A comprehensive performance testing method for gecko robots

Abstract

The present invention discloses a comprehensive performance testing method for a gecko robot, comprising the following steps: a testing module separately tests the components of the vacuum adsorption module, the motion module, the motion detection module, the image transmission module, and the communication between these components; then, the gecko robot is subjected to a drop test and a vibration test. This method verifies that the components of each module of the gecko robot meet manufacturing standards, ensuring that the gecko robot functions properly upon commissioning, and avoiding problems caused by early component issues during use.

Description

Technical Field

[0001] The present invention relates to the technical field of detection equipment, and in particular to a comprehensive performance detection method for a gecko robot. Background Art

[0002] In the existing paper “Development of a Gecko-like Robot Communication System for Internal Inspection of GIS (GAS INSULATED SWITCHGEAR)”, a GIS pipeline inspection gecko robot is proposed to detect the situation inside the pipeline.

[0003] The above-mentioned GIS gecko-like robot includes motion module functions, adsorption system functions, motion detection sensor functions, communication module functions and image transmission functions, among which: 1. Motion module of the gecko robot: Since the gecko robot is driven by four legs, the three degrees of freedom of a single mechanical leg are driven by the servos of three joints. Therefore, our testing of the motion module mainly focuses on the performance of each group of 12 servos, including the communication, motion accuracy, torque, motion speed, etc. of the servos.

[0004] 2. Vacuum Adsorption Module of the Gecko Robot: The Gecko Robot is a negative pressure robot, and its adsorption module is a vacuum adsorption module. The vacuum adsorption module includes a vacuum pump, solenoid valve, vacuum pressure switch, and suction cup. The key to the proper operation of the vacuum adsorption module lies in the airtightness of the space within the tube and the proper functioning of all components. Therefore, the main inspection items are communication and airtightness.

[0005] 3. Motion detection module of the gecko robot: In actual work, since the gecko robot works in a closed and opaque tube, it is very important to master the robot's position information. The motion detection module contains an inertial measurement unit and an optical sensor, which can not only detect the position of the gecko robot, but also detect the motion data of the gecko robot. These data can be used to determine the operating status of the gecko robot.

[0006] 4. Image transmission module of the Gecko robot: The image transmission module of the Gecko robot can provide the robot with a field of view, making it easier for operators to understand the working status of the Gecko robot and view the internal monitoring conditions of the pipeline.

[0007] Before the gecko robot is put into use, its components need to be tested. A systematic test needs to be conducted on the gecko robot's motion module, vacuum adsorption module, motion detection module, and image transmission module. The entire gecko robot needs to be subjected to a drop test to verify the structural stability of its components. A vibration test also needs to be conducted on the entire gecko robot, applying a specified vibration frequency to the gecko robot in both the operating and stationary states. The purpose is to simulate and analyze whether the gecko robot can maintain the stability of its component structure during operation and transportation.

[0008] However, it is currently impossible to individually test the functions of the components of the gecko robot. Therefore, when the gecko robot is put into use, damage to the components of the gecko robot may cause problems in the recycling of the gecko robot or it may be impossible to identify which component is damaged, resulting in the entire machine being scrapped. Summary of the Invention

[0009] The purpose of the present invention is to overcome the deficiencies in the above prior art and to provide a comprehensive performance testing method for a gecko robot.

[0010] The object of the present invention is achieved through the following technical solution: a comprehensive performance detection method for a gecko robot, comprising the following steps:

[0011] S1. Install the components of the vacuum adsorption module in a vacuum adsorption module detection assembly. Connect the detection module to the components of the vacuum adsorption module, and test the power supply effect, wall adsorption ability, and wall detachment ability of the vacuum adsorption module to obtain a qualified vacuum adsorption module.

[0012] S2. Installing the components of the motion module in the operating system test assembly, connecting the detection module to the components of the motion module, and testing the power supply effect and motion capability of the motion module to obtain a qualified motion module;

[0013] S3. Installing components of the motion detection module in a motion state test assembly, connecting the detection module to the components of the motion detection module, and testing the power supply effect, two-dimensional motion layer data transmission, roll axis layer data transmission, and optical data transmission of the motion detection module to obtain a qualified motion detection module;

[0014] S4. Installing components of the image transmission module in the image transmission signal sending assembly, connecting the detection module to the components of the image transmission module, detecting the rotation angle and shooting effect of the image transmission module, and obtaining a qualified image transmission module;

[0015] S5, the detection module detects the communication between the control module, the vacuum adsorption module, the motion module, the motion detection module and the image transmission module to obtain a gecko robot with good communication;

[0016] S6. Perform a drop test on the bare gecko robot and the gecko robot in the packaging box using a drop test bench to obtain the gecko robot that passes the drop test;

[0017] S7. Use a vibration test bench to perform vibration tests on the gecko robot in the closed state, the gecko robot in the packaging box, and the gecko robot in the powered-on state, to obtain the gecko robot with qualified vibration.

[0018] A better option is that the component detection method of the vacuum adsorption module in step S1 includes the following steps:

[0019] S101, installing the components of the vacuum adsorption module on the vacuum adsorption module detection assembly, the detection module sending a signal to the components of the vacuum adsorption module, and the components of the vacuum adsorption module receiving the signal;

[0020] S102, the tester checks whether the vacuum adsorption module is powered normally. If so, the components of the vacuum adsorption module are in adsorption mode, and then step S103 is executed. If not, the components of the vacuum adsorption module are replaced and step S102 is executed again.

