A virtual wall signal generator quality testing method and testing device

Abstract

The disclosed embodiments provide a method and apparatus for testing the quality of a virtual wall signal generator. The method comprises collecting information fed back by at least two groups of signal receivers based on signals emitted by the virtual wall signal generator, including anti-collision and obstacle signals; and analyzing the quality of the virtual wall signal generator based on the information fed back by the at least two groups of signal receivers. The disclosed method addresses the current difficulty in testing individual virtual wall signal generators during production. By using a receiving head to simulate a host for testing, multiple qualified parameters can be tested simultaneously, simplifying the tedious process of testing with prototypes and improving production testing efficiency.

Description

Technical Field

[0001] The present disclosure relates to the technical field of sweeping robots, and in particular to a quality testing method and testing device for a virtual wall signal generator. Background Art

[0002] As the market for robot vacuums continues to grow, so too is the demand for them. Currently, mid-range and low-end robot vacuums are unable to autonomously plan their cleaning areas, necessitating the addition of auxiliary components to restrict their cleaning areas. One such method is the virtual wall component. Virtual walls utilize infrared signals, which are affected by numerous variables, making it impossible to determine their effectiveness simply by measuring their operating current or voltage. Consequently, there is currently no effective testing method. However, without unit testing, it's impossible to confirm the proper functioning of virtual walls. This makes it highly likely that products sold without proper functionality will lead to customer complaints, further impacting product sales and negatively impacting the healthy development of the entire robot vacuum industry.

[0003] In view of this, it is necessary to propose an efficient testing method for the virtual wall of the sweeping robot. Summary of the Invention

[0004] In view of this, an embodiment of the present disclosure provides a quality testing method for a virtual wall signal generator, which at least partially solves the problems existing in the prior art.

[0005] In a first aspect, an embodiment of the present disclosure provides a method for testing the quality of a virtual wall signal generator, the method comprising the following steps:

[0006] Collecting information fed back by at least two groups of signal receivers based on signals received from a virtual wall signal generator, where the signals emitted by the virtual wall signal generator include an anti-collision signal and an obstacle signal; the test positions of the at least two groups of signal receivers are placed according to preset rules, wherein the preset rules of the test positions at least enable the signal receivers used to test the anti-collision signal to test whether the strength of the anti-collision signal emitted by the virtual wall signal generator meets the requirements, and at least enable the signal receivers used to test the obstacle signal to test whether the obstacle signal emitted by the virtual signal generator meets the strength requirements;

[0007] Analyze the quality of the virtual wall signal generator based on information fed back by at least two groups of signal receivers

[0008] According to a specific implementation method of an embodiment of the present disclosure, the number of signal receivers is four groups, the first group of signal receivers is used to test whether the strength of the anti-collision signal of the virtual wall signal generator meets the requirements, the second group of signal receivers is used to test whether the strength of the anti-collision signal of the virtual wall signal generator exceeds the requirements, the third group of signal receivers is used to test whether the strength of the obstacle signal of the virtual wall signal generator meets the requirements, and the fourth group of signal receivers is used to test whether the strength of the obstacle signal of the virtual wall signal generator exceeds the requirements.

[0009] According to a specific implementation of an embodiment of the present disclosure, the first group of signal receivers includes at least one signal receiver. When the number of the signal receiver is one, the signal receiver is set at a distance R from the virtual wall signal generator; when the number of the signal receiver is multiple, the multiple signal receivers are spaced apart on a circle with a radius of R and the virtual wall signal generator as the center.

[0010] According to a specific implementation of the embodiment of the present disclosure, 3≤R≤10cm.

[0011] According to a specific implementation of the embodiment of the present disclosure, the second group of signal receivers includes at least one signal receiver, and the at least one signal receiver is set at a distance D from the virtual wall generator.

[0012] According to a specific implementation of the embodiment of the present disclosure, 10 cm<D≤20 cm.

[0013] According to a specific implementation of the embodiment of the present disclosure, the number of the third group of signal receivers is multiple, and the multiple signal receivers are symmetrically distributed with the straight line where the virtual wall signal generator is located as the axis, and the distance between the foot points of the multiple signal receivers on the straight line where the virtual wall signal generator is located and the virtual wall signal generator is H, 1m<H≤4m; the lines connecting the multiple signal receivers and the virtual wall signal generator respectively form an angle α with the symmetry line of the multiple signal receivers.

