AGV performance test platform and test method

Abstract

This invention relates to the field of AGV (Automated Guided Vehicle) testing technology, specifically to an AGV performance testing platform and method. The platform includes an AGV and a testing platform, which is equipped with a navigation bar to guide the AGV's forward direction. The testing platform includes, in sequence, a slope performance testing module, an uneven road surface testing module, a stepped road surface testing module, a ditch width testing module, a maximum speed testing module, a navigation loss protection testing module, a braking performance and parking accuracy testing module, and an obstacle detection function testing module. This invention provides an AGV performance testing platform and method capable of testing AGVs on various road surfaces, ensuring stable operation of the AGVs in subsequent work and reducing potential safety hazards.

Description

Technical Field

[0001] This invention belongs to the field of AGV (Automated Guided Vehicle) testing technology, specifically relating to an AGV performance testing platform and testing methods. Background Technology

[0002] AGVs (Automated Guided Vehicles) can be used for handling, loading and unloading, warehousing and outbound operations. They are widely used in warehousing and logistics, manufacturing, automobile assembly and airport logistics, etc., to realize the horizontal or vertical transfer of materials and improve the degree of automation and work efficiency.

[0003] With the continuous development and innovation of AGV (Automated Guided Vehicle) technology, the application of AGVs in various industries is constantly expanding. AGVs typically achieve precise positioning and path planning through technologies such as laser navigation, magnetic navigation, and visual navigation. They can automate logistics handling and arrangement in warehouses, factories, logistics centers, and other locations. However, AGVs encounter various road surfaces and conditions during operation, which may prevent operators from promptly addressing unstable surfaces. This could lead to unstable operation of the AGV, resulting in safety hazards.

[0004] To ensure the stable operation of AGVs and reduce potential safety hazards, functional testing is essential. Summary of the Invention

[0005] To address the problem that existing AGVs (Automated Guided Vehicles) cannot operate stably when encountering various complex road surfaces and conditions due to the lack of prior testing, this invention provides an AGV performance testing platform and testing method. This platform can test AGVs on various road surfaces, ensuring stable operation of AGVs in subsequent work and reducing potential safety hazards.

[0006] The technical solution of the present invention is as follows:

[0007] An AGV (Automated Guided Vehicle) performance testing platform includes an AGV and a testing platform. The testing platform is equipped with a navigation bar to guide the AGV's forward direction. The testing platform includes, in sequence, a slope performance testing module, an uneven road surface testing module, a stepped road surface testing module, a ditch width testing module, a maximum speed testing module, a navigation loss protection testing module, a braking performance and parking accuracy testing module, and an obstacle detection function testing module.

[0008] The ramp performance testing module includes a ramp;

[0009] The obstacle detection function test module is equipped with a force detection mechanism;

[0010] The AGV (Automated Guided Vehicle) passes through each of the above modules in sequence to conduct performance tests.

[0011] Preferably, the ramp performance testing module includes a first base, the interior of which is hollow, an electric push rod is installed inside the hollow first base, a first lifting platform is provided at the top of the first base, a first lifting support is installed at the bottom of the first lifting platform, the first lifting support is connected to the telescopic end of the electric push rod, and a first pin is provided at the connection between the electric push rod and the first lifting support.

[0012] The first base has guide posts installed at its four apex corners, and a first guide sleeve is movably fitted onto the surface of the guide posts. The first base has a ramp at one top side, and a connecting seat is installed on the side of the ramp near the first lifting platform. A second pin is installed inside the connecting seat, and a roller is installed at the bottom of the other side of the ramp.

[0013] The first base has a guide groove on its top surface near the ramp that is adapted to the roller, and the ramp is slidably connected to the first base through the roller and the guide groove. An angle sensor is provided at the bottom end of the ramp near the connecting seat.

[0014] Preferably, the uneven road surface testing module includes a flatness of 0.5~1.5m. 2 The uneven road surface has a length greater than 3mm.

[0015] Preferably, the stepped pavement testing module includes a second base, an electric jack rod mounted on the top of the second base, a second lifting platform provided on the top of the electric jack rod, a second lifting support connected to the bottom of the second lifting platform, a pin connecting the second lifting support to the output end of the electric jack rod, and a guide assembly provided between the second lifting platform and the second base.

[0016] The guide assembly includes a lifting rod support, a second guide sleeve, and a lifting guide rod. The lifting rod support is installed on the top of the second base, the second guide sleeve is disposed on the top of the lifting rod support, and the lifting guide rod is connected to the bottom of the second base. The end of the lifting guide rod away from the second lifting platform extends through into the interior of the second guide sleeve.