[0021] S103, the tester checks whether the suction cup of the vacuum adsorption module is adsorbed to the wall surface, if yes, executes step S105, if not, executes step S104;

[0022] S104: The tester checks whether the mechanical posture of the suction cup is normal. If so, step S103 is repeated. If not, the tester adjusts the mechanical posture of the suction cup or replaces the suction cup or other components of the vacuum adsorption module, and then repeats step S104.

[0023] S105. The detection module controls the vacuum adsorption module to run the deflation mode. The tester checks whether the suction cup can be detached from the wall. If so, the test ends. If not, the mechanical posture of the suction cup is adjusted or the suction cup or other components of the vacuum adsorption module are replaced, and then step S105 is re-executed.

[0024] A better choice is that the vacuum adsorption module detection assembly includes a front pressure plate, a rear pressure plate, a connecting plate, a sleeve, a solenoid valve fixing member and a strap, the strap is provided with a through hole, the port of the through hole is connected to the sleeve, the vacuum pump of the vacuum adsorption module is installed on the sleeve, the solenoid valve of the vacuum adsorption module is installed on the strap through the solenoid valve fixing member, the front pressure plate and the rear pressure plate are installed on the strap, the vacuum pressure switch of the vacuum adsorption module is clamped between the front pressure plate and the rear pressure plate, and the suction cup of the vacuum adsorption module is installed on the strap through the connecting plate.

[0025] More preferably, the motion module detection method in step S2 includes the following steps:

[0026] S201: The components of the motion module are installed in the motion module test assembly, the detection module sends a signal to the components of the motion module, and the components of the motion module receive the signal;

[0027] S202: The tester checks whether the motion module is powered. If so, step S203 is executed. If not, the tester replaces the components of the motion module and re-executes step S202.

[0028] S203: The detection module outputs a signal to control the operation of all first servos of the motion module;

[0029] S204: All the first servos rotate in sequence and feed back data to the detection module to check whether all the first servos operate normally. If yes, the process ends; if not, the first servos with problems are replaced and the process returns to step S203.

[0030] A more preferred option is that the motion module test assembly includes a dividing plate and a steering gear base, the dividing plate is mounted on the steering wheel of the motion module, and the steering wheel is mounted on the steering gear base through the first steering gear of the motion module.

[0031] A better option is that the detection method of the motion detection module in step S3 includes the following steps:

[0032] S301, installing components of the motion detection module in the motion state test assembly, the detection module outputs a signal, and the motion detection module receives the signal;

[0033] S302: The tester checks whether the components of the motion detection module are powered normally. If so, step S303 is executed. If not, the tester replaces the components of the motion detection module and re-executes step S302.

[0034] S303, placing the motion state test component on a platform for movement, and the inertial measurement device testing data on a two-dimensional motion layer to obtain two-dimensional motion layer data;

[0035] S304: The inertial measurement unit feeds back the two-dimensional motion layer data to the detection module to determine whether the two-dimensional motion layer data is transmitted normally. If so, step S305 is executed. If not, the inertial measurement unit is repositioned or replaced, and then step S304 is executed again.

[0036] S305: The tester rotates the rotating plate of the motion module test assembly, and the inertial measurement device performs measurements at the roll axis level to obtain roll axis level data;

[0037] S306: The inertial measurement unit feeds the roll axis data back to the detection module. The tester checks whether the roll axis data is transmitted normally. If so, step S307 is executed. If not, the inertial measurement unit is repositioned or replaced, and then step S306 is executed again.

[0038] S307 , the optical sensor collects optical data and feeds it back to the detection module to determine whether the optical data is transmitted normally. If so, the process ends; if not, the inertial measurement unit is relocated or replaced, and then step S307 is executed again.

[0039] A better choice is that the motion module test assembly includes a base plate, a cover plate, steel balls, a bracket and a rotating plate, the base plate is provided with two rows of fixing holes, the steel balls are installed in the two rows of fixing holes, the cover plate is installed on the base plate and covers the steel balls, the bracket is installed on the cover plate, the rotating plate is rotatably installed on the bracket, the inertial measurement device of the motion detection module is installed on the rotating plate, and the optical sensor of the motion detection module is installed on the base plate.

[0040] A better option is that the detection method of the image transmission module in step S4 includes the following steps:

[0041] S401, installing components of an image transmission module in the image transmission signal sending component, the detection module outputs a signal, and the components of the image transmission module receive the signal;

[0042] S402: The tester checks whether the image transmission module is powered. If so, step S403 is executed. If not, the tester replaces the components of the image transmission module and then executes step S402 again.

[0043] S403: The detection module controls the second servo of the image transmission module to rotate, and the tester determines whether the rotation angle of the second servo is normal. If so, step S404 is executed; if not, the second servo is replaced and step S403 is executed again;

[0044] S404, the detection module controls the camera to take a photo, and the camera feeds the photo back to the detection module to check whether the photo is normal. If so, the process ends; if not, the camera is cleaned or replaced, and step S404 is executed again.

