A robot obstacle avoidance test device in a test room

Abstract

The present invention relates to the field of robot testing technology, and more particularly to a robot obstacle avoidance testing device for a test room, comprising a test bench, a measuring assembly, and a simulated wall assembly; a rotating shaft is rotatably provided on the test bench, the shaft body of the rotating shaft abuts against the driving wheel of the robot, a test shaft is provided on one end of the rotating shaft, and the axis of the test shaft coincides with the axis of the rotating shaft; the measuring assembly is provided on the test bench, the detection end of the measuring assembly faces the shaft body of the test shaft, and the measuring assembly is communicatively connected to the simulated wall assembly; the simulated wall assembly has a simulated wall that can move toward the test bench. While ensuring effective testing, the present invention can not only reduce the volume of the test room but also eliminate obstacles.

Description

Technical Field

[0001] The present invention relates to the technical field of robot testing, and in particular to a robot obstacle avoidance testing device in a test room. Background Art

[0002] With the continuous advancement of technology, mobile robots are gradually replacing humans in some tasks. Mobile robots often need to navigate harsh environments and complex spaces, making obstacle avoidance particularly important. Therefore, mobile robots must undergo obstacle avoidance testing in a variety of environments within a test room. This obstacle avoidance testing requires a relatively large test room, which in turn increases the cost of the test room. Furthermore, the need for multiple obstacles within the test room makes it difficult for personnel outside to immediately detect and resolve any accidents involving the robot, such as spontaneous combustion. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a robot obstacle avoidance testing device for a test room, which can not only reduce the volume of the test room while ensuring effective testing, but also complete automated obstacle avoidance testing.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solution: a robot obstacle avoidance test device for a test room, comprising a test bench, a measurement assembly, and a simulation wall assembly; a rotating shaft is rotatably provided on the test bench, the shaft body of the rotating shaft abuts against the driving wheel of the robot, a test shaft is provided on one end of the rotating shaft, and the axis of the test shaft coincides with the axis of the rotating shaft;

[0005] The measuring component is arranged on the test bench, the detection end of the measuring component faces the axis of the test shaft, and the measuring component is communicatively connected to the simulated wall component;

[0006] The simulation wall assembly has a simulation wall that can move toward the test bench.

[0007] The beneficial effects of the present invention are as follows: a test bench is added to the test room, the driving wheels of the robot are abutted against the rotating shaft of the test bench, and the rotation of the rotating shaft is used to prevent the robot from leaving the test bench. At the same time, the rotation of the rotating shaft drives the test shaft to rotate synchronously. At this time, the measuring component obtains the rotation direction and speed of the driving wheels of the robot at this time through the rotation direction and speed of the test shaft. Then, the simulation wall component drives the simulation wall toward or away from the test bench according to the data measured by the measurement component to simulate the scene of the robot moving in the obstacle. In this way, the obstacle avoidance ability of the robot can be judged according to whether the simulation wall continues to move toward the test bench after it approaches the test bench. Under the condition of ensuring effective testing, it is achieved that not only the volume of the test room can be reduced, but also the automated obstacle avoidance test can be completed. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 This is a schematic diagram of the structure of a test room of a robot obstacle avoidance test device in a test room in a specific embodiment of the present invention;

[0009] Figure 2 for Figure 1 An enlarged view of part A of a robot obstacle avoidance test device in a test room;

[0010] Figure 3 This is a schematic diagram of the structure of a rotating seat of a robot obstacle avoidance test device in a test room according to Example 1 of the specific implementation manner of the present invention;

[0011] Figure 4 This is a schematic diagram of the structure of a rotating seat of a robot obstacle avoidance test device in a test room according to Example 2 of the specific implementation manner of the present invention;

[0012] Description of labels:

[0013] 1. Test bench; 11. Rotating shaft; 111. Test shaft;

[0014] 2. Measurement components;

[0015] 3. Simulation wall assembly; 31. Simulation wall; 32. Motor; 33. Screw; 34. Guide shaft;

[0016] 4. Steering test assembly; 41. Rotating seat; 411. Column; 412. Connecting plate; 413. Sleeve; 42. Angle sensor;

[0017] 5. Stop screw. DETAILED DESCRIPTION

[0018] To illustrate the technical content, achieved objectives and effects of the present invention in detail, the following description is given in conjunction with the embodiments and accompanying drawings.

