Inspection fixtures and systems for cameras in automated cleaning equipment

Abstract

This invention discloses a testing fixture and system for a camera in an automatic cleaning device. The testing fixture includes: a housing; multiple testing pattern cards, each configured as a surface light source and mounted within the housing; a first moving device disposed within the housing; a first platform for placing the automatic cleaning device, connected to the first moving device and movable relative to the housing between multiple working positions under the drive of the first moving device; and a control device coupled to the first moving device for controlling its operation. The control device is also coupled to the testing pattern cards for controlling whether the testing pattern cards are illuminated. When the first platform is located at one of the multiple working positions, at least one of the multiple testing pattern cards enters the camera's shooting area. The testing fixture according to this invention can automatically perform multiple performance tests on the camera of an automatic cleaning device.

Description

Technical Field

[0001] This invention relates to the field of automatic cleaning equipment technology, and more specifically to a testing fixture for a camera in an automatic cleaning equipment and a testing system using the testing fixture. Background Technology

[0002] With the development of economy and technology, automatic cleaning equipment has entered thousands of households due to its ability to clean floors in place of humans. To avoid the various obstacles inevitably present in the home and ensure the normal operation of automatic cleaning equipment in complex environments, most automatic cleaning equipment is equipped with visual or ultrasonic obstacle avoidance systems. Visual obstacle avoidance systems rely heavily on cameras to determine the relative position of obstacles to the automatic cleaning equipment. However, due to installation tolerances, current automatic cleaning equipment cameras often suffer from problems such as inaccurate elevation angles and large variance in image sharpness at the time of manufacture. Therefore, a testing fixture and system for the cameras of automatic cleaning equipment are needed to at least partially solve these problems. Summary of the Invention

[0003] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. The summary section of this invention is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0004] To at least partially solve the above problems, a first aspect of the present invention provides a detection fixture for a camera in an automated cleaning device, comprising:

[0005] Box;

[0006] Multiple detection pattern cards, wherein the multiple detection pattern cards are constructed as surface light sources, and the multiple detection pattern cards are mounted in the housing;

[0007] A first moving device is disposed in the housing;

[0008] A first platform is used to house the automatic cleaning equipment. The first platform is connected to the first mobile device and is movable relative to the housing between multiple working positions under the drive of the first mobile device.

[0009] A control device, coupled to the first moving device, is used to control the operation of the first moving device. The control device is also coupled to the detection chart card, used to control whether the detection chart card is illuminated.

[0010] When the first platform is located at one of the plurality of working points, at least one of the plurality of detection cards enters the shooting area of ​​the camera.

[0011] According to the inspection fixture of the present invention, multiple inspection charts correspond to different performance tests, thus enabling the inspection fixture to perform multiple performance tests on the camera. All inspection charts are designed as surface light sources, ensuring uniform illumination of all parts of the charts during inspection, which helps guarantee the inspection effect. The housing serves as the outer shell of the entire inspection fixture. A first platform is mounted on a first moving device to support the automatic cleaning equipment in performing different shooting tasks at different positions within the housing. A control device controls the moving device and the light sources of each inspection chart. Through the coordinated operation of the control device, the automatic cleaning equipment can move between various inspection points (working points), and the corresponding inspection charts will be illuminated at appropriate times. This design ensures the stability of the relative position of the automatic cleaning equipment when shooting the same chart, making it suitable for batch inspection. The automatic cleaning equipment does not need to move autonomously throughout the process, simplifying operation and saving manpower by using automation technology to complete the inspection work.

[0012] Optionally, the working point includes a first working point, and the detection chart includes a resolution test chart. When the first platform is located at the first working point, the resolution test chart enters the shooting area of ​​the camera.

[0013] Furthermore, the resolution test chart includes: a positioning pattern, which is constructed as a black and white checkerboard pattern distributed at the four endpoints of the cross shape; and a stripe pattern, which is distributed in the central area, upper left area, upper right area, lower left area and lower right area of ​​the cross shape.

[0014] The positioning pattern is constructed in a black and white checkerboard pattern, which facilitates image recognition. In the subsequent image processing, the test program can identify the black and white positioning pattern and determine the relative position of the resolution test chart in the camera's field of view. Based on this, it can determine the deviation of the camera's field of view center relative to the front of the automatic cleaning device, that is, the horizontal rotation angle of the camera relative to the front of the automatic cleaning device.

[0015] The stripe pattern is used for MTF (Modulation Transfer Function) testing. The testing program can identify the distribution of black and white stripes in a specific stripe pattern, and use this as a basis to determine the camera's resolution. The stripe pattern is distributed in multiple areas, thus allowing the detection of image resolution at multiple points within the camera's field of view, which helps to more completely reflect the camera's image resolution.