[0014] According to a specific implementation of the embodiment of the present disclosure, the number of the fourth group of signal receivers is multiple, and the multiple signal receivers are symmetrically distributed with the straight line where the virtual wall signal generator is located as the axis, and the distance between the foot points of the multiple signal receivers on the straight line where the virtual wall signal generator is located and the virtual wall signal generator is H, 1m<H≤4m, and the lines connecting the multiple signal receivers and the virtual wall signal generator respectively form an angle β with the symmetry line of the multiple signal receivers, where β>α.

[0015] According to a specific implementation of the embodiment of the present disclosure, 5°≤α≤10°, and 10°<β≤20°.

[0016] In a second aspect, an embodiment of the present disclosure provides a virtual wall signal generator quality testing device, comprising a processor, at least two groups of signal receivers, and a display module;

[0017] The processor is configured to collect information fed back by at least two groups of signal receivers based on signals received from a virtual wall signal generator, where the signals emitted by the virtual wall signal generator include anti-collision signals and obstacle signals; the test positions of the at least two groups of signal receivers are placed according to preset rules, wherein the preset rules of the test positions at least enable the signal receivers used to test the anti-collision signal to test whether the strength of the anti-collision signal emitted by the virtual wall signal generator meets the requirements, and at least enable the signal receivers used to test the obstacle signal to test whether the obstacle signal emitted by the virtual signal generator meets the strength requirements;

[0018] The processor is further configured to analyze the quality of the virtual wall signal generator based on information fed back by at least two groups of signal receivers;

[0019] The display module is used to display the test results.

[0020] The method for testing the quality of a virtual wall signal generator disclosed in an embodiment of the present invention includes collecting information fed back by at least two groups of signal receivers based on signals emitted by the virtual wall signal generator, including anti-collision and obstacle signals; and analyzing the quality of the virtual wall signal generator based on the information fed back by the at least two groups of signal receivers. This method addresses the current difficulty in testing individual virtual wall signal generators during production. By using a receiving head to simulate a host for testing, multiple qualified parameters can be tested simultaneously, simplifying the tedious process of testing with prototypes and improving production testing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0022] Figure 1 A schematic diagram of a module of a virtual wall signal generator quality testing device provided by an embodiment of the present disclosure;

[0023] Figure 2A schematic diagram of the settings of various signal receivers in a virtual wall signal generator quality testing method provided by an embodiment of the present disclosure;

[0024] Figure 3 This is a schematic diagram of the prior art test. DETAILED DESCRIPTION

[0025] The embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0026] The following describes the embodiments of the present disclosure through specific examples, and those skilled in the art can easily understand other advantages and effects of the present disclosure from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all of the embodiments. The present disclosure can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present disclosure. It should be noted that, in the absence of conflict, the following embodiments and features in the embodiments can be combined with each other. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present disclosure.

[0027] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on this disclosure, it should be understood by those skilled in the art that an aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects described herein can be used to implement an apparatus and / or practice a method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this apparatus and / or practice this method.

[0028] It should also be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present disclosure. The illustrations only show components related to the present disclosure and are not drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component can be changed at will, and the component layout type may also be more complicated.

[0029] Additionally, in the following description, specific details are provided to provide a thorough understanding of the examples. However, one skilled in the art will appreciate that the aspects described can be practiced without these specific details.

[0030] Virtual Wall: As the name suggests, it's an invisible wall. When a robot vacuum encounters a wall or obstacle, it changes direction. Users may wish to skip cleaning certain areas or repeat cleaning certain areas, requiring the robot to place obstacles in front of it. However, placing physical obstacles is not practical, which is where the virtual wall feature becomes crucial. This allows the robot to believe there's a wall or obstacle in front of it, but the obstacle or wall doesn't actually exist. The robot automatically avoids it and doesn't pass through it, effectively limiting its range of motion.