[0019] Please refer to Figure 1 and Figure 2 As shown, the present invention provides a robot obstacle avoidance test device for a test room, comprising a test bench 1, a measurement assembly 2, and a simulation wall assembly 3; a rotating shaft 11 is rotatably provided on the test bench 1, the shaft body of the rotating shaft 11 abuts against the driving wheel of the robot, and a test shaft 111 is provided on one end of the rotating shaft 11, the axis of the test shaft 111 coincides with the axis of the rotating shaft 11;

[0020] The measuring component 2 is arranged on the test bench 1, with the detection end of the measuring component 2 facing the axis of the test axis 111, and the measuring component 2 is communicatively connected to the simulated wall component 3;

[0021] The simulation wall assembly 3 includes a simulation wall 31 that can move toward the test bench 1 .

[0022] From the above description, it can be seen that the beneficial effects of the present invention are as follows: a test bench 1 is added to the test room, the driving wheel of the robot is abutted against the rotating shaft 11 of the test bench 1, and the rotation of the rotating shaft 11 is used to prevent the robot from leaving the test bench 1, and at the same time, the rotation of the rotating shaft 11 will drive the test shaft 111 to rotate synchronously. At this time, the measuring component 2 obtains the rotation direction and speed of the driving wheel of the robot at this time through the rotation direction and speed of the test shaft 111, and then the simulation wall component 3 will drive the simulation wall 31 toward or away from the test bench 1 according to the data measured by the measuring component 2 to simulate the scene of the robot moving in the obstacle. In this way, the obstacle avoidance ability of the robot can be judged according to whether the simulation wall 31 continues to move toward the test bench 1 after it approaches the test bench 1. Under the condition of ensuring effective testing, it is achieved that not only the volume of the test room can be reduced, but also the automated obstacle avoidance test can be completed.

[0023] Please refer to Figure 1 As shown, further, the simulation wall assembly 3 also includes a motor 32 and a screw rod 33; one end of the screw rod 33 is transmission-connected to the output end of the motor 32, and the simulation wall 31 is threadedly connected to the screw rod 33.

[0024] From the above description, it can be seen that the motor 32 drives the screw 33 to rotate accordingly based on the activity information of the robot's driving wheel obtained by the measurement component 2, so that the simulation wall 31 is displaced accordingly on the screw 33, thereby simulating the scene of the robot moving in the obstacle.

[0025] Please refer to Figure 1 As shown, further, the simulation wall assembly 3 also includes a guide shaft 34, and the simulation wall 31 is connected to the screw rod 33 in a relative sliding manner.

[0026] As can be seen from the above description, the guide shaft 34 can ensure the moving direction of the simulation wall 31 and ensure the accuracy of the simulation environment.

[0027] Please refer to Figure 1 As shown, further, the motor 32 is located outside the test room.

[0028] From the above description, it can be seen that the motor 32 is set outside the test room, so that the heat generated by the operation of the motor 32 will not affect the inherent environment created in the test room; for example, in a high-temperature test environment, the heat generated by the operation of the motor 32 will not affect the temperature in the test room.

[0029] Please refer to Figure 1As shown, further, the robot obstacle avoidance test device of the test room further includes a steering test component 4, the steering test component 4 includes a rotating seat 41 and an angle sensor 42; the rotating seat 41 is rotatably set on the test table 1, and the rotating seat 41 is connected to the steering wheel of the robot;

[0030] The angle sensor 42 is disposed on the test bench 1 , with the detection end of the angle sensor facing the rotating seat 41 , and the angle sensor 42 is communicatively connected to the simulated wall assembly 3 .

[0031] From the above description, it can be seen that the rotating seat 41 is connected to the steering wheel of the robot, so that when the robot makes a turning movement, the rotating seat 41 will move synchronously, so that the angle sensor 42 can further simulate the movement of the robot in a complex spatial environment according to the turning situation of the robot according to the rotating seat 41.