[0016] Optionally, the resolution test chart is parallel to the motion trajectory of the first platform.

[0017] The resolution test chart moves parallel to the trajectory of the first platform. Throughout the test, the automatic cleaning equipment itself remains stationary and does not rotate, ensuring that the camera is directly facing the resolution test chart. During image capture, the camera directly images the test chart. The entire test process eliminates the need to rotate the automatic cleaning equipment or the test chart, saving on the movement and positioning devices required for rotating the chart or the automatic cleaning equipment. This simplifies the control structure, increases system efficiency, and enhances the system's compactness.

[0018] Optionally, the testing fixture further includes a second moving device coupled to the control device and disposed in the housing; the testing chart further includes a dirt test chart connected to the second moving device and movable relative to the housing between a testing position and a rest position under the drive of the second moving device, wherein when the dirt test chart is located at the testing position and the first platform is located at the first working point position, the dirt test chart enters the shooting area of ​​the camera.

[0019] To determine if a camera lens has dirt or scratches at the time of manufacture, a dirt test is required. The dirt test chart is connected to a second moving device, which moves between a detection position and a rest position under the drive of this device. When the dirt test chart is in the detection position, the first platform is in the first working position, at which point the camera can directly capture images of the dirt test chart. After capturing images, the second moving device moves the dirt test chart out of the camera's field of view to the rest position, allowing the camera to continue capturing images of other test charts without the dirt test charts interfering with the camera. The second moving device allows the first platform to capture images of two different test charts without moving, enabling the reuse of the first working position, improving shooting efficiency, and saving shooting space.

[0020] Optionally, the movement trajectory of the dirt test chart is perpendicular to the movement trajectory of the first platform.

[0021] The movement trajectory of the dirt test chart is perpendicular to the movement trajectory of the first platform, making reasonable use of the three-dimensional space inside the box.

[0022] Optionally, the dirt test chart is constructed with a brightness in the range of 500-600 IUX and / or a color temperature in the range of 4800-5200k and / or a uniformity of 92% or higher.

[0023] The dirt test chart provides a uniform shooting field of view environment. In the subsequent test program analysis, the test program only needs to detect the uniformity of the captured photos to determine whether the camera has dirt or scratches.

[0024] Optionally, the second moving device includes a cylinder.

[0025] In this invention, a cylinder is selected as the driving component of the second moving device, which results in rapid and stable movement, good positioning, and long service life.

[0026] Optionally, when the first platform is located at the first working point, the detection position is located between the resolution test chart and the first platform.

[0027] In this invention, the dirt test chart is positioned relatively close to the camera of the automatic cleaning device, allowing the dirt test chart to fill the entire field of view of the camera, thereby enabling the detection of dirt or scratches within the entire field of view of the camera.

[0028] Optionally, the working point includes a second working point, and the detection chart includes an elevation angle test chart. When the first platform is located at the second working point, the elevation angle test chart enters the shooting area of ​​the camera.

[0029] In this invention, the automatic cleaning equipment is completed by taking pictures of the elevation angle test chart at the second working point.

[0030] Optionally, the testing fixture includes a second platform, the resolution test chart is mounted on the second platform, and the elevation angle test chart extends along the surface of the second platform. When the first platform is located at the second working point, the light-emitting surface of the elevation angle test chart is flush with the surface of the first platform.

[0031] In this invention, the second platform provides support for both the resolution test chart and the elevation test chart, making the testing fixture compact and saving testing space.

[0032] Optionally, the elevation angle test chart includes multiple parallel stripes, the extension direction of which is perpendicular to the movement trajectory of the first platform.

[0033] The elevation angle test chart consists of multiple parallel stripes, where the width of each stripe and the spacing between them are known, and the stripes extend roughly parallel to the plane of the field of view. Therefore, the elevation angle of the camera can be calculated mathematically based on the photograph of the elevation angle test chart taken by the camera, thus achieving the purpose of detecting the camera's elevation angle.

[0034] Optionally, the first moving device includes a motor, a lead screw, and a guide rail.

[0035] Because precise tests such as resolution and elevation angle tests are involved, the camera's position relative to the test chart is required to be accurate. In this invention, a motor is used as the driving component and a lead screw as the transmission component, which enables precise positioning of the first platform.

[0036] Optionally, the first platform is provided with a locking component for locking the automatic cleaning device in place, so that the automatic cleaning device is immovable relative to the first platform.

[0037] Throughout the entire testing process, the automatic cleaning equipment only needs to move synchronously with the first platform, making the structure and control of the testing fixture relatively simple and easy to implement.

[0038] Optionally, the inner wall of the enclosure is provided with an anti-reflective layer and / or a light-absorbing material.