[0031] Virtual wall implementation method: The virtual wall blocks the robot vacuum cleaner by emitting infrared signals. The robot vacuum cleaner has an infrared remote control receiver. When it receives the infrared signal, it will think that there is a wall in front of it and will change its direction instead of passing through the virtual wall. The virtual wall signal generator will emit two infrared signal codes, such as Figure 3 One of the signals shown transmits an obstacle signal at an angle directly in front of the machine, warning it of an obstacle and preventing it from passing. The other sends an anti-collision signal in all directions, warning the machine of a signal generator and requiring it to avoid a collision. The encoding of the obstacle signal and the anti-collision signal is different. The machine's infrared receiver receives the encoded data and sends it to the MCU for decoding. After decoding, the MCU responds accordingly based on the signal type.

[0032] Test method: Figure 3 As shown, find points A and B in a 2m×2m area. Place a virtual wall signal generator at point A and perform a treadmill test with a prototype (with confirmed functionality) within the area to observe whether the machine passes through obstacle signal area I, enters anti-collision signal area I, and hits the virtual wall. Then, place a virtual wall signal generator at point B and perform a treadmill test with the prototype within the area to observe whether the machine passes through obstacle signal area II, enters anti-collision signal area II, and hits the virtual wall. This will determine whether the virtual wall signal generator is qualified.

[0033] Although this testing method can achieve the testing and production purposes of virtual walls, the testing process is cumbersome and inefficient, making it unsuitable for mass production testing.

[0034] The present disclosure provides a method for testing the quality of a virtual wall signal generator. The testing method provided in this embodiment can be performed by a computing device, which can be implemented as software or a combination of software and hardware, and can be integrated into a server, terminal device, or the like.

[0035] The quality test method of the virtual wall signal generator in this embodiment is implemented based on the following test fixture, see Figure 1 ,

[0036] The test fixture consists of three parts: a processor (microcontroller (MCU)), an infrared signal receiver (sensor), and a display module (execution module). The MCU reads the signal code received by each sensor, then decodes it to determine whether the signal code of each sensor is correct, and finally displays the final processing result on the display module.

[0037] The embodiment of the present disclosure provides a method for testing the quality of a virtual wall signal generator, which includes the following steps:

[0038] Collecting information fed back by at least two groups of signal receivers based on signals received from a virtual wall signal generator, where the signals emitted by the virtual wall signal generator include an anti-collision signal and an obstacle signal; placing test positions of the at least two groups of signal receivers according to preset rules, wherein the preset rules of the test positions at least enable the signal receivers used to test the anti-collision signal to test whether the strength of the anti-collision signal emitted by the virtual wall signal generator meets requirements, and at least enable the signal receivers used to test the obstacle signal to test whether the obstacle signal emitted by the virtual signal generator meets strength requirements;

[0039] The quality of the virtual wall signal generator is analyzed according to information fed back by at least two groups of signal receivers.

[0040] The method of the disclosed embodiment solves the problem that a single unit cannot be tested during the current production process of a virtual wall signal generator. By using a receiving head to simulate a host for testing, multiple qualified parameters can be tested simultaneously, which simplifies the tedious process of using a prototype for testing and improves production testing efficiency.

[0041] The disclosed embodiments utilize at least two sets of signal receivers positioned at fixed locations to collect signals emitted by a virtual wall signal generator. The quality of the virtual wall signal generator is determined by detecting whether the signals can be received at these locations. Therefore, the placement of the signal receivers is crucial. Generally, the location can be determined based on the signal strength of the virtual wall signal generator itself at the time of production. For example, assuming the virtual wall signal generator transmits a total angle of 360° and the maximum signal range is 2 meters, the signal receivers are positioned on a circle with the virtual wall signal generator as the center and a radius of 2 meters. Because the total transmission angle is 360°, multiple signal receivers can be used to detect whether the virtual wall signal generator's signals can be received at multiple angles, and to determine whether the virtual wall signal generator meets the maximum signal range requirement of 2 meters. In this case, the signal strength of the virtual wall signal generator meets the required strength; otherwise, it fails to meet the required strength.

[0042] Therefore, the most basic requirement that needs to be met in this embodiment is to detect whether the basic strength requirement of the signal emitted by the virtual wall signal generator can meet the standard. It should be noted that the signal here includes the anti-collision signal and the obstacle signal. Therefore, in the embodiment of the present disclosure, at least two groups of signal generators are provided, and the two groups of signal generators are used to detect the anti-collision signal and the obstacle signal respectively. The number of each group of the two groups of signal generators can be multiple or one, which can be determined according to the specific test requirements.