[0032] Please refer to Figure 3 As shown, further, the rotating seat 41 includes a column 411, a connecting plate 412 and a sleeve 413; the column 411 is fixedly set on the test bench 1, the connecting plate 412 is rotatably set on the end of the column 411 away from the test bench 1, and the sleeve 413 is fixedly set on the connecting plate 412.

[0033] As can be seen from the above description, the sleeve 413 is sleeved on the steering wheel of the robot to ensure the reliability of the connection between the rotating seat 41 and the steering wheel of the robot;

[0034] The connecting plate 412 is rotatably mounted on the column 411 , which not only ensures that the rotating seat 41 synchronizes the movement of the steering wheel of the robot, but also ensures that the connecting plate 412 does not rub against the test bench 1 and affect the rotation of the rotating seat 41 .

[0035] Please refer to Figure 4 As shown, further, the rotating seat 41 includes a column 411, a connecting plate 412 and a sleeve 413; the column 411 is rotatably set on the test bench 1, the connecting plate 412 is fixedly set on one end of the column 411 away from the test bench 1, and the sleeve 413 is fixedly set on the connecting plate 412.

[0036] As can be seen from the above description, the sleeve 413 is sleeved on the steering wheel of the robot to ensure the reliability of the connection between the rotating seat 41 and the steering wheel of the robot;

[0037] The connecting plate 412 is rotatably arranged on the test bench 1 through the column 411 , which not only ensures that the rotating seat 41 synchronizes the movement of the steering wheel of the robot, but also ensures that the connecting plate 412 will not rub against the test bench 1 and affect the rotation of the rotating seat 41 .

[0038] Please refer to Figure 1 As shown, further, a stop screw 5 is threadedly connected to the side wall of the sleeve 413.

[0039] As can be seen from the above description, the use of the set screw 5 can further ensure the connection reliability between the rotating base 41 and the steering wheel of the robot.

[0040] The present invention provides an application scenario of a robot obstacle avoidance test device for a test room: when an obstacle avoidance test is required for a robot, a test table 1 is added to the test room, and the driving wheel of the robot is abutted against the rotating shaft 11 of the test table 1. The rotation of the rotating shaft 11 prevents the robot from leaving the test table 1, and the rotation of the rotating shaft 11 drives the test shaft 111 to rotate synchronously. At this time, the measuring component 2 obtains the rotation direction and speed of the driving wheel of the robot at this time through the rotation direction and speed of the test shaft 111. Then, the simulation wall component 3 drives the simulation wall 31 toward or away from the test table 1 according to the data measured by the measuring component 2 to simulate the scene of the robot moving in the obstacle. In this way, the obstacle avoidance ability of the robot can be judged according to whether the simulation wall 31 continues to move toward the test table 1 after it approaches the test table 1. While ensuring effective testing, it is achieved that not only the volume of the test room can be reduced, but also the automated obstacle avoidance test can be completed.

[0041] Example 1

[0042] A robot obstacle avoidance test device for a test room, please refer to Figure 1 and Figure 2 As shown, it includes a test bench 1, a measurement component 2 and a simulation wall component 3; the test bench 1 is rotatably provided with a rotating shaft 11, the shaft body of the rotating shaft 11 abuts against the driving wheel of the robot, and a test shaft 111 is provided on one end of the rotating shaft 11, the axis of the test shaft 111 coincides with the axis of the rotating shaft 11; the measurement component 2 is arranged on the test bench 1, the detection end of the measurement component 2 faces the shaft body of the test shaft 111, and the measurement component 2 is communicatively connected to the simulation wall component 3; the simulation wall component 3 has a simulation wall 31 that can move toward the test bench 1. The simulation wall component 3 also includes a motor 32 and a screw rod 33; one end of the screw rod 33 is transmission-connected to the output end of the motor 32, and the simulation wall 31 is threadedly connected to the screw rod 33. The simulation wall component 3 also includes a guide shaft 34, and the simulation wall 31 is slidably connected to the screw rod 33. The motor 32 is located outside the test room.

[0043] The measuring component 2 adopts a Hall speed sensor, a magnetoresistive speed sensor or a photoelectric speed sensor.