[0039] To avoid the impact of reflected light on the shooting effect, the inner wall of the box is equipped with an anti-reflective layer and / or light-absorbing material to reduce interference.

[0040] Optionally, the control device is configured such that when one of the plurality of detection cards enters the shooting area of ​​the camera, the control device illuminates the detection card that has entered the shooting area of ​​the camera, while simultaneously extinguishing the remaining detection cards.

[0041] The control device can coordinate the illumination of each detection card at specific times, ensuring that the corresponding card is illuminated when it is being photographed. Conversely, when not photographing, the detection card remains unilluminated to avoid interfering with the photographing of other cards.

[0042] Optionally, the housing includes an opening, and the first platform is movable relative to the housing between the plurality of working points and preparatory points under the drive of the first moving device. When the automatic cleaning device is placed on the first platform and the first platform is located at the preparatory point, at least a portion of the automatic cleaning device is exposed outside the housing from the opening.

[0043] When the first platform is in the ready position, the operator can easily install or remove the automatic cleaning equipment through the opening in the housing.

[0044] Optionally, the housing further includes:

[0045] A mask, wherein the mask is correspondingly disposed at the opening; and

[0046] An opening and closing device, coupled to the control device and connected to the shield, is used to open and close the shield.

[0047] Specifically, when the mask is opened, the opening is opened; when the mask is closed, the opening is closed.

[0048] To ensure that external light sources do not interfere with the testing process, a shield is installed at the opening of the enclosure. The shield can block external light, so that the camera's shooting process is not affected.

[0049] Optionally, the shield is configured as a pleated diaphragm, and the opening / closing device includes a cylinder and a guide rail.

[0050] In this invention, a bellows diaphragm is used as a cover, and a cylinder provides the driving force for opening and closing the bellows diaphragm.

[0051] Optionally, the control device is configured as follows:

[0052] After the control device opens the shield, the control device controls the first platform to move to the pre-position.

[0053] After the control device controls the first platform to move away from the preparatory position, the control device controls the shield to close.

[0054] The control device can control the first moving device to cooperate with the opening and closing device so that the opening and closing of the cover is coordinated with the movement of the automatic cleaning equipment in and out of the opening.

[0055] A second aspect of the present invention provides a detection system for a camera in an automated cleaning device, comprising:

[0056] The aforementioned testing fixtures; and

[0057] An analysis system is used to analyze the images of the detection card captured by the camera at the multiple working locations.

[0058] According to the present invention, multiple test charts correspond to different performance tests. The test fixture enables a camera to capture images of the multiple charts, and then the analysis system analyzes the images of the multiple charts to detect multiple corresponding performance characteristics of the camera. Therefore, the test system according to the present invention can complete the testing of multiple performance characteristics of a camera. Attached Figure Description

[0059] The following drawings, which are incorporated herein by reference as part of this invention, are provided for understanding the invention. The drawings illustrate embodiments of the invention and their descriptions, serving to explain the principles of the invention.

[0060] In the attached image:

[0061] Figure 1 This is a perspective view of the detection fixture according to a preferred embodiment of the present invention;

[0062] Figure 2 This is a schematic diagram of the internal structure of the detection fixture according to a preferred embodiment of the present invention, wherein the first platform is located at the first working point;

[0063] Figure 3 This is a schematic diagram of the resolution test chart of the testing fixture according to a preferred embodiment of the present invention;

[0064] Figure 4 This is a schematic diagram of the second moving device of the testing fixture and the dirt test chart according to a preferred embodiment of the present invention;

[0065] Figure 5 This is a schematic diagram of a dirt test chart for a testing fixture according to a preferred embodiment of the present invention;

[0066] Figure 6 This is a schematic diagram of the internal structure of the detection fixture according to a preferred embodiment of the present invention, wherein the first platform is located at the second working point;

[0067] Figure 7 This is a schematic diagram of the elevation angle test chart of the testing fixture according to a preferred embodiment of the present invention, wherein the unit of the nominal data is mm;

[0068] Figure 8 This is a schematic diagram of the internal structure of the detection fixture according to a preferred embodiment of the present invention, wherein the first platform is located at the preparatory point;

[0069] Figure 9 This is a partial view of the inspection fixture according to a preferred embodiment of the present invention, wherein the mask is in a closed state; and

[0070] Figure 10 This is a partial structural schematic diagram of the detection tooling according to a preferred embodiment of the present invention.

