and the robot is half of a human. The test height of this level is 1.5-3 meters, and the height of the robot at this level is 87.5CM; Level 3 is that the test height is one-fifth of the declared height, and the robot is one-fifth of a human. The test height of this level is 1.2-3 meters, and the height of the robot at this level is 35CM.

[0027] Furthermore, the test parameters of the robot include: test path, test time, swing parameters, and moving speed.

[0028] Furthermore, the arm device simulates the swinging manner of a human hand in a manner of swinging: the swing radius is -45 degrees to 45 degrees, and the swing speed is 45 degrees / 1 second.

[0029] Furthermore, the walking speed of a person simulated by the wheel device is adjustable from 0.2 m / s to 1 m / s.

[0030] Furthermore, the movement according to the preset test path and the preset test time includes: a tracking camera set at the robot end automatically identifies and tracks pre-drawn lines on the floor of the test room as a preset test path, and the tracking camera automatically sends the identified and tracked signals to the main control chip in real time to control the wheel device to move along the preset test path.

[0031] Furthermore, the sensor includes an infrared sensor and a microwave sensor, and the preset test path includes: a path of multiple line endpoints connected in series for testing the infrared sensor, or a path of nine V-shaped lines and a semicircle combination for testing the microwave sensor. The path of multiple line endpoints connected in series is formed by connecting multiple line and a series line, and there is a fixed interval between adjacent line, and the interval is 1 meter. One side of adjacent V-shaped lines in the nine V-shaped line semicircle combination path overlaps, the angle of the V-shaped lines is 20 degrees, and the central point of each V-shaped line converges to the center of the semicircle.

[0032] A device for testing compatible with multiple sensors is used for the above-mentioned method for testing compatible with multiple sensors, comprising a sensing end, a robot end wirelessly connected to the sensing end, and a PC end wirelessly connected to the robot end, wherein the sensing end comprises a sensor, a sensor control chip electrically connected to the sensor, and a transmitting module electrically connected to the sensor control chip. The robot end comprises a receiving module, a main control chip electrically connected to the receiving module, and the main control chip is electrically connected to a heating device, an arm device, a wheel device, a positioning module, and a display device, respectively. The PC end comprises a positioning PC. The heating device comprises a heating wire electrically connected to a relay, and a temperature controller electrically connected to the main control chip, and the relay is electrically connected to the main control chip. The arm device comprises an arm and a steering gear drive connected to the arm, and the steering gear drive is electrically connected to the main control chip. The wheel device comprises four wheels and a motor drive connected to the wheels, and the motor drive is electrically connected to the main control chip. The display device comprises a touch screen for displaying and setting parameters and an indicator light for displaying that the wheel has stopped. The robot end also comprises an obstacle avoidance module for avoiding obstacles and a tracking camera for identifying and tracking a test path. The positioning module and the positioning PC are wirelessly connected to a plurality of positioning base stations respectively. The sensor includes an infrared sensor or a microwave sensor.

[0033] In summary, the technical solution of the present invention has the following beneficial effects:

[0034] This solution can be compatible with infrared sensors and microwave sensors for multiple sensitivity levels and multiple test heights, that is, a set of test devices and a test method are used for multiple sensors, which reduces the test cost and has good versatility and compatibility. This solution uses robots to simulate human testing methods, saving manual testing costs and improving test efficiency. This solution divides the test into the upper and lower halves by turning the sensor 180 degrees in a test room with limited space, that is, half of the site space can be used to achieve full-range sensor testing. The height requirements of the test room are reduced by testing the height and reducing the robot multiple, achieving the beneficial effects of saving the test room area and reducing the height of the test room, and ensuring the validity of the declared height and full-range sensor testing. This solution can automatically identify and track the preset test path through the tracking camera on the robot side, without manual intervention, and the test path can be of different colors and shapes, which greatly improves the robot's work efficiency in tracking the test path and the compatibility of identifying and tracking paths of different colors and shapes. This solution uses a transmitting module and a receiving module to automatically communicate sensing information and stop and go commands between the sensing end and the robot end. The robot end and the PC end use the positioning module and the positioning base station to achieve the beneficial effect of real-time transmission of location information between the robot end and the positioning PC and real-time marking on the map. The obstacle avoidance module of this solution can automatically identify obstacles in the test room and alarm. The indicator light of this solution has the dual functions of normally indicating the robot's stop state and abnormally indicating faults or obstacle alarms. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments of the present invention. Obviously, the drawings described below are only part of the embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without creative labor.