[0017] A displacement sensor support is mounted on the top of the second base, and a displacement sensor is connected to the top of the displacement sensor support.

[0018] Preferably, the groove width testing module includes a first plane with a groove. A third base is connected to the top surface of the groove. Linear guides are connected to both ends of the top surface of the third base. A horizontal moving platform is connected to the top surface of the linear guides. A transmission nut is connected to the bottom surface of the horizontal moving platform. A lead screw is connected through one side surface of the transmission nut. A reducer is connected to one end of the lead screw. The output end of a motor is connected to the other end of the reducer. A displacement sensor support is connected to the bottom surface of the horizontal moving platform. A displacement sensor is connected to one end surface of the displacement sensor support. The displacement sensor is disposed on the top surface of one end of the third base.

[0019] Preferably, the highest speed test module includes a second plane, and grating groups are provided at both the beginning and end of the second plane.

[0020] Preferably, the navigation loss protection test module includes a third plane, wherein the navigation bar of the third plane is truncated to test whether the automated guided vehicle stops.

[0021] Preferably, the braking performance and parking accuracy testing module includes a fourth plane, on which a signal collector is provided. When the AGV (Automated Guided Vehicle) is connected to the signal collector and the signal collector is triggered, braking is performed.

[0022] Preferably, the obstacle detection function test module includes a fifth plane, on which the force detection mechanism is provided. The force detection mechanism includes a housing, inside which a torsion link, a torque sensor, and a support bearing are provided. One end of the torsion link is connected to the torque sensor, and the other end of the torsion link penetrates the housing and is connected to a collision block support rod. A collision block is fixed to the other end of the collision block support rod. The support bearing is located at the upper and lower ends of the penetration point of the torsion link, and the torque sensor is connected to a control box.

[0023] The AGV (Automated Guided Vehicle) performance testing method, implemented using the aforementioned AGV performance testing platform, is as follows:

[0024] Step 1: In the ramp performance test module, adjust the ramp gradient to be no less than 0.05, drive the AGV (Automated Guided Vehicle) at the rated speed, and the AGV should run normally; control the AGV to stop at the parking point on the ramp, and test whether the AGV can stop reliably.

[0025] Step 2: In the uneven road test module, control the automated guided vehicle to travel on the uneven road at a rated speed to test whether the AGV is operating normally;

[0026] Step 3: In the stepped road test module, adjust the step height to be no less than 5mm, control the AGV to travel at the rated speed, and test whether the AGV is operating normally;

[0027] Step 4: In the trench width test module, adjust the trench width to be no less than 8mm, control the AGV to drive towards the trench width at the rated speed, and test whether the AGV is operating normally.

[0028] Step 5: The highest speed test module of the AGV (Automated Guided Vehicle) is determined by the AGV traveling on the second plane. The timing starts at the trigger start end and ends at the trigger end end. The ratio of the distance between the two ends of the grating to the time taken for the AGV to travel is used to obtain the highest speed of the AGV.

[0029] Step 6: Navigation loss protection test module. Remove a section of the navigation bar and test whether the AGV can stop automatically.

[0030] Step 7: In the braking performance and parking accuracy test module, on the AGV's travel path, through the set signal acquisition device, when the AGV triggers the signal, it starts braking. The distance from the starting point of the AGV's movement to the complete stop point is measured, which is the AGV's braking distance. On this path, stop position marks are set. The AGV stops normally at the rated speed, and the front, back, left and right stopping positions of the AGV are measured.

[0031] Step 8: In the obstacle detection function test module, prepare two sets of force detection mechanisms with different shapes and masses. After the force detection mechanisms are placed on the AGV automatic guided vehicle's movement path in different postures, the AGV automatic guided vehicle is fully loaded and drives towards the force detection mechanism at the highest speed to detect the force detection mechanism when it is impacted.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] (1) The ramp performance testing module designed in this invention uses an electric push rod to raise the height of the lifting platform, so that the ramp changes angle with the height of the lifting platform. Then, the AGV automatic guide vehicle rises along the slope angle. Next, the climbing performance of the AGV automatic guide vehicle is measured by the tilt sensor. The measured data makes the operation of the AGV automatic guide vehicle more stable and reduces potential safety hazards.

[0034] (2) The uneven road test module designed in this invention allows the AGV to run on an uneven road surface for testing. Based on the results of the operation, it is convenient to improve and debug the performance of the AGV.

[0035] (3) The stepped road test module designed in this invention uses an electric push rod to raise the lifting support and lift the platform, so that there is a height difference between the ground where the AGV is located and the lifting platform. Then, by controlling the AGV to travel through the stepped road at a rated speed, the performance of the AGV on the stepped road can be tested. Through continuous testing and training, the AGV can reduce potential safety hazards.