[0043] In another embodiment of the present disclosure, the number of signal receivers is four groups, the first group of signal receivers is used to test whether the strength of the anti-collision signal of the virtual wall signal generator meets the requirements, the second group of signal receivers is used to test whether the strength of the anti-collision signal of the virtual wall signal generator exceeds the requirements, the third group of signal receivers is used to test whether the strength of the obstacle signal of the virtual wall signal generator meets the requirements, and the third group of signal receivers is used to test whether the strength of the obstacle signal of the virtual wall signal generator exceeds the requirements. It is important to note under what circumstances the virtual wall signal generator's anti-collision signal or obstacle signal exceeds the required range. When the virtual wall signal generator's anti-collision signal exceeds the required range, for example, if the original setting is to set the anti-collision signal only within a 20cm range, but the anti-collision signal is also received at locations beyond the 20cm range, in this case, assuming the robot is working, the robot will not move forward to clean after receiving this signal outside the 20cm range, even though the area beyond the 20cm range actually needs to be cleaned. This may cause the robot to miss a sweep. To put it more exaggeratedly, if the anti-collision signal is received by the robot at 50cm, then there is a 30cm missed sweep range, and the robot can be considered to be seriously "lazy." Therefore, in the embodiments of the present disclosure, not only is the signal strength of the virtual wall signal generator tested to see if it meets the requirements, but the signal strength also is tested to see if it exceeds the original requirements, further ensuring the high quality standards of the virtual wall signal generator.

[0044] Furthermore, the first group of signal receivers includes at least one signal receiver. When the number of signal receivers is one, the signal receiver is set at a distance R from the virtual wall generator. When the number of signal receivers is multiple, the multiple signal receivers are evenly spaced on a circle with a radius of R and the virtual wall signal generator as the center. In this embodiment, the number of the first group of signal receivers is preferably set to 4. Of course, in other embodiments, the first group of signal receivers can also be multiple, such as six, eight, ten, etc. The control of the number can control the test cost as much as possible on the basis of meeting the test requirements. In this embodiment, it is found that the signal test of the virtual wall signal generator can be met by setting 4 signal receivers, and this is for the case where the signal angle emitted by the virtual wall signal generator transmitting tube is 360°. The test at this time is to test whether the anti-collision signal of the virtual wall signal generator meets the requirements.

[0045] In addition, in this embodiment, 3≤R≤10cm. The setting of R is also based on the signal strength of the virtual wall signal generator itself. In this embodiment, R=10cm.

[0046] Furthermore, the second group of signal receivers includes at least one signal receiver, which is located at a distance D from the virtual wall generator. In this embodiment, the second group of signal receivers preferably includes two, spaced apart on a circle with a radius of D centered around the virtual wall signal generator. The second group of signal receivers is used to test whether the signal strength emitted by the virtual wall signal generator exceeds the required level. In other words, whether the signal is received within the signal strength coverage range. Where 10 cm < D ≤ 20 cm.

[0047] It should be noted that the first group of signal receivers and the second group of signal receivers are both used to test whether the anti-collision signal of the virtual wall signal generator meets the required quality.

[0048] Furthermore, the third group of signal receivers comprises multiple signal receivers, each symmetrically distributed about the line on which the virtual wall signal generator resides. The distance between the foot points of the multiple signal receivers on the line on which the virtual wall signal generator resides and the virtual wall signal generator is H, where 1m < H ≤ 4m. The lines connecting the multiple signal receivers to the virtual wall signal generator form an angle α with the line of symmetry between the multiple signal receivers. The setting of angle α is related to the generation angle of the obstacle signal from the virtual wall signal generator, and angle α is used to detect whether the obstacle signal emitted by the virtual wall signal generator is valid within a set range. In this embodiment, 5° ≤ α ≤ 10°. In this embodiment, the third group of signal receivers comprises two signal receivers, each arranged on the same line. Specifically, the distance between the foot points of the two signal receivers on the line on which the virtual wall signal generator resides and the virtual wall signal generator is 2m, and the angle between the lines connecting the two signal receivers to the virtual wall signal generator and the line of symmetry between the two signal receivers is 10°.