[0044] Specifically, a reflective strip is attached to the test shaft 111, and the detection end of the measuring component 2 is directed toward the test shaft 111. If a Hall speed sensor is used, the distance between the detection end and the shaft body of the test shaft 111 is 1 mm to 2 mm. If a magnetoresistive speed sensor is used, the distance between the detection end and the shaft body of the test shaft 111 is 1 mm to 2 mm. If a photoelectric speed sensor is used, the distance between the detection end and the shaft body of the test shaft 111 is 30 mm to 50 mm.

[0045] Please refer to Figure 1 and Figure 3 As shown, the robot obstacle avoidance test device in the test room further includes a steering test assembly 4, which includes a rotating seat 41 and an angle sensor 42. The rotating seat 41 is rotatably mounted on the test bench 1 and is connected to the steering wheel of the robot. The angle sensor 42 is mounted on the test bench 1, with its detection end facing the rotating seat 41. The angle sensor 42 is communicatively connected to the simulated wall assembly 3. The rotating seat 41 includes a column 411, a connecting plate 412, and a sleeve 413. The column 411 is fixedly mounted on the test bench 1, the connecting plate 412 is rotatably mounted on the end of the column 411 away from the test bench 1, and the sleeve 413 is fixedly mounted on the connecting plate 412.

[0046] Example 2

[0047] A robot obstacle avoidance test device for a test room, please refer to Figure 1 and Figure 2 As shown, the system comprises a test bench 1, a measurement assembly 2, and a simulated wall assembly 3. The test bench 1 is rotatably mounted with a rotating shaft 11, the shaft 11 of which abuts the robot's drive wheel. A test shaft 111 is mounted on one end of the rotating shaft 11, the axis of which coincides with the axis of the rotating shaft 11. The measurement assembly 2 is mounted on the test bench 1, with its detection end facing the shaft 111. The measurement assembly 2 is communicatively connected to the simulated wall assembly 3. The simulated wall assembly 3 comprises a simulated wall 31 that is movable toward the test bench 1. The simulated wall assembly 3 also includes a motor 32 and a screw 33. One end of the screw 33 is drivingly connected to the output end of the motor 32, and the simulated wall 31 is threadedly connected to the screw 33. The simulated wall assembly 3 also includes a guide shaft 34, with the simulated wall 31 and the screw 33 being slidably connected relative to each other. The motor 32 is located outside the test chamber. A set screw 5 is threadedly connected to the side wall of the sleeve 413.

[0048] The measuring component 2 adopts a Hall speed sensor, a magnetoresistive speed sensor or a photoelectric speed sensor.

[0049] Specifically, a reflective strip is attached to the test shaft 111, and the detection end of the measuring component 2 is directed toward the test shaft 111. If a Hall speed sensor is used, the distance between the detection end and the shaft body of the test shaft 111 is 1 mm to 2 mm. If a magnetoresistive speed sensor is used, the distance between the detection end and the shaft body of the test shaft 111 is 1 mm to 2 mm. If a photoelectric speed sensor is used, the distance between the detection end and the shaft body of the test shaft 111 is 30 mm to 50 mm.

[0050] Please refer to Figure 1 and Figure 4 As shown, the robot obstacle avoidance test device in the test room further includes a steering test assembly 4, which includes a rotating seat 41 and an angle sensor 42. The rotating seat 41 is rotatably mounted on the test bench 1 and is connected to the robot's steering wheel. The angle sensor 42 is mounted on the test bench 1, with its detection end facing the rotating seat 41. The angle sensor 42 is communicatively connected to the simulated wall assembly 3. The rotating seat 41 includes a column 411, a connecting plate 412, and a sleeve 413. The column 411 is rotatably mounted on the test bench 1, the connecting plate 412 is fixedly mounted on the end of the column 411 away from the test bench 1, and the sleeve 413 is fixedly mounted on the connecting plate 412. A set screw 5 is threadedly connected to the side wall of the sleeve 413.

[0051] Working Principle: During testing, the robot's driving wheel is placed on the rotating shaft 11 of the test bench 1, and the robot's steering wheel is placed in the sleeve 413 of the rotating base 41 and locked with the set screw 5. Then, the personnel leave the test room and allow the test room environment to return to the desired test environment.