[0045] A better choice is that the image transmission signal sending component in step S4 includes a sending end base and a camera base, the camera of the image transmission module is installed on the second servo of the image transmission module through the camera base, and the second servo is installed on the sending end base.

[0046] A better option is that the method for the gecko robot drop test in step S6 includes the following steps:

[0047] S601, resetting and restarting the drop test bench to check whether the gecko robot is damaged;

[0048] S602, placing the gecko robot on a workbench of the drop test bench, and then the workbench lifts the gecko robot to a set height and records height data;

[0049] S603: After laying a metal plate under the workbench, release the gecko robot from the workbench, allow the gecko robot to fall onto the metal plate, and record the falling data of the gecko robot;

[0050] S604: Repeat steps S601-S603 to collect the falling data three times.

[0051] The present invention has the following advantages and beneficial effects compared to the prior art:

[0052] The present invention provides a comprehensive performance testing method for a gecko robot, which can check whether the components of each module of the gecko robot meet the manufacturing standards, ensure that the gecko robot works normally when put into use, and avoid troubles caused by early component problems during the use of the gecko robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 This is a flow chart of a comprehensive performance testing method for a gecko robot according to the present invention;

[0054] Figure 2 It is a flow chart of the detection method of the vacuum adsorption module of the present invention;

[0055] Figure 3 is a flow chart of the detection method of the motion module of the present invention;

[0056] Figure 4 is a flow chart of the detection method of the motion detection module of the present invention;

[0057] Figure 5 This is a flow chart of the detection method of the image transmission module of the present invention;

[0058] Figure 6 is a flow chart of a drop test method for a gecko robot of the present invention;

[0059] Figure 7 is a flow chart of a method for dropping a gecko robot in a packaging box of the present invention;

[0060] Figure 8 is a flow chart of a vibration test of the gecko robot in a closed state of the present invention;

[0061] Figure 9 is a flow chart of a vibration test of the gecko robot in a closed state within a packaging box of the present invention;

[0062] Figure 10 This is a flow chart of a vibration test of the gecko robot in the powered-on state of the present invention;

[0063] Figure 11 is a schematic diagram of the vacuum adsorption module of the present invention being installed on a vacuum adsorption module detection component;

[0064] Figure 12 is a schematic diagram of the motion module of the present invention installed on the motion module experimental assembly;

[0065] Figure 13 It is a schematic diagram of the indexing plate of the motion module experimental assembly of the present invention;

[0066] Figure 14 It is a schematic diagram of the servo base of the motion module experimental assembly of the present invention;

[0067] Figure 15 is a schematic diagram of the motion detection module of the present invention installed on the motion state test assembly;

[0068] Figure 16 Schematic diagram of the bottom plate of the motion state test assembly of the present invention;

[0069] Figure 17 This is a schematic diagram of the image transmission module of the present invention installed on the image transmission signal sending component;

[0070] Figure 18 Schematic diagram of the connection between modules of the gecko robot of the present invention;

[0071] The markings of the components in the accompanying drawings are as follows: 1-vacuum adsorption module detection assembly; 101-carrying plate; 102-sleeve; 103-solenoid valve fixing piece; 104-connecting plate; 105-rear pressure plate; 106-front pressure plate; 2-motion module test assembly; 201-servo base; 202-indexing plate; 3-motion state test assembly; 301-bottom plate; 3011-fixing hole; 302-bracket; 303-rotating plate; 304-steel ball; 30 5-Cover; 4-Image transmission signal sending component; 401-End base; 502-Camera base; 6-Vacuum adsorption module; 601-Vacuum pump; 602-Solenoid valve; 603-Vacuum pressure switch; 604-Suction cup; 7-Motion module; 701-First servo; 702-Steering wheel; 8-Motion detection module; 801-Inertial measurement unit; 802-Optical sensor; 9-Image transmission module; 901-Camera; 902-Second servo. DETAILED DESCRIPTION

[0072] The purpose of the present invention is described in further detail below with reference to the accompanying drawings and specific examples. The examples cannot be described one by one here, but the implementation methods of the present invention are not limited to the following examples.

[0073] The gecko robot is a negative pressure type and includes a vacuum suction module 6, a motion module 7, a motion detection module 8, and an image transmission module 9. The components of the vacuum suction module 6 receive signals and output them to the detection module, which is a computer. The detection module outputs signals to the components of the motion module 7, which in turn receive and output signals to the detection module. The detection module outputs signals to the components of the motion state test assembly 3, and the components of the motion detection module 8 output signals to the detection module. The detection module outputs signals to the components of the image transmission module 9, which in turn receive and output signals to the detection module. A drop test involves dropping the gecko robot from a specified height to test the stability of its components. A vibration test involves operating the gecko robot at a specified vibration frequency to test the gecko robot, with the gecko robot outputting signals to the detection module.