[0071] Explanation of reference numerals in the attached figures:

[0072] 10: Inspection tooling

[0073] 11: Box

[0074] 12: Automatic cleaning equipment

[0075] 13: First Platform

[0076] 14: Second Platform

[0077] 17: Opening

[0078] 20: First mobile device

[0079] 22: Lead screw

[0080] 23: Guide rail

[0081] 30: Resolution Test Chart

[0082] 31: Positioning Pattern

[0083] 32: Striped pattern

[0084] 40: Second mobile device

[0085] 41: Cylinder

[0086] 50: Dirt Test Chart

[0087] 60: Elevation Angle Test Chart

[0088] 70: Mask

[0089] 80: Accordion membrane

[0090] 90: Opening and closing device

[0091] 91: Cylinder

[0092] 92: Guide rail

[0093] 93: Linkage Detailed Implementation

[0094] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid obscuring the invention.

[0095] To fully understand the present invention, a detailed description will be set forth in the following description. It should be understood that these embodiments are provided so that the disclosure of the present invention is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art. Obviously, the implementation of embodiments of the present invention is not limited to the specific details familiar to those skilled in the art. Preferred embodiments of the present invention are described in detail below; however, in addition to these detailed descriptions, the present invention may have other embodiments.

[0096] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof.

[0097] The ordinal numbers such as "first" and "second" used in this invention are merely identifiers and do not have any other meaning, such as a specific order. Moreover, for example, the term "first component" does not imply the existence of "second component," and the term "second component" does not imply the existence of "first component."

[0098] It should be noted that the terms “up,” “down,” “front,” “back,” “left,” “right,” “inner,” “outer,” and similar expressions used in this article are for illustrative purposes only and are not intended to be restrictive.

[0099] Exemplary embodiments of the present invention will now be described in more detail with reference to the accompanying drawings.

[0100] A first aspect of the present invention provides a testing fixture for a camera in an automated cleaning device.

[0101] like Figure 1 As shown, in a preferred embodiment, the testing fixture 10 includes a housing 11, which can be understood as the outer shell of the testing fixture 10, and the entire testing process is completed within the housing 11. To allow the automatic cleaning device 12 to enter and exit the housing 11, the housing 11 is provided with an opening 17. The opening 17 is, for example, located at the top of the housing 11.

[0102] like Figure 2 As shown, in a preferred embodiment of the automatic cleaning equipment, the inspection fixture 10 further includes multiple inspection cards (cards 30, 50, 60), a first moving device 20, a first platform 13, and a control device (not shown). The multiple inspection cards are configured as surface light sources and are mounted in a housing 11. The first moving device 20 is disposed in the housing 11 and can move within it. The first platform 13 is used to place the automatic cleaning equipment 12, is connected to the first moving device 20, and is movable relative to the housing 11 between multiple working positions under the drive of the first moving device 20. The control device is coupled to the first moving device 20 and is used to control the operation of the first moving device 20. The control device is also coupled to the multiple inspection cards and is used to control whether the inspection cards are illuminated. When the first platform 13 is located at one of the multiple working positions, at least one of the multiple inspection cards enters the shooting area of ​​the camera of the automatic cleaning equipment 12.

[0103] In this invention, multiple test charts correspond to different performance tests of a camera (e.g., a binocular camera). These multiple charts are positioned at different locations within the housing 11. An automatic cleaning device 12, driven by a first moving device 20, can move and stop at different working points, each corresponding to a test chart. At each working point, the camera captures images of the corresponding chart, and then a testing program (image analysis and processing software) analyzes the captured images to assess the camera's performance.

[0104] The housing 11, for example, is constructed to be opaque, preventing external light from affecting the internal inspection process when closed, thus ensuring optimal identification of the luminous inspection cards. Multiple inspection cards are designed as surface light sources, illuminating them collectively during inspection to provide uniform illumination. A first platform 13 is mounted on a first moving device 20 to support the automatic cleaning device 12 at different positions within the housing 11 for capturing images of different cards. A control device controls the first moving device 20 and the light sources of each inspection card. Through coordinated operation of the control device, the automatic cleaning device 12 can move between inspection points, with the corresponding inspection card illuminated at the appropriate time. This design ensures the stability of the relative position of the automatic cleaning device 12 when capturing the same card, making it suitable for batch inspection. The automatic cleaning device 12 does not require autonomous movement throughout the process, simplifying operation, automating the inspection work, and saving manpower.

[0105] In a preferred embodiment, the detection charts include a resolution test chart 30, a dirt test chart 50, and an elevation angle test chart 60. The working points include a first working point and a second working point.

[0106] like Figure 2 As shown, when the first platform 13 is located at the first working point, the resolution test chart 30 enters the camera's shooting area. The resolution test chart 30 is used to test the overall resolution of the camera and determine the horizontal angle of the camera installation. Figure 3 As shown, the resolution test chart 30 includes a positioning pattern 31 and a stripe pattern 32.