[0036] Figure 1 This is a structural diagram of a testing device compatible with multiple sensors of the present invention;

[0037] Figure 2 A schematic diagram of a test path of Embodiment 1 of a test method compatible with multiple sensors of the present invention;

[0038] Figure 3 A schematic diagram of a test path of Embodiment 2 of a test method compatible with multiple sensors of the present invention;

[0039] Figure 4 The test map of Embodiment 1 of the present invention;

[0040] Figure 5 This is the test map of Example 2 of the present invention. DETAILED DESCRIPTION

[0041] The technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] like Figures 1 to 5 As shown, a method for testing multiple sensors is provided, which uses a testing device that is compatible with multiple sensors. The device includes a sensing end, a robot end wirelessly connected to the sensing end, and a PC end wirelessly connected to the robot end. The sensing end includes a sensor, a sensor control chip electrically connected to the sensor, and a transmitting module electrically connected to the sensor control chip. The robot end includes a receiving module, a main control chip electrically connected to the receiving module, and the main control chip is electrically connected to a heating device, an arm device, a wheel device, a positioning module, and a display device, respectively. The PC end includes a positioning PC (which is internally provided with a positioning module wirelessly connected to a positioning base station). The testing method is performed in the following steps:

[0043] Step 1: Set up positioning base stations at the four corners of the test room, turn on the PC in the test room, and set the temperature and humidity of the test room to a constant state; it is preferred to set up four or six positioning base stations to improve the accuracy of the test position. (For example: the temperature of the test room is 25±3℃.)

[0044] Step 2: Hang the sensing end on the wall of one side of the test room, with its height from the ground being the test height, and connect the power supply of the sensing end to make it work;

[0045] Step 3, turn on the power of the robot end, heat the heating device to a preset constant temperature (the preset constant temperature is: 37±2 degrees), set the test parameters of the robot on the display device, and then prepare for the test; (The test parameters of the robot include: test path, test time, swing parameters, and moving speed.)

[0046] Step 4, the arm device simulates the swinging of a human hand, and the wheel device simulates the walking speed of a human and moves according to a preset test path and a preset test time; (the arm device simulates the swinging of a human hand in a manner of: the swing radius is -45 degrees to 45 degrees, and the swing speed is 45 degrees / 1 second. The walking speed of the wheel device simulating a human is adjustable from 0.2 m / s to 1 m / s. The preset test time is preferably: 2 seconds to 5 seconds, and the test time is different for different product models and specifications)

[0047] Step 5: When the sensor detects the movement of the robot, the sensor control chip sends a command to the transmitting module, and the transmitting module sends a stop movement command to the robot. After receiving the stop movement command, the receiving module on the robot immediately notifies the main control chip.

[0048] Step 6: The main control chip controls the arm device to stop swinging and the wheel device to stop moving, and the robot is placed in a stationary state; (optionally, the main control chip controls the indicator light on the robot end to light up during the stop time)

[0049] Step 7: The main control chip controls the positioning module to send the robot's stopping position information to the positioning PC;

[0050] Step 8, the positioning PC marks the location information where the robot stops on the map;

[0051] Step 9: After the robot is stationary, the sensor fails to detect a moving object (i.e., the robot). After a preset interval, the sensor control chip controls the transmitting module to send a command to the robot to release the stationary state. After receiving the command, the receiving module of the robot immediately notifies the main control chip; (the preset interval is preferably 5 seconds)

[0052] Step 10: The main control chip controls the arm device to start swinging and the wheel device to start moving, and the robot is put into motion; (optionally, the main control chip controls the indicator light on the robot end to turn off when in motion)

[0053] Step 11, looping through steps 5 to 11 until the preset path endpoint is reached, then the main control chip controls the wheel device to turn 180 degrees, looping through steps 4 to 11 until the first half of the test is completed, and then going to step 12;