[0074] Vacuum Adsorption Module 6: The Gecko Robot is a negative pressure robot, and its adsorption module is vacuum adsorption module 6. Motion Module 7: Because the Gecko Robot is powered by four legs, the three degrees of freedom of each leg are driven by the first servos 701 at three joints. Therefore, our testing of Motion Module 7 focuses on the performance of each group of 12 first servos 701, including communication, motion accuracy, torque, and speed. Motion Detection Module 8: In actual operation, since the Gecko Robot operates within a sealed, opaque tube, it is crucial to understand the robot's position. Motion Detection Module 8 not only detects the Gecko Robot's position but also its motion data, which can be used to determine the robot's operating status. Image Transmission Module 9: This provides the robot with a field of view, allowing operators to easily understand the Gecko Robot's operating status and view the internal monitoring status of the GIS pipeline. The Control Module is the Gecko Robot's circuit board, which is currently available.

[0075] Drop Test: The Gecko robot is tested by simulating its drop posture, height, and metal plate. The robot is dropped from various heights onto a flat surface in various postures. Repeated tests are conducted at different heights, with different metal plates used for each drop. After each test, the robot's key components are photographed and documented. The drop test standard for the bare Gecko robot is that key components remain intact.

[0076] Vibration Test: Using testing equipment to simulate various common vibration modes, the stability of the Gecko Robot's key components and structures is tested. Testing is performed on both the bare-metal Gecko Robot and the Gecko Robot packaged in its packaging. This includes testing the Gecko Robot in its operating state (bare-metal state), as well as the Gecko Robot in its powered-off and shipping states, packaged in its packaging. The stability of the Gecko Robot's component connections is also observed. The passing standard for the vibration test is that the Gecko Robot's component connections are stable.

[0077] A comprehensive performance testing method for a gecko robot in this embodiment includes the following steps:

[0078] S1. Install the components of the vacuum adsorption module 6 on the vacuum adsorption module detection component 1, connect the components of the vacuum adsorption module 6 through the control module and the detection module, the detection module controls the components of the vacuum adsorption module 6 through the control module, the components of the vacuum adsorption module 6 feed back data to the detection module through the control module, the detection module detects the power supply effect, wall adsorption ability and wall detachment ability of the vacuum adsorption module 6, and obtains a qualified vacuum adsorption module 6.

[0079] The vacuum adsorption module detection assembly 1 includes a front pressure plate 106, a rear pressure plate 105, a connecting plate 104, a sleeve 102, a solenoid valve fixing part 103 and a mounting plate 101. The vacuum adsorption module 6 includes a vacuum pump 601, a solenoid valve 602, a vacuum pressure switch 603 and a suction cup 604. The mounting plate 101 is provided with a through hole, which is a circular through hole. One end of the circular through hole is connected to the sleeve 102. The vacuum pump 601 is installed in the sleeve 102. The solenoid valve 602 is installed on the left end of the mounting plate 101 through the solenoid valve fixing part 103. The front pressure plate 10 6 and the rear pressure plate 105 are combined to form a switch cavity, the vacuum pressure switch 603 is installed in the switch cavity, the side of the rear pressure plate 105 is installed on the right end of the mounting plate 101 by bolts, the suction cup 604 is installed on the connecting plate 104, and the connecting plate 104 is installed at the front end of the mounting plate 101, the vacuum pump 601 is connected to the solenoid valve 602, and the solenoid valve 602 is connected to the vacuum pressure switch 603 and the suction cup 604 respectively, and the vacuum pump 601, the vacuum pressure switch 603, the suction cup 604 and the solenoid valve 602 are all connected to the detection module through the control module.

[0080] The method for detecting the vacuum adsorption module 6 in step S1 includes the following steps:

[0081] S101. Install the components of the vacuum adsorption module 6 (including the vacuum pump 601, the vacuum pressure switch 603, the suction cup 604 and the solenoid valve 602) on the vacuum adsorption module detection assembly. The detection module sends a signal to the components of the vacuum adsorption module 6 through the control module, and the components of the vacuum adsorption module 6 receive the signal.

[0082] S102. The detection module detects whether the components of the vacuum adsorption module 6 are powered normally. If so, the detection module controls the components of the vacuum adsorption module 6 to run the adsorption mode through the control module, and then executes step S103; if not, replace the components of the vacuum adsorption module 6 and re-execute step S102.

[0083] S103 , the tester checks whether the suction cup 604 is adsorbed to the wall (ie, measures the airtightness of the gecko robot in the adsorption state); if yes, execute step S105 ; if not, execute step S104 .

[0084] S104. The tester checks whether the mechanical posture of the suction cup 604 is normal. If so, execute step S103; if not, the tester adjusts the mechanical posture of the suction cup 604 or replaces the suction cup 604; if the suction cup 604 still cannot be adsorbed on the wall, the tester checks and replaces other components that are abnormal in the adsorption working state (including the vacuum pump 601, the vacuum pressure switch 603 and the solenoid valve 602), and then re-executes step S104.

[0085] S105. The detection module controls the components of the vacuum adsorption module 6 through the control module to run the deflation mode. The tester checks whether the suction cup 604 can be separated from the wall. If yes, the process ends. If not, the tester adjusts the mechanical posture of the suction cup 604 or replaces the suction cup 604. If the suction cup 604 still cannot be separated from the wall, the tester checks and replaces other components of the vacuum adsorption module 6 (including the vacuum pump 601, the vacuum pressure switch 603 and the solenoid valve 602), and then re-executes step S105.