[0107] Specifically, the positioning pattern 31 is constructed as a black and white checkerboard pattern distributed at the four endpoints of a cross shape. The positioning pattern 31 is constructed in a black and white checkerboard format (where the white checkerboard squares blend seamlessly with the white background of the image card 30), facilitating image recognition. In subsequent image processing, the testing program can identify the black and white positioning pattern 31, thereby determining the relative position of the resolution test image card 30 within the camera's field of view, and thus judging the deviation (horizontal angular deviation) of the camera's field of view center relative to the front of the automatic cleaning device 12. Preferably, the first platform 13 is provided with a locking component (not shown) for locking the automatic cleaning device 12, making the automatic cleaning device 12 immovable relative to the first platform 13. Preferably, the resolution test image card 30 is fixed and parallel to the movement trajectory of the first platform 13 (the plane containing the test pattern of the resolution test image card 30 is parallel to the movement trajectory of the first platform). When the automatic cleaning device 12 is placed on the first platform 13, the design of the locking component ensures that the pre-designed position of the camera of the automatic cleaning device 12 is directly opposite the resolution test image card 30. Throughout the test, the automatic cleaning device 12 did not rotate, thus enabling the detection of horizontal angular deviations in the camera installation.

[0108] The stripe pattern 32 is used for MTF testing. The testing program can identify the distribution of black and white stripes in a specific stripe pattern 32 and use this as a basis to determine the camera's resolution. To fully reflect the camera's resolving power, preferably, multiple points within the camera's field of view are sampled during the test. For example, five sampling points are used to determine the MTF value: the center point of the camera's field of view (i.e., the center point of the captured image), and four peripheral points moved horizontally and vertically by 30% of the field of view's width and height from the center of the field of view. Therefore, the stripe pattern 32 is divided into five large sections, distributed in the central, upper left, upper right, lower left, and lower right areas of the cross-shaped positioning pattern 31. This ensures that even if the center point of the camera's field of view is slightly offset from the center point of the resolution test chart 30, the five sampling points will still fall within the five areas of the stripe pattern 32, reducing the risk of test failures and incorrect test values ​​due to the offset of the camera's field of view center.

[0109] like Figure 2 and Figure 4As shown, the testing fixture 10 also includes a second moving device 40, to which the dirt test chart 50 is connected. The second moving device 40 is disposed in the housing 11 and coupled to the control device. Driven by the second moving device 40, the dirt test chart 50 can move relative to the housing 11 between a detection position and a rest position. When the dirt test chart 50 is in the detection position and the first platform 13 is in the first working position, the dirt test chart 50 enters the camera's shooting area, at which point the automatic cleaning device 12 can capture a dirt test image.

[0110] The dirt test chart 50 is used to detect whether the entire camera unit has dirt or scratches at the time of manufacture. Preferably, such as Figure 5 As shown, the dirt test chart 50 is constructed with a brightness range of 500-600 IUX, a color temperature range of 4800-5200k, and a uniformity of over 92%. Therefore, the dirt test chart 50 can provide a uniform, essentially white, shooting environment. In subsequent testing procedures, the test program only needs to check the uniformity of the captured image to determine whether the camera has dirt or scratches, making the judgment simple and clear.

[0111] The dirt test chart 50 is connected to the second moving device 40 and can move between the detection position and the rest position under the drive of the second moving device 40. Preferably, the detection position is located between the resolution test chart 30 and the first platform 13. When the dirt test chart 50 is in the detection position and the first platform 13 is in the first working position, the camera can directly capture images of the dirt test chart 50 (e.g., ...). Figure 2 (As shown). After the shooting is completed, the second moving device 40 drives the dirt test chart 50 to move out of the camera's field of view and to the rest position. The camera can continue to shoot other test charts (such as the resolution test chart 30). When it is in the rest position, the dirt test chart 50 is no longer in the camera's field of view and no longer interferes with the camera.

[0112] The second moving device 40 allows the first platform 13 to capture images of both test charts without moving, enabling reuse of the first working point, improving shooting efficiency, and saving shooting space. Simultaneously, the dirt test chart 50 is closer to the camera, allowing it to fill the entire field of view of the camera, eliminating blind spots. Understandably, when the dirt test chart 50 is in the detection position, the camera of the automatic cleaning device 12 is positioned directly opposite the dirt test chart 50. In other words, when the dirt test chart 50 is in the detection position, the plane containing the luminescent surface of the dirt test chart 50 is parallel to the pattern plane of the resolution test chart 30 and also parallel to the movement trajectory of the first platform 13. During the operation of the first moving device 20 and the second moving device 40, there is no need to rotate the dirt test chart 50; the plane containing the dirt test chart 50 always faces the camera's field of view, saving the movement and control devices required for rotating the chart, simplifying the control structure, increasing system efficiency, and improving system compactness.