[0054] Step 12, rotate the sensor 180 degrees, and repeat steps 4 to 11 to start the second half of the test until the test is completed, then go to step 13;

[0055] Step 13, adjust other sensitivity gears of the sensor, and re-execute steps 4 to 13 until the test is completed, and then go to step 14;

[0056] Step 14: After completing all the sensitivity gear tests of the sensor, the entire test is completed and the test map is exported from the positioning PC. (The sensor sensitivity setting is: 10% to 100% adjustable)

[0057] Specifically, the test height of this solution is the declared height divided by the robot's reduction factor. The test height is divided into three levels, and the level classification is as follows:

[0058] Level 1 means the test height is the same as the declared height, and the robot has the same proportion to a human. The test height for this level is 0.9-15 meters, and the height of the robot for this level is 175CM.

[0059] Level 2 is a test height that is half of the declared height. The robot is half the height of a human. The test height for this level is 1.5-3 meters. The height of the robot for this level is 87.5CM.

[0060] Level 3 is that the test height is one-fifth of the declared height, the robot is one-fifth of a human, the test height of this level is 1.2-3 meters, and the height of the robot at this level is 35CM.

[0061] Specifically, moving according to a preset test path and a preset test time includes: a tracking camera set on the robot end automatically identifies and tracks pre-drawn lines on the floor of the test room as a preset test path, and the tracking camera automatically sends the identified and tracked signals to the main control chip in real time to control the wheel device to move along the preset test path.

[0062] A test device compatible with multiple sensors, in addition to the above, specifically, the heating device includes a heating wire electrically connected to the relay, a temperature controller electrically connected to the main control chip, and the relay is electrically connected to the main control chip. The arm device includes an arm and a steering gear drive connected to the arm, and the steering gear drive is electrically connected to the main control chip. The wheel device includes four wheels and a motor drive connected to the wheels, and the motor drive is electrically connected to the main control chip. The display device includes a touch screen for displaying and setting parameters and an indicator light for displaying that the wheel has stopped (the indicator light indicating the stop state is a long bright display). Preferably, the robot end also includes an obstacle avoidance module for avoiding obstacles (belonging to the prior art) and a tracking camera for identifying and tracking the test path. The positioning module and the positioning PC are wirelessly connected to multiple positioning base stations respectively. The sensor includes an infrared sensor or a microwave sensor. The obstacle avoidance module can automatically identify obstacles in the test room and alarm. When an abnormality, failure or obstacle alarm occurs in this solution, the alarm is displayed by the flashing display of the indicator light.

[0063] The following describes the testing method of the infrared sensor and the microwave sensor in conjunction with specific embodiments.

[0064] Embodiment 1:

[0065] like Figure 2As shown, based on the above-introduced testing device and method compatible with multiple sensors, when it is necessary to test the infrared sensor, the preset test path (which can be distinguished by color, such as a red line) is: a path of multiple row line endpoints connected in series, a path of multiple row line endpoints connected in series, formed by connecting multiple row lines with series lines, with a fixed interval between adjacent row lines, and the interval is preferably 1 meter. The starting point of the test path is point A. The tracking camera on the robot side automatically identifies the lines on the ground (i.e., multiple long horizontal lines, for example: AA1 is a line located directly below the infrared sensor) and the serial lines (i.e., vertical connecting lines, for example, A1A2 and A3A4 are two serial lines). When moving from point A to point A1, it will continue to turn to A2 and then move along another line to A3, turn to A4 and continue to move along the third line, and so on. During the movement, when the infrared sensor detects the movement of the robot, the sensing control chip sends a command to the transmitting module, and the transmitting module sends a stop movement command to the robot side. After receiving the stop movement command, the receiving module immediately notifies the main control chip; the main control chip controls the arm device to stop swinging and the wheel device to stop moving, and the robot is placed in a static state. At the same time, the main control chip controls the indicator light on the robot side. The main control chip controls the positioning module to send the robot's stop position information to the positioning PC, and the positioning PC marks the robot's stop position information on the map. After the robot is stationary, the sensor fails to detect the moving robot. After 5 seconds, the sensor control chip controls the transmitting module to send a command to the robot to release the stationary state. After receiving the command, the receiving module immediately notifies the main control chip. The main control chip controls the arm device to start swinging and the wheel device to start moving. The robot is put into motion. At the same time, the main control chip controls the indicator light on the robot to turn off. Loop through steps 5 to 11 until the preset path endpoint B is reached. Then the main control chip controls the wheel device to turn 180 degrees and return from point B along the path connected by multiple line endpoints for movement testing. Loop through steps 4 to 11 until the first half of the test is completed. Rotate the sensor 180 degrees and start the second half of the test again according to steps 4 to 11 until the test is completed. Adjust the other sensitivity gears of the sensor and re-execute steps 4 to 13 until the test is completed. After completing all sensitivity gear tests of the sensor, the entire test is completed and the test map is exported from the positioning PC. The test map is as follows: Figure 4 As shown in the figure, there are multiple concentric circles with radii increasing by 1 meter, and multiple radial lines starting from the center of the circle and extending counterclockwise with angles increasing by 10 degrees. The points in the figure represent the detection positions of the infrared sensor (that is, the position information where the robot is detected and stops), and the range formed by the points is the detection range of the infrared sensor.