[0086] S2. Install the components of the motion module 7 on the motion module test assembly 2. The detection module is connected to the components of the motion module 7 through the control module. The detection module controls the power supply effect and motion ability of the motion module 7 through the control module to perform detection and obtain a qualified motion module 7.

[0087] The motion module test assembly 2 includes several indexing plates 202 and several servo bases 201. Several first servos are respectively installed on the several servo bases 201. Several indexing plates 202 are respectively installed on the several first servos through several steering plates 702. Each indexing plate 202 is provided with four notches at intervals of 90°. Several first servos are connected to the detection module through the control module.

[0088] The detection method of the motion module 7 in step S2 includes the following steps:

[0089] S201: Components of the motion module 7 (i.e., several first servos 701) are respectively installed on several motion module test assemblies 2. The detection module sends a signal to the components of the motion module 7 through the control module, and the motion module 7 receives the signal.

[0090] S202: The tester checks whether the motion module 7 is powered normally. If so, step S203 is executed. If not, the tester replaces the components of the motion module 7 and re-executes step S202.

[0091] S203: The detection module controls all the first steering gears 701 of the motion module 7 to rotate by outputting signals from the control module. The first steering gears 701 drive the indexing plate 202 to rotate. The indexing plate 202 rotates at angles of 0°, 360°, 45°, 90°, 135°, 180°, 225°, 270°, and 315° in sequence.

[0092] S204: All the first servos 701 rotate in sequence and feed back data to the detection module through the control module. The tester determines whether all the first servos 701 are operating normally (that is, the tester determines whether the operating accuracy of the first servos 701 meets the requirements based on the angle error of the indexing plate 202). If yes, all the first servos 701 are operating smoothly. If not, the problematic first servos 701 are replaced and the process returns to step S203.

[0093] S3. Install the components of the motion detection module 3 on the motion state test component 2. The detection module detects the power supply effect, two-dimensional motion layer data transmission, roll axis layer data transmission and optical data transmission of the motion detection module 3 through the control module to obtain the qualified motion detection module 2.

[0094] The motion module test assembly 2 includes a base plate 301, two cover plates 305, several steel balls 304, two brackets 302, and a rotating plate 303. The base plate 301 is provided with several symmetrical fixing holes 3011 arranged in two columns. Several steel balls 304 are installed in these fixing holes 3011. Two cover plates 305 are symmetrically mounted on the base plate 301 and cover the steel balls 304. The brackets 302 are symmetrically mounted on the base plate 301 and hold the two cover plates 305 in place. The rotating plate 303 is rotatably mounted at both ends on the upper ends of the two brackets 302. An inertial measurement unit 801 is mounted on the rotating plate 303. An optical sensor 802, model ANS9800, is mounted in a groove in the base plate 301 and located between the two cover plates 305. Both the inertial measurement unit 801 and the optical sensor 802 are connected to the detection module via a control module.

[0095] The steel balls 304 can enable the motion module test assembly 2 to move on a plane, simulating the movement of the gecko robot in the GIS pipeline, wherein the steel balls 304 are used to perform the movement, converting sliding friction into rolling friction, thereby reducing resistance.

[0096] The detection method of the motion detection module 8 in step S3 includes the following steps:

[0097] S301, installing the components of the motion detection module 8 on the motion state test assembly 3, the detection module outputs a signal to the components of the motion detection module 8 through the control module, and the components of the motion detection module 8 receive the signal;

[0098] S302: The tester checks whether the components of the motion detection module 8 are powered normally. If so, step S303 is executed, and the tester tests the inertial measurement unit 801. If not, the tester replaces the components of the motion detection module 8 and re-executes step S302.

[0099] S303: Push the motion state test assembly 3 onto the platform to perform planar motion (i.e., translational motion along the X and Y axes). The inertial measurement instrument 801 on the motion state test assembly 3 measures data on a two-dimensional motion plane, generating two-dimensional motion plane data. Furthermore, the inertial measurement instrument 801 can also detect the gecko robot's yaw (side heading angle) and roll (roll angle) axis motion. In summary, combining the two provides a single translational motion detection structure along the X and Y axes, enabling simultaneous detection of yaw axis motion. The inertial measurement instrument, mounted on a rotating plate 303 with a separate suspension function, can detect roll axis motion.

[0100] S304: The inertial measurement unit 801 feeds the 2D motion data back to the detection module. The tester determines whether the 2D motion data is transmitted normally. If so, step S305 is executed. If not, the tester repositions or replaces the inertial measurement unit 801 and then executes step S304 again.

[0101] S305: The tester rotates the rotating plate 303 of the motion module test assembly 2, and the inertial measurement device 801 measures the roll axis to obtain roll axis data.

[0102] S306: The inertial measurement unit 801 feeds the roll axis data back to the detection module. The tester determines whether the roll axis data is transmitted normally. If so, step S307 is executed. If not, the tester repositions or replaces the inertial measurement unit 801 and then executes step S306 again.

[0103] S307, the optical sensor 802 collects optical data and feeds it back to the detection module. The tester determines whether the optical data is transmitted normally. If yes, the test ends. If not, the inertial measurement unit 801 is repositioned or replaced, and then step S307 is executed again.