[0113] Preferably, the movement trajectory of the dirt test chart 50 is perpendicular to the movement trajectory of the first platform 13. For example, the movement trajectory of the first platform 13 extends vertically, while the movement trajectory of the dirt test chart 50 extends horizontally, thus making reasonable use of the three-dimensional space inside the housing 11.

[0114] Preferably, the second moving device 40 includes a cylinder 41. The piston of the cylinder 41 can extend and retract, and the dirt test chart 50 is connected to the piston, thereby the piston drives the dirt test chart 50 to move. Using a cylinder as the driving device results in rapid and stable movement, good positioning accuracy, and a long service life. It is understood that the second moving device 40 can be driven not only by a cylinder, but also, in practice, by a motor or other driving device.

[0115] like Figure 6 As shown, the first moving device 20 can also drive the first platform 13 to move to the second working position. When the first platform 13 is at the second working position, the elevation angle test chart 60 enters the camera's shooting area. Preferably, the testing fixture 10 also includes a second platform 14. The elevation angle test chart 60 extends along the surface of the second platform 14, and when the first platform 13 is at the second working position, the luminous surface of the elevation angle test chart 60 is flush with the surface of the first platform 13. More specifically, when the first platform 13 is at the second working position, the luminous surface of the elevation angle test chart 60 is flush with the support surface of the automatic cleaning device 12, that is, the luminous surface of the elevation angle test chart 60 is equivalent to the ground when the automatic cleaning device 12 is working.

[0116] like Figure 7As shown, the elevation angle test chart 60 includes multiple parallel stripes. Preferably, on the second platform 14, the direction of the stripes' extension (e.g., Figure 7 The horizontal direction of the stripes is perpendicular to the movement trajectory of the first platform 13, meaning the extension direction of the stripes is perpendicular to the optical axis of the camera. Since the width of each stripe and the spacing between them are known, and their extension direction is parallel to the shooting field of view plane, the camera's elevation angle can be calculated mathematically based on the photograph of the elevation angle test chart 60 taken by the camera, thus achieving the purpose of detecting the camera's elevation angle. It is understandable that the number of stripes, stripe width, stripe spacing, etc., in the elevation angle test chart 60 can be related to... Figure 6 The implementation methods shown are different.

[0117] Preferably, the resolution test chart 30 is also mounted on the second platform 14. Therefore, the second platform 14 provides support for both the resolution test chart 30 and the elevation test chart 60, making the internal structure of the testing fixture 10 more compact.

[0118] like Figure 2 As shown, preferably, the first moving device 20 includes a motor (not shown), a lead screw 22, and a guide rail 23. The motor provides driving force and is controlled by a control device; the angle of rotation can be determined by changing the characteristics of the control pulses. The output shaft of the motor is connected to the lead screw 22, thereby driving the lead screw 22 to rotate. Preferably, the lead screw 22 extends vertically. The first platform 13 is connected to a lead screw nut (not shown) that matches the lead screw 22. The guide rail 23 is arranged parallel to the lead screw 22. The guide rail 23 is connected to the first platform 13 and restricts the direction of movement of the first platform 13. When the motor drives the lead screw 22 to rotate, due to the action of the guide rail 23, the lead screw nut can only move along the extension direction of the lead screw 22, thereby causing the first platform 13 to move vertically.

[0119] Because precise tests such as MFT and elevation angle tests are involved, the camera's position relative to the test chart needs to be accurate. By selecting appropriate motors and lead screws and rationally configuring the control device, the positioning accuracy of the first platform 13 can be ensured to be less than 0.2mm, and reciprocating motion can be achieved. It is understood that any drive component or transmission structure that meets the above accuracy requirements can be used as a component of the first moving device. In the specific implementation process, the first moving device 20 can be redesigned.

[0120] Understandably, before the testing begins, the automatic cleaning device 12 is already locked onto the first platform 13 by the locking components, and the automatic cleaning device 12 cannot move relative to the first platform 13. Because the relative positions of all testing charts within the fixture 10 and the first platform 13 are pre-designed, the automatic cleaning device 12 does not require any additional movement during the entire testing process. The locking components on the first platform 13 prevent relative movement between the automatic cleaning device 12 and the first platform 13, ensuring the stability of the imaging and the accuracy of the final conclusion.

[0121] In this invention, the housing 11 is provided with an opening to facilitate the installation and disassembly of the automatic cleaning device 12 to be tested. For example... Figure 8 As shown, the first platform 13 is movable relative to the housing 11 between multiple working and standby positions under the drive of the first moving device 20. When the automatic cleaning device 12 is placed on the first platform 13 and the first platform 13 is in the standby position, at least a portion of the automatic cleaning device 12 is exposed outside the housing 11 through an opening. When the first platform 13 is in the standby position, the operator can easily install or remove the automatic cleaning device 12 to be tested.