[0066] Embodiment 2:

[0067] like Figure 3As shown, based on the previously introduced test device and method for multiple sensors, when the microwave sensor needs to be tested, the preset test path (distinguished by black lines) is: a nine-V-line semicircle combination path. The adjacent V-lines in the nine-V-line semicircle combination path overlap on one side, the angle of the V-line is 20 degrees, and the central point of each V-line converges to the center of the semicircle. The nine V-lines are: AOB, BOC, COD, DOE, EOF, FOG, GOH, HO I, IOJ, the center of the semicircle is point O, the starting point of the test path is end point A, the robot moves along the AO line from point A while testing (the test method is the same as described above) and reaches point O, multiple bifurcated lines appear, the tracking camera is three cameras (the base lens is aimed at the ground on the front side of the robot) installed on the front side of the robot in a horizontal left-middle-right one-line arrangement, and the tracking camera is combined with the main control chip on the robot end to have color and graphic recognition and tracking capabilities. Color and graphic recognition and tracking technology belongs to the prior art and will not be described in detail here. The main control chip is equipped with a preset program. When a bifurcation line appears, the nearest line on the right side of the robot is selected for tracking. That is, the robot turns from point O and continues to walk along the OB line while moving and testing until the B endpoint. Then the robot turns 180 degrees and moves along the BO line while testing. When it reaches point O, the robot turns from point O and continues to walk along the OC line while moving and testing until the C endpoint. Then the robot turns 180 degrees and moves along the CO line while testing. When it reaches the O endpoint, the robot continues to move and test in the same way as above... until it reaches point O by moving along the JO line while testing. The first half of the test is completed, and then the microwave sensor is turned 180 degrees. The second half of the test is performed in the above way. After the entire test is completed, the test map is exported from the positioning PC. The test map is as follows Figure 5 As shown in the figure, there are multiple concentric circles with radii increasing by 1 meter, and multiple radial lines starting from the center of the circle and extending counterclockwise with angles increasing by 20 degrees. The points in the figure represent the detection positions of the microwave sensor (that is, the position information where the robot is detected and stops), and the range formed by the points is the detection range of the microwave sensor.

[0068] Special note: When the installation height of the sensor is above 3 meters (3-15 meters), it is unlikely to establish test sites of various heights for our actual simulation test. The test method of this solution can solve this problem well, saving a large test site and time.

[0069] We assume that when the sensor is 3 meters high, the size of the robot is normally the size of an ordinary person, 175±5CM. If the sensor is installed at a height of 12 meters, the size of the test robot needs to be reduced when testing in a test field within 3 meters. The proportional relationship between the two is as follows:

[0070] Claimed height (H) Test height Robot proportions (height) 0.9-15 meters H(0.9-15m) 1:1(175CM) 3-6 meters H / 2(1.5-3m) 1:2(87.5CM) 6-15 meters H / 5(1.2-3m) 1:5(35CM)

[0071] Note: The declared height in the table is the actual height in use, and the test height is the simulated height when the product is undergoing a simulation test.