[0104] S4. Install the components of the image transmission module 9 on the image transmission signal sending component 4. The detection module is connected to the components of the image transmission module 9 through the control module. The detection module detects the rotation angle and shooting effect of the image transmission module 9 to obtain a qualified image transmission module.

[0105] The image transmission signal sending component 4 includes a transmitting end base 401 and a camera base 502. The camera 901 of the image transmission module 9 is installed on the second servo 902 of the image transmission module 9 through the camera base 502. The second servo 902 is installed on the transmitting end base 401. The servo and camera 901 are both connected to the detection module.

[0106] The detection method of the image transmission module 9 in step S4 includes the following steps:

[0107] S401: Install the components of the image transmission module 9 in the image transmission signal sending component 4. The components of the image transmission module 9 (i.e., the second servo 902 and the camera 901) are connected to the detection module through the control module. The detection module sends a signal to the components of the image transmission module 9.

[0108] S402: The tester checks whether the image transmission module 9 is powered normally. If so, step S403 is executed; if not, the components of the image transmission module 9 are replaced, and then step S402 is executed again.

[0109] S403: The detection module controls the second servo 902 of the image transmission module 9 to rotate. Based on the difference between the rotation angle of the second servo 902 and the angle output by the detection module, the tester determines whether the rotation angle of the second servo 902 is normal. If it is, step S404 is executed; if not, the second servo 902 is replaced and step S403 is executed again.

[0110] S404, the detection module controls the camera 901 through the control module to take a photo, and the camera 901 feeds the photo back to the detection module. The tester checks whether the photo is normal. If it is, the process ends. If not, the tester cleans or replaces the camera 901 and re-executes step S404 until the detection module can normally receive accurate photos.

[0111] S5. The control module communicates with the components of the vacuum adsorption module 6, the components of the motion module 7, the components of the motion detection module 8 and the components of the image transmission module 9 respectively. The detection module is connected to the control module. The detection module detects the communication between the control module, the components of the vacuum adsorption module 6, the components of the motion module 7, the components of the motion detection module 8 and the components of the image transmission module 9, and replaces the components that cannot communicate normally until all components can communicate normally with the control module, thereby obtaining a gecko robot with good communication.

[0112] S6. Use a drop test bench (equipment model ZOT-6052, which can be purchased on the market) to perform a drop test on the gecko robot, including dropping the gecko robot in a bare state and dropping the gecko robot in a packaged state;

[0113] The method for the drop test of the gecko robot in the bare metal state in step S6 comprises the following steps:

[0114] S601. Reset and restart the drop test bench;

[0115] S602: The tester checks whether the gecko robot is intact. If so, step S603 is executed. If not, the components of the gecko robot are replaced and step S602 is executed again.

[0116] S603, placing the gecko robot on a workbench of the drop test bench, and then the workbench lifts the gecko robot to a set height and records the height data;

[0117] S604: After laying a metal plate under the workbench, the material of the metal plate is the same as that of the GIS pipe. The gecko robot is released from the workbench, and the gecko robot falls onto the metal plate. The falling data of the gecko robot is recorded (for example, whether the structure of the gecko robot is loose or damaged, and whether the gecko robot can work normally);

[0118] S605: Repeat steps S601-S604 to collect three drop data.

[0119] The above detection process needs to change different heights and the falling posture and contact surface of the gecko robot for repeated detection, and each detection process needs to be repeated three times to finally complete the drop test process of the gecko robot body.

[0120] The method for the drop test of the gecko robot in the packaged state in step S6 comprises the following steps:

[0121] S611. Reset and restart the drop test bench;

[0122] S612: The tester checks whether the Gecko robot and the packaging box are intact. If so, step S613 is executed. If not, the components or packaging box of the Gecko robot are replaced, and then step S612 is executed again.

[0123] S613: Place the gecko robot into a packaging box, and place the packaging box on a workbench of a drop test bench. The workbench then lifts the packaging box to a set height and records the height data.

[0124] S614. After laying a metal plate under the workbench, the material of the metal plate is the same as that of the GIS pipe. The package box is released from the workbench and falls onto the metal plate. The drop data of the Gecko robot is recorded (for example, whether the structure of the Gecko robot is loose or damaged, and whether the Gecko robot can operate normally).

[0125] S615. Repeat steps S611-S614 to collect three drop data.

[0126] S7. Use a vibration test bench (model ZOT-601Z, commercially available) to conduct a sinusoidal fixed-frequency test on the Gecko robot. This test involves administering a certain amount of vibration within a specified timeframe and continuously recording the vibration at a selected frequency. This vibration test includes testing the Gecko robot with the robot powered off, with the robot powered off and placed in its packaging, and with the robot powered on.

[0127] (1) The method for vibration testing of the gecko robot in the closed state includes the following steps:

[0128] S701, reset and restart the vibration test bench;

[0129] S702: The tester checks whether the structure of the gecko robot is complete. If yes, step S703 is executed. If not, the components of the gecko robot are replaced and step S702 is executed again.

[0130] S703, placing the gecko robot in the closed state on a vibration test bench, and using a clamp to restrict the horizontal movement of the gecko robot;

[0131] S704. Turn on the sinusoidal vibration mode of the vibration test bench (simulating maritime shipping and analysis and verification of the stationary point of the structural resonance frequency of the object under test) and adjust the appropriate vibration intensity. The vibration test bench vibrates continuously for 48 hours and then stops vibrating.