[0122] To prevent light from penetrating the opening 17, such as Figure 9 As shown, a shield 70 is provided on the housing 11, and the shield 70 is positioned corresponding to the opening 17. Meanwhile, as... Figure 10 As shown, an opening / closing device 90 is also provided at the opening 17. The opening / closing device 90 is coupled to the control device and connected to the cover 70 for opening and closing the cover 70. When the cover 70 is opened, the opening 17 is opened; when the cover 70 is closed, the opening 17 is closed.

[0123] Preferably, the shield 70 is configured as a pleated diaphragm 80. The opening and closing device 90 includes a cylinder 91, a guide rail 92, and a connecting rod 93. Figure 10 As shown, two guide rails 92 are arranged in parallel. The extension direction of the guide rails 92 is parallel to the opening and closing direction of the accordion diaphragm 80. One side of the accordion diaphragm 80 is connected to the connecting rod 93, and the other side is fixedly installed in the housing 11. Both ends of the connecting rod 93 are connected to the two guide rails 92 respectively. The cylinder 91 is connected to the connecting rod 93, enabling the connecting rod 93 to move along the guide rails 92. When the connecting rod 93 moves along the guide rails 92, it drives one side of the accordion diaphragm 80 to move relative to the other side, thereby opening and closing the accordion diaphragm 80, realizing the closing or opening of the opening 17.

[0124] Understandably, the shield 70 does not necessarily have to be a pleated diaphragm; in fact, any light-blocking device that meets the above conditions can be selected. At the same time, the opening and closing device 90 does not necessarily consist of a cylinder and a guide rail.

[0125] Preferably, in this invention, the control device is configured such that when the control device controls the cover 70 to open, the control device controls the first platform 13 to move to a preparatory position; when the control device controls the first platform 13 to move away from the preparatory position, the control device controls the cover 70 to close. That is, the control device can control the first moving device 20 to cooperate with the opening and closing device 90. When the opening and closing device 90 opens the cover 70, the first moving device 20 drives the first platform 13 to move to the preparatory position; after the automatic cleaning equipment 12 is installed or replaced, the first moving device 20 drives the first platform 13 away from the preparatory position, and the opening and closing device 90 closes the cover 70.

[0126] Preferably, in this invention, the inner wall of the housing 11 is provided with an anti-reflective layer and / or a light-absorbing material. This design can minimize the interference of reflected light. Furthermore, to further reduce the influence of the internal light source on the test, preferably, the control device is configured such that when one of the multiple detection cards enters the camera's shooting area, the control device illuminates the detection card entering the camera's shooting area, while simultaneously extinguishing the remaining detection cards.

[0127] A second aspect of the present invention provides a detection system for a camera in an automated cleaning device. In a preferred embodiment, the detection system includes the detection fixture 10 described above and an analysis system, wherein the analysis system includes image analysis and processing software for analyzing images of a detection chart captured by the camera at multiple working points. Preferably, the analysis system can be coupled (via wired or wireless means) to the control device of the detection fixture 10 and the automated cleaning device 12, respectively. The detection procedure can be implemented, for example, as follows:

[0128] S10. Start the detection process via software or hardware button;

[0129] S20, the shield 70 of the inspection fixture 10 is opened, and the first platform 13 is moved to the preparatory position;

[0130] S30. Place the automatic cleaning device 12 on the first platform 13;

[0131] S40, First Platform 13 moves away from the preparation point, and Shield 70 is closed;

[0132] S50, the first platform 13 moves to the first working position, and the camera captures the resolution test chart 30 and the dirt test chart 50 respectively. When it is necessary to capture the dirt test chart 50, the second moving device 40 moves the chart 50 to the detection position. When it is necessary to capture the resolution test chart 30, the second moving device 40 moves the chart 50 to the rest position (it can be understood that in this step, the shooting order of the charts 30 and 50 can be set arbitrarily).

[0133] S60, the first platform 13 moves to the second working position, and the camera takes an elevation angle test chart 60;

[0134] S70 and cover 70 are opened, the first platform 13 is moved to the preparation position, and the automatic cleaning equipment 12 is replaced;

[0135] The images captured by the S80 and automatic cleaning equipment 12 are transmitted to the analysis system to obtain the test results.

[0136] Since the detection system according to the present invention includes the detection fixture according to the present invention, the detection system possesses all the features and effects of the detection fixture.