[0052] The robot's driving wheels and steering wheels are then activated. Since the robot's driving wheels are in contact with the rotating shaft 11, when the driving wheels rotate, the rotating shaft 11 also rotates, preventing the robot from leaving the test bench 1. The measuring assembly 2 then determines the rotational direction and speed of the robot's driving wheels based on the rotational direction and speed of the test shaft 111. Simultaneously, the sleeve 413 drives the connecting plate 412 to steer based on the steering direction of the robot's steering wheels, allowing the angle sensor 42 to obtain steering information about the robot's steering wheels based on the movement of the connecting plate 412.

[0053] Finally, the motor 32 drives the screw rod 33 to rotate accordingly based on the information fed back by the measuring component 2 and the angle sensor 42, so as to simulate the scene of the robot moving among obstacles on the wall 31.

[0054] When the simulation wall 31 approaches the test bench 1, the robot should pause or reverse. This application determines whether the machine actually pauses or reverses based on whether the simulation wall 31 stops or moves away from the test bench 1, thereby determining the robot's obstacle avoidance ability in the specific environment created by the test room.

[0055] Example 3

[0056] This embodiment further defines the installation structure of the test bench 1 in the test room based on the first or second embodiment:

[0057] Please refer to Figure 1 As shown, a rotating mechanism is provided under the test bench 1, and the rotating mechanism includes a rotating motor, a rotating wheel and a rotating shaft; the rotating wheel is connected to the output end of the rotating motor, one end of the rotating shaft is connected to the rotating wheel, and the other end of the rotating shaft is connected to the test bench 1.

[0058] Working principle: A rotating motor is used to drive the test bench 1 to rotate, so that the robot can detect rotation. For example, if the front end of the robot is originally facing the simulated wall 31, the side and rear ends of the robot can be facing the simulated wall 31 after rotation, or the front end and side ends can be facing the simulated wall 31, or the rear end and side ends can be facing the simulated wall 31, thereby enabling the test device to test the obstacle avoidance function of the robot at various angles.

[0059] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent transformations made using the contents of the present invention's description and drawings, or directly or indirectly applied in related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A robot obstacle avoidance testing device for a test room, characterized by: The robot comprises a test bench, a measuring assembly, a simulation wall assembly, and a steering test assembly; a rotating shaft is rotatably provided on the test bench, the shaft body of the rotating shaft abuts against the driving wheel of the robot, a test shaft is provided on one end of the rotating shaft, and the axis of the test shaft coincides with the axis of the rotating shaft; The measuring component is arranged on the test bench, the detection end of the measuring component faces the axis of the test shaft, and the measuring component is communicatively connected to the simulated wall component; The simulation wall assembly has a simulation wall that moves toward the test bench; The steering test assembly includes a rotating seat and an angle sensor; the rotating seat is rotatably arranged on the test bench, and the rotating seat is connected to the steering wheel of the robot; The angle sensor is arranged on the test bench, the detection end of the angle sensor faces the rotating seat, and the angle sensor is communicatively connected to the simulated wall assembly; The rotating seat includes a column, a connecting plate and a sleeve; the column is fixed or rotatably arranged on the test bench, the connecting plate is rotatably arranged on the end of the column away from the test bench, and the sleeve is fixedly arranged on the connecting plate; The measuring component will obtain the corresponding rotation direction and speed of the robot's driving wheel at this time based on the rotation direction and speed of the test shaft. At the same time, the sleeve will drive the connecting plate to turn according to the steering situation of the robot's steering wheel, so that the angle sensor can obtain the steering information of the robot's steering wheel according to the movement of the connecting plate.

2. The robot obstacle avoidance testing device in the test room according to claim 1, characterized in that: The simulation wall assembly also includes a motor and a screw rod; one end of the screw rod is transmission-connected to the output end of the motor, and the simulation wall is threadedly connected to the screw rod.

3. The robot obstacle avoidance testing device in the test room according to claim 2, characterized in that: The simulation wall assembly also includes a guide shaft, and the simulation wall is connected to the screw rod in a relative sliding manner.

4. The robot obstacle avoidance testing device in the test room according to claim 2 or 3, characterized in that: The motor is located outside the test room.

5. The robot obstacle avoidance testing device in the test room according to claim 1, characterized in that: A stop screw is threadedly connected on the side wall of the sleeve.

Images