[0132] S705: The tester checks the structural connection status of the Gecko robot and records the data;

[0133] S706, repeat steps S701-S705 to collect data of the gecko robot under the same vibration intensity three times;

[0134] S707 . Repeat step S706 to collect data of the three gecko robots at different vibration intensities, for a total of nine times of data.

[0135] (2) The vibration test method for the gecko robot placed in the packaging box in a closed state includes the following steps:

[0136] S711. Reset and restart the vibration test bench;

[0137] S712: The tester checks whether the structure and packaging of the Gecko Robot are complete. If yes, execute step S703. If not, replace the components or packaging of the Gecko Robot and execute step S702 again.

[0138] S713. Place the closed gecko robot into a packaging box, place the packaging box on a vibration test bench, and use a clamp to restrict the horizontal movement of the packaging box.

[0139] S714. Turn on the sinusoidal vibration mode of the vibration test bench and adjust the vibration intensity to a suitable level. The vibration test bench vibrates continuously for 48 hours and then stops vibrating.

[0140] S715. The tester checks the structural connection status of the Gecko robot and records the data.

[0141] S716, repeat steps S711-S715, collecting data of the gecko robot under the same vibration intensity three times;

[0142] S717. Repeat step S716 to collect data of the three gecko robots at different vibration intensities, for a total of nine times of data.

[0143] (3) The method for vibration testing of the gecko robot in the powered-on state includes the following steps:

[0144] S721. Reset and restart the vibration test bench;

[0145] S722: The tester checks whether the structure of the gecko robot is complete. If yes, step S703 is executed. If not, the components of the gecko robot are replaced and step S702 is executed again.

[0146] S723. Place the powered-on gecko robot on a vibration test bench and use a clamp to restrict the horizontal movement of the gecko robot.

[0147] S724. Turn on the sinusoidal vibration mode of the vibration test bench and adjust the vibration intensity to a suitable level. The vibration test bench vibrates continuously for 48 hours and then stops vibrating.

[0148] S725: The tester checks the structural connection status of the Gecko robot and records the data;

[0149] S726, repeat steps S721-S725 to collect data of the gecko robot under the same vibration intensity three times;

[0150] S727. Repeat step S726 to collect data of the three gecko robots at different vibration intensities, for a total of nine times of data.

[0151] The above specific implementation manner is a preferred embodiment of the present invention and does not limit the present invention. Any other changes or other equivalent replacement methods that do not deviate from the technical solution of the present invention are included in the protection scope of the present invention.

Claims

1. A comprehensive performance testing method for a gecko robot, characterized in that: The following steps are involved: S1. Install the components of the vacuum adsorption module in a vacuum adsorption module detection assembly. Connect the detection module to the components of the vacuum adsorption module, and test the power supply effect, wall adsorption ability, and wall detachment ability of the vacuum adsorption module to obtain a qualified vacuum adsorption module. S2. Installing the components of the motion module in the operating system test assembly, connecting the detection module to the components of the motion module, and testing the power supply effect and motion capability of the motion module to obtain a qualified motion module; S3. Installing components of the motion detection module in a motion state test assembly, connecting the detection module to the components of the motion detection module, and testing the power supply effect, two-dimensional motion layer data transmission, roll axis layer data transmission, and optical data transmission of the motion detection module to obtain a qualified motion detection module; S4. Installing components of the image transmission module in the image transmission signal sending assembly, connecting the detection module to the components of the image transmission module, detecting the rotation angle and shooting effect of the image transmission module, and obtaining a qualified image transmission module; S5, the detection module detects the communication between the control module, the vacuum adsorption module, the motion module, the motion detection module and the image transmission module to obtain a gecko robot with good communication; S6. Perform a drop test on the bare gecko robot and the gecko robot in the packaging box using a drop test bench to obtain the gecko robot that passes the drop test; S7, using a vibration test bench to perform vibration tests on the gecko robot in the closed state, the gecko robot in the packaging box, and the gecko robot in the powered-on state, to obtain the gecko robot with qualified vibration; The component detection method of the vacuum adsorption module in step S1 includes the following steps: S101, installing the components of the vacuum adsorption module on the vacuum adsorption module detection assembly, the detection module sending a signal to the components of the vacuum adsorption module, and the components of the vacuum adsorption module receiving the signal; S102, the tester checks whether the vacuum adsorption module is powered normally. If so, the components of the vacuum adsorption module are in adsorption mode, and then step S103 is executed. If not, the components of the vacuum adsorption module are replaced and step S102 is executed again. S103, the tester checks whether the suction cup of the vacuum adsorption module is adsorbed to the wall surface, if yes, executes step S105, if not, executes step S104; S104: The tester checks whether the mechanical posture of the suction cup is normal. If so, step S103 is repeated. If not, the tester adjusts the mechanical posture of the suction cup or replaces the suction cup or other components of the vacuum adsorption module, and then repeats step S104. S105: The detection module controls the vacuum adsorption module to operate in a deflation mode, and the tester checks whether the suction cup can be detached from the wall. If so, the process ends. If not, the tester adjusts the mechanical posture of the suction cup or replaces the suction cup or other components of the vacuum adsorption module, and then re-executes step S105. The method for detecting the motion module in step S2 includes the following steps: S201: The components of the motion module are installed in the motion module test assembly, the detection module sends a signal to the components of the motion module, and the components of the motion module receive the signal; S202: The tester checks whether the motion module is powered. If so, step S203 is executed. If not, the tester replaces the components of the motion module and re-executes step S202. S203: The detection module outputs a signal to control the operation of all first servos of the motion module; S204: All the first steering gears rotate in sequence and feed back data to the detection module to check whether all the first steering gears are operating normally. If yes, the process ends; if not, the first steering gear with the problem is replaced and the process returns to step S203. The detection method of the motion detection module in step S3 includes the following steps: S301, installing components of the motion detection module in the motion state test assembly, the detection module outputs a signal, and the motion detection module receives the signal; S302: The tester checks whether the components of the motion detection module are powered normally. If so, step S303 is executed. If not, the tester replaces the components of the motion detection module and re-executes step S302. S303, placing the motion state test component on a platform for motion, and the inertial measurement instrument tests data on a two-dimensional motion layer to obtain two-dimensional motion layer data; S304: The inertial measurement unit feeds back the two-dimensional motion layer data to the detection module to determine whether the two-dimensional motion layer data is transmitted normally. If so, step S305 is executed. If not, the inertial measurement unit is repositioned or replaced, and then step S304 is executed again. S305: The tester rotates the rotating plate of the motion module test assembly, and the inertial measurement instrument measures at the roll axis level to obtain roll axis level data; S306: The inertial measurement unit feeds the roll axis data back to the detection module. The tester checks whether the roll axis data is transmitted normally. If so, step S307 is executed. If not, the inertial measurement unit is repositioned or replaced, and then step S306 is executed again. S307 , the optical sensor collects optical data and feeds it back to the detection module to determine whether the optical data is transmitted normally. If so, the process ends; if not, the inertial measurement unit is relocated or replaced, and then step S307 is executed again.