[0049] Furthermore, the fourth group of signal receivers comprises multiple signal receivers, each of which is symmetrically distributed about the line on which the virtual wall signal generator is located. The distance between the foot points of the multiple signal receivers on the line on which the virtual wall signal generator is located and the virtual wall signal generator is Hm, where 1m < H ≤ 4m. A line connecting two signal receivers to the virtual wall signal generator forms an angle β with the line of symmetry between the two signal receivers, where β > α. In this embodiment, 10° < β ≤ 20°. In this embodiment, the fourth group of signal receivers comprises two signal receivers, each of which is arranged on the same line. Specifically, the distance between the foot points of the two signal receivers on the line on which the virtual wall signal generator is located and the virtual wall signal generator is 2m. Furthermore, an angle of 20° is formed between the line connecting the two signal receivers to the virtual wall signal generator and the line of symmetry between the two signal receivers.

[0050] Test principle: Figure 2As shown in the figure, the ten positions A-J are for the placement of 38kHz infrared receivers. The six receivers at positions A-F test the anti-collision signals emitted by the virtual wall signal generator, while the four receivers at positions G-J test the obstacle signals emitted by the virtual wall signal generator. The infrared transmitter used by the virtual wall signal generator to transmit the anti-collision signals has a total transmission angle of 360°. Receivers A and B are located 20cm from the virtual wall signal generator. Receivers at these positions cannot receive the anti-collision signals. Otherwise, the robot vacuum will bypass the area within 20cm of the virtual wall generator, resulting in a larger area being missed. Receivers C-F are located 10cm from the virtual wall generator. These four receivers must receive the anti-collision signals. Failure to do so puts the robot vacuum at risk of colliding with the virtual wall generator. Receiving signals at all four positions confirms that the anti-collision function of the virtual wall signal generator is functioning properly, ensuring complete blind spot collision avoidance.

[0051] The four receiving heads at positions G--J are used to test whether the obstacle signal emitted by the virtual wall signal generator is qualified. The four positions are mapped to the center line of the virtual wall signal generator at a distance of 2m from the virtual wall position. They are placed symmetrically at 10° and 20° to the center line. The angle of the infrared emitting tube used by the virtual wall signal generator to emit obstacle signals is 20°. The distance of 2m is to test the effectiveness of the signal after the distance reaches 2m. If the signals can be received at positions H and I, it means that the strength of the obstacle signal emitted by the virtual wall signal generator is OK. If the signals can also be received at positions G and J, it means that the strength of the obstacle signal emitted by the virtual wall signal generator is OK, but the angle is too large, which will cause a large area to be missed. The test method and fixture are as follows Figure 3 shown.

[0052] To summarize, the necessary and sufficient conditions for a virtual wall signal generator to be qualified are: no signal is received at positions A and B, anti-collision signals are received at positions C, D, E, and F, no obstacle signals are received at positions G and J, and obstacle signals are received at positions H and I. Otherwise, the virtual wall signal generator is considered unqualified.

[0053] Corresponding to the above method embodiment, see Figure 1 , the embodiment of the present disclosure also provides a virtual wall signal generator quality testing device, including a processor, at least two groups of signal receivers and a display module;

[0054] The processor is configured to collect information fed back by at least two groups of signal receivers based on signals received from a virtual wall signal generator, where the signals emitted by the virtual wall signal generator include anti-collision signals and obstacle signals; the test positions of the at least two groups of signal receivers are placed according to preset rules, wherein the preset rules of the test positions at least enable the signal receivers used to test the anti-collision signal to test whether the strength of the anti-collision signal emitted by the virtual wall signal generator meets the requirements, and at least enable the signal receivers used to test the obstacle signal to test whether the obstacle signal emitted by the virtual signal generator meets the strength requirements;

[0055] The processor is further configured to analyze the quality of the virtual wall signal generator based on information fed back by at least two groups of signal receivers;

[0056] The display module is used to display the test results.

[0057] Figure 1 The device shown can correspondingly execute the contents of the above method embodiment. For the parts not described in detail in this embodiment, refer to the contents recorded in the above method embodiment and will not be repeated here.

[0058] The above description is merely a specific embodiment of the present disclosure, but the scope of protection of the present disclosure is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this disclosure should be included in the scope of protection of the present disclosure. Therefore, the scope of protection of the present disclosure should be based on the scope of protection of the claims.