[0072] Preferably, the sensing control chip model in this solution is: HC89S003AF4 (for infrared sensor), AT58MP1T1 RS32A (for microwave sensor). Transmitter module model: CMS8S6990, receiver module model: FT60E011, main control chip model: Si peed m1w, its built-in chip is kendryte k210, positioning module model: SR250. These are all prior art and will not be described in detail here. The sensing control chip, transmitter module, receiver module, main control chip, and positioning module of this solution can also adopt other replacement models.

[0073] In summary, the technical solution of the present invention has the following beneficial effects:

[0074] This solution can be compatible with infrared sensors and microwave sensors for multiple sensitivity levels and multiple test heights, that is, a set of test devices and a test method are used for multiple sensors, which reduces the test cost and has good versatility and compatibility. This solution uses robots to simulate human testing methods, saving manual testing costs and improving test efficiency. This solution divides the test into the upper and lower halves by turning the sensor 180 degrees in a test room with limited space, that is, half of the site space can be used to achieve full-range sensor testing. The height requirements of the test room are reduced by testing the height and reducing the robot multiple, achieving the beneficial effects of saving the test room area and reducing the height of the test room, and ensuring the validity of the declared height and full-range sensor testing. This solution can automatically identify and track the preset test path through the tracking camera on the robot side, without manual intervention, and the test path can be of different colors and shapes, which greatly improves the robot's work efficiency in tracking the test path and the compatibility of identifying and tracking paths of different colors and shapes. This solution uses a transmitting module and a receiving module to automatically communicate sensing information and stop and go commands between the sensing end and the robot end. The robot end and the PC end use the positioning module and the positioning base station to achieve the beneficial effect of real-time transmission of location information between the robot end and the positioning PC and real-time marking on the map. The obstacle avoidance module of this solution can automatically identify obstacles in the test room and alarm. The indicator light of this solution has the dual functions of normally indicating the robot's stop state and abnormally indicating faults or obstacle alarms.

[0075] The above-described implementation methods do not constitute a limitation on the protection scope of the technical solution. Any modification, equivalent replacement and improvement made within the spirit and principle of the above-described implementation methods shall be included in the protection scope of the technical solution.

Claims

1. A method for testing multiple sensors, using a device for testing multiple sensors, the device comprising a sensing end, a robot end wirelessly connected to the sensing end, and a PC end wirelessly connected to the robot end, characterized in that: The sensing end includes a sensor, a sensor control chip electrically connected to the sensor, and a transmitting module electrically connected to the sensor control chip; the robot end includes a receiving module, a main control chip electrically connected to the receiving module, and the main control chip is electrically connected to a heating device, an arm device, a wheel device, a positioning module and a display device respectively; the PC end includes a positioning PC; the testing method is performed according to the following steps: Step 1: Set up positioning base stations at the four corners of the test room, turn on the PC in the test room, and set the temperature and humidity of the test room to a constant state; Step 2: Hang the sensing end on the wall of one side of the test room, with its height from the ground being the test height, and connect the power supply of the sensing end to make it work; Step 3, turn on the power of the robot end, heat the heating device to a preset constant temperature, set the test parameters of the robot on the display device, and then prepare for the test; Step 4, the arm device swings in a manner simulating a human hand swing, and the wheel device moves in a manner simulating a human walking speed according to a preset test path and a preset test time; Step 5: When the sensor detects the movement of the robot, the sensor control chip sends a command to the transmitting module, and the transmitting module sends a stop movement command to the robot. After receiving the stop movement command, the receiving module on the robot immediately notifies the main control chip. Step 6: The main control chip controls the arm device to stop swinging and the wheel device to stop moving, and the robot is placed in a stationary state; Step 7: The main control chip controls the positioning module to send the robot's stopping position information to the positioning PC; Step 8, the positioning PC marks the location information where the robot stops on the map; Step 9: After the robot is stationary, the sensor fails to detect a moving object. After a preset interval, the sensor control chip controls the transmitting module to send a command to the robot to release the stationary state. After receiving the command, the receiving module of the robot immediately notifies the main control chip. Step 10, the main control chip controls the arm device to start swinging and the wheel device to start moving, and the robot is put into motion; Step 11, looping through steps 5 to 11 until the preset path endpoint is reached, then the main control chip controls the wheel device to turn 180 degrees, looping through steps 4 to 11 until the first half of the test is completed, and then going to step 12; Step 12, rotate the sensor 180 degrees, and repeat steps 4 to 11 to start the second half of the test until the test is completed, then go to step 13; Step 13, adjust other sensitivity gears of the sensor, and re-execute steps 4 to 13 until the test is completed, and then go to step 14; Step 14: After completing the test of all sensitivity levels of the sensor, the entire test is completed and the test map is exported from the positioning PC.