2. A comprehensive performance testing method for a gecko robot according to claim 1, characterized in that, The vacuum adsorption module detection assembly includes a front pressure plate, a rear pressure plate, a connecting plate, a sleeve, a solenoid valve fixing member and a strap. The strap is provided with a through hole, the port of the through hole is connected to the sleeve, the vacuum pump of the vacuum adsorption module is installed on the sleeve, the solenoid valve of the vacuum adsorption module is installed on the strap through the solenoid valve fixing member, the front pressure plate and the rear pressure plate are installed on the strap, the vacuum pressure switch of the vacuum adsorption module is clamped between the front pressure plate and the rear pressure plate, and the suction cup of the vacuum adsorption module is installed on the strap through the connecting plate.

3. A comprehensive performance detection method for a gecko robot according to claim 1, characterized in that, The motion module test assembly includes a dividing plate and a steering gear base. The dividing plate is installed on the steering plate of the motion module. The steering plate is installed on the steering gear base through the first steering gear of the motion module.

4. A comprehensive performance testing method for a gecko robot according to claim 1, characterized in that, The motion module test assembly includes a base plate, a cover plate, steel balls, a bracket and a rotating plate. The base plate is provided with two rows of fixing holes, the steel balls are installed in the two rows of fixing holes, the cover plate is installed on the base plate and covers the steel balls, the bracket is installed on the cover plate, the rotating plate is rotatably installed on the bracket, the inertial measurement instrument of the motion detection module is installed on the rotating plate, and the optical sensor of the motion detection module is installed on the base plate.

5. A comprehensive performance testing method for a gecko robot according to claim 1, characterized in that: The method for detecting the image transmission module in step S4 includes the following steps: S401, installing components of an image transmission module in the image transmission signal sending component, the detection module outputs a signal, and the components of the image transmission module receive the signal; S402: The tester checks whether the image transmission module is powered. If so, step S403 is executed. If not, the tester replaces the components of the image transmission module and then executes step S402 again. S403: The detection module controls the second servo of the image transmission module to rotate, and the tester determines whether the rotation angle of the second servo is normal. If so, step S404 is executed; if not, the second servo is replaced and step S403 is executed again; S404, the detection module controls the camera to take a photo, and the camera feeds the photo back to the detection module to check whether the photo is normal. If so, the process ends; if not, the camera is cleaned or replaced, and step S404 is executed again.

6. A comprehensive performance testing method for a gecko robot according to claim 1, characterized in that: The image transmission signal sending component in step S4 includes a sending end base and a camera base. The camera of the image transmission module is installed on the second servo of the image transmission module through the camera base, and the second servo is installed on the sending end base.

7. A comprehensive performance testing method for a gecko robot according to claim 1, characterized in that: The method for the gecko robot drop test in step S6 comprises the following steps: S601, resetting and restarting the drop test bench to check whether the gecko robot is damaged; S602, placing the gecko robot on a workbench of the drop test bench, and then the workbench lifts the gecko robot to a set height and records height data; S603: After laying a metal plate under the workbench, release the gecko robot from the workbench, allow the gecko robot to fall onto the metal plate, and record the falling data of the gecko robot; S604: Repeat steps S601-S603 to collect the falling data three times.

Images