[0137] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the invention. Features described in one embodiment may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0138] The present invention has been described through the above embodiments. However, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit the present invention to the described embodiments. Furthermore, those skilled in the art will understand that the present invention is not limited to the above embodiments, and many variations and modifications can be made based on the teachings of the present invention, all of which fall within the scope of protection claimed by the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A testing fixture for a camera in an automated cleaning device, characterized in that, include: Box; Multiple test charts, the multiple test charts being constructed as surface light sources, the multiple test charts being mounted in the housing, the multiple test charts including resolution test charts and elevation angle test charts; A first moving device is disposed in the housing; A first platform is used to place the automatic cleaning equipment. The first platform is connected to the first mobile device and can move between multiple working points relative to the housing under the drive of the first mobile device. The second platform, wherein the resolution test chart is mounted on the second platform, and the elevation angle test chart extends along the surface of the second platform; and A control device, coupled to the first moving device, is used to control the operation of the first moving device. The control device is also coupled to the detection chart card, used to control whether the detection chart card is illuminated. When the first platform is located at one of the plurality of working points, at least one of the plurality of detection cards enters the shooting area of ​​the camera. The working points include a first working point and a second working point. When the first platform is located at the first working point, the resolution test chart enters the shooting area of ​​the camera. When the first platform is located at the second working point, the elevation angle test chart enters the shooting area of ​​the camera, and the light-emitting surface of the elevation angle test chart is flush with the table surface of the first platform.

2. The testing fixture according to claim 1, characterized in that, The resolution test chart includes: The positioning pattern is constructed as a black and white checkerboard pattern distributed at the four endpoints of a cross shape; and The striped pattern is distributed in the central area, upper left area, upper right area, lower left area and lower right area of ​​the cross shape.

3. The testing fixture according to claim 1, characterized in that, The resolution test chart is parallel to the motion trajectory of the first platform.

4. The testing fixture according to claim 1, characterized in that, The testing fixture also includes a second moving device, which is coupled to the control device and is disposed in the housing. The detection chart also includes a dirt test chart, which is connected to the second moving device and movable relative to the housing between a detection position and a rest position under the drive of the second moving device. Specifically, when the dirt test chart is located at the detection position and the first platform is located at the first working position, the dirt test chart enters the shooting area of ​​the camera.

5. The testing fixture according to claim 4, characterized in that, The movement trajectory of the dirt test chart is perpendicular to the movement trajectory of the first platform.

6. The testing fixture according to claim 4, characterized in that, The dirt test chart is constructed with the following characteristics: brightness in the range of 500-600 IUX, and / or color temperature in the range of 4800-5200k, and / or uniformity above 92%.

7. The testing fixture according to claim 4, characterized in that, The second moving device includes a cylinder.

8. The testing fixture according to claim 4, characterized in that, When the first platform is located at the first working point, the detection position is located between the resolution test chart and the first platform.

9. The testing fixture according to claim 1, characterized in that, The elevation angle test chart includes multiple parallel stripes, the extension direction of which is perpendicular to the movement trajectory of the first platform.

10. The testing fixture according to claim 1, characterized in that, The first moving device includes a motor, a lead screw, and a guide rail.

11. The testing fixture according to claim 1, characterized in that, The first platform is equipped with a locking component for locking the automatic cleaning device in place, so that the automatic cleaning device cannot move relative to the first platform.

12. The testing fixture according to claim 1, characterized in that, The inner wall of the enclosure is provided with an anti-reflective layer and / or light-absorbing material.

13. The testing fixture according to claim 1, characterized in that, The control device is configured such that when one of the plurality of detection cards enters the shooting area of ​​the camera, the control device illuminates the detection card that has entered the shooting area of ​​the camera, while simultaneously extinguishing the remaining detection cards.

14. The testing fixture according to any one of claims 1-13, characterized in that, The housing includes an opening, and the first platform is movable relative to the housing between the plurality of working points and preparatory points under the drive of the first moving device. When the automatic cleaning device is placed on the first platform and the first platform is located at the preparatory point, at least a portion of the automatic cleaning device is exposed outside the housing from the opening.

15. The testing fixture according to claim 14, characterized in that, The enclosure also includes: A mask, wherein the mask is correspondingly disposed at the opening; and An opening and closing device, coupled to the control device and connected to the shield, is used to open and close the shield. Specifically, when the mask is opened, the opening is opened; when the mask is closed, the opening is closed.

16. The testing fixture according to claim 15, characterized in that, The shield is configured as a bellows membrane, and the opening and closing device includes a cylinder and a guide rail.

17. The testing fixture according to claim 15, characterized in that, The control device is configured as follows: After the control device opens the shield, the control device controls the first platform to move to the pre-position. After the control device controls the first platform to move away from the preparatory position, the control device controls the shield to close.

18. A detection system for a camera in an automated cleaning device, characterized in that, include: The testing fixture according to any one of claims 1-17; and An analysis system is used to analyze the images of the detection card captured by the camera at the multiple working locations.

Images