2. A method for testing multiple sensors compatible with claim 1, characterized in that: The temperature of the test room was 25±3°C.

3. The method for testing multiple sensors according to claim 1, characterized in that: The test height is the declared height divided by the robot reduction factor.

4. A method for testing multiple sensors according to claim 3, characterized in that: The test height is divided into three levels, and the level classification is as follows: Level 1 is that the test height is the same as the declared height, and the ratio of the robot to humans is the same. The test height of this level is 0.9-15 meters, and the height of the robot at this level is 175CM; Level 2 is that the test height is half of the declared height, and the robot is half of a human. The test height of this level is 1.5-3 meters, and the height of the robot at this level is 87.5CM; Level 3 is that the test height is one-fifth of the declared height, and the robot is one-fifth of a human. The test height of this level is 1.2-3 meters, and the height of the robot at this level is 35CM.

5. The method for testing multiple sensors compatible with claim 1, characterized in that: The test parameters of the robot include: test path, test time, swing parameters, and moving speed.

6. The method for testing multiple sensors according to claim 1, characterized in that: The arm device simulates the swinging mode of a human hand by swinging in a manner that: the swing radius is -45 degrees to 45 degrees, and the swing speed is 45 degrees / 1 second.

7. The method for testing multiple sensors according to claim 1, characterized in that: The walking speed of the wheel device simulating a person is adjustable from 0.2 m / s to 1 m / s.

8. The method for testing multiple sensors according to claim 1, characterized in that: The movement according to the preset test path and the preset test time includes: a tracking camera set at the robot end automatically identifies and tracks the pre-drawn lines on the floor of the test room as the preset test path, and the tracking camera automatically sends the signal of the identification and tracking to the main control chip in real time to control the wheel device to move along the preset test path.

9. The method for testing multiple sensors compatible with claim 1, characterized in that: The sensor includes an infrared sensor and a microwave sensor, and the preset test path includes: a path of multiple line endpoints connected in series for testing the infrared sensor, or a path of nine V-line semicircle combination for testing the microwave sensor; the path of multiple line endpoints connected in series is formed by connecting multiple line and the series line, and there is a fixed interval between adjacent line, and the interval is 1 meter; one side of adjacent V-lines in the nine V-line semicircle combination path overlaps, the angle of the V-lines is 20 degrees, and the middle point of each V-line converges to the center of the semicircle.

10. A device for testing compatible with multiple sensors, used to implement a method for testing compatible with multiple sensors as claimed in any one of claims 1 to 9, characterized in that: The invention comprises a sensing end, a robot end wirelessly connected to the sensing end, and a PC end wirelessly connected to the robot end, wherein the sensing end comprises a sensor, a sensor control chip electrically connected to the sensor, and a transmitting module electrically connected to the sensor control chip; the robot end comprises a receiving module, a main control chip electrically connected to the receiving module, and the main control chip is electrically connected to a heating device, an arm device, a wheel device, a positioning module, and a display device respectively; the PC end comprises a positioning PC; the heating device comprises a heating wire electrically connected to a relay, and a temperature controller electrically connected to the main control chip, and the relay is electrically connected to the main control chip. The arm device comprises an arm and a steering gear drive connected to the arm, and the steering gear drive is electrically connected to the main control chip; the wheel device comprises four wheels and a motor drive connected to the wheels, and the motor drive is electrically connected to the main control chip; the display device comprises a touch screen for displaying and setting parameters and an indicator light for displaying that the wheels have stopped; the robot end also comprises an obstacle avoidance module for avoiding obstacles and a tracking camera for identifying and tracking the test path; the positioning module and the positioning PC are wirelessly connected to multiple positioning base stations respectively; the sensor comprises an infrared sensor or a microwave sensor.

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