Claims

1. A virtual wall signal generator quality test method, characterized in that: The virtual wall signal generator quality testing method comprises the following steps: Collecting information fed back by at least two groups of signal receivers based on signals received from a virtual wall signal generator, where the signals emitted by the virtual wall signal generator include an anti-collision signal and an obstacle signal; the test positions of the at least two groups of signal receivers are placed according to preset rules, wherein the preset rules of the test positions at least enable the signal receivers used to test the anti-collision signal to test whether the strength of the anti-collision signal emitted by the virtual wall signal generator meets the requirements, and at least enable the signal receivers used to test the obstacle signal to test whether the obstacle signal emitted by the virtual signal generator meets the strength requirements; analyzing the quality of the virtual wall signal generator according to information fed back by at least two groups of signal receivers; There are four groups of signal receivers. The first group of signal receivers is used to test whether the strength of the anti-collision signal of the virtual wall signal generator meets the requirements, the second group of signal receivers is used to test whether the strength of the anti-collision signal of the virtual wall signal generator exceeds the requirements, the third group of signal receivers is used to test whether the strength of the obstacle signal of the virtual wall signal generator meets the requirements, and the fourth group of signal receivers is used to test whether the strength of the obstacle signal of the virtual wall signal generator exceeds the requirements.

2. The virtual wall signal generator quality testing method according to claim 1, characterized in that: The first group of signal receivers includes at least one signal receiver. When the number of the signal receiver is one, the signal receiver is set at a distance R from the virtual wall signal generator; when the number of the signal receiver is multiple, the multiple signal receivers are spaced apart on a circle with a radius of R and the virtual wall signal generator as the center.

3. The virtual wall signal generator quality testing method according to claim 2, characterized in that: 3≤R≤10cm.

4. The virtual wall signal generator quality testing method according to claim 1, characterized in that: The second group of signal receivers includes at least one signal receiver, and the at least one signal receiver is set at a distance D from the virtual wall generator.

5. The virtual wall signal generator quality testing method according to claim 4, characterized in that: 10cm<D≤20cm.

6. The virtual wall signal generator quality testing method according to claim 1, characterized in that: The number of the third group of signal receivers is multiple, and the multiple signal receivers are symmetrically distributed with the straight line where the virtual wall signal generator is located as the axis, and the distance between the foot points of the multiple signal receivers on the straight line where the virtual wall signal generator is located and the virtual wall signal generator is H, 1m<H≤4m, and the lines connecting the multiple signal receivers and the virtual wall signal generator form an angle α with the symmetry line of the multiple signal receivers.

7. The virtual wall signal generator quality testing method according to claim 6, characterized in that: The number of the fourth group of signal receivers is multiple, and the multiple signal receivers are symmetrically distributed with the straight line where the virtual wall signal generator is located as the axis, and the distance between the foot points of the multiple signal receivers on the straight line where the virtual wall signal generator is located and the virtual wall signal generator is H, 1m<H≤4m, and the lines connecting the multiple signal receivers and the virtual wall signal generator form an angle β with the symmetry line of the multiple signal receivers, where β>α.

8. The virtual wall signal generator quality testing method according to claim 7, characterized in that: 5°≤α≤10°，10°＜β≤20°。 9. A virtual wall signal generator quality testing device, used to perform the virtual wall signal generator quality testing method according to any one of claims 1 to 8, characterized in that: It includes a processor, at least two groups of signal receivers and a display module; The processor is configured to collect information fed back by at least two groups of signal receivers based on signals received from a virtual wall signal generator, where the signals emitted by the virtual wall signal generator include anti-collision signals and obstacle signals; the test positions of the at least two groups of signal receivers are placed according to preset rules, wherein the preset rules of the test positions at least enable the signal receivers used to test the anti-collision signal to test whether the strength of the anti-collision signal emitted by the virtual wall signal generator meets the requirements, and at least enable the signal receivers used to test the obstacle signal to test whether the obstacle signal emitted by the virtual signal generator meets the strength requirements; The processor is further configured to analyze the quality of the virtual wall signal generator based on information fed back by at least two groups of signal receivers; The display module is used to display the test results.

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