[0036] (4) The trench width test module designed in this invention forms trenches of different sizes by controlling the distance between the horizontal moving platform and the ground. Then, the AGV automatic guided vehicle is controlled to travel through the trench road at a rated speed, thereby testing the performance of the AGV automatic guided vehicle in passing through the trench. When the operator uses it, he can deal with the trenches on the ground according to the tested performance, so that the AGV automatic guided vehicle can run stably.

[0037] (5) The maximum speed test module designed in this invention uses the AGV automatic guided vehicle to travel at the highest speed on the second plane. The timing starts at the trigger start end and ends at the trigger end end. The ratio of the distance between the two ends of the grating to the time taken by the AGV automatic guided vehicle to obtain the maximum speed of the AGV automatic guided vehicle and detect the performance of the AGV automatic guided vehicle.

[0038] (6) The navigation loss protection test module designed in this invention tests whether the AGV can stop automatically by canceling a section of the navigation bar, and detects the performance of the AGV based on the test results.

[0039] (7) The braking performance and parking accuracy test module designed in this invention, on the driving path of the automatic guided vehicle, through the set signal acquisition device, when the AGV automatic guided vehicle triggers the signal, it starts to brake, and measures the distance from the starting point of the AGV automatic guided vehicle to the complete stop point, which is the braking distance of the AGV automatic guided vehicle. On this path, a stop position mark is set, and the AGV automatic guided vehicle stops normally at the rated speed. The front, back, left and right stopping positions of the AGV automatic guided vehicle are measured; the performance of the AGV automatic guided vehicle is detected.

[0040] (8) The obstacle detection function test module designed in this invention measures the force data by having the AGV automatically guide vehicle hit the collision block, and through the torsion link and torque sensor connected to the collision block, and compares the measured data with the specified bearing range of the AGV automatically guide vehicle to test the performance of the AGV guide vehicle. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0042] Figure 2 This is a schematic diagram of the hill-climbing performance testing module;

[0043] Figure 3 This is a schematic diagram of the uneven road surface testing module;

[0044] Figure 4 This is a schematic diagram of the structure of the stepped pavement test module;

[0045] Figure 5 This is a schematic diagram of the trench width testing module.

[0046] Figure 6 This is a schematic diagram of the structure of the highest speed test module;

[0047] Figure 7 This is a schematic diagram of the navigation loss protection test module;

[0048] Figure 8 This is a schematic diagram of the braking performance and parking accuracy testing module.

[0049] Figure 9 This is a schematic diagram of the obstacle detection function test module;

[0050] Figure 10 A schematic diagram of the obstacle detection function test module during operation;

[0051] In the diagram: 1. Climbing performance test module; 11. First base; 12. Electric push rod; 13. First lifting platform; 14. First lifting support; 15. Guide column; 16. Ramp; 17. Guide sleeve; 18. Tilt sensor; 2. Uneven road surface test module; 21. Uneven road surface; 3. Stepped road surface test module; 31. Second base; 32. Lifting rod support; 33. Guide sleeve; 34. Lifting guide rod; 35. Second lifting platform; 36. Second lifting support; 37. Pin shaft; 38. Electric push rod; 39. Displacement sensor; 310. Displacement sensor support; 4. Trench width test module; 41. First plane ; 42. Third base; 43. Linear guide rail; 44. Horizontal moving platform; 45. Transmission nut; 46. Lead screw; 47. Reducer; 48. Displacement sensor support; 49. Displacement sensor; 410. Motor; 5. Maximum speed test module; 51. Grating group; 6. Navigation loss protection test module; 7. Braking performance and parking accuracy test module; 71. Signal acquisition unit; 8. Obstacle detection function test module; 81. Collision block; 82. Collision block support rod; 83. Torque connecting rod; 84. Support bearing; 85. Housing; 86. Torque sensor; 87. Control box; 9. AGV automated guided vehicle; 10. Navigation bar. Detailed Implementation

[0052] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0053] See Figure 1-3 An AGV (Automated Guided Vehicle) performance testing platform includes an AGV 9 and a testing platform. The testing platform is equipped with a navigation bar 10 to guide the AGV's forward direction. The testing platform includes, in sequence, a ramp performance testing module 1, an uneven road surface testing module 2, a stepped road surface testing module 3, a ditch width testing module 4, a maximum speed testing module 5, a navigation loss protection testing module 6, a braking performance and parking accuracy testing module 7, and an obstacle detection function testing module 8.

[0054] The ramp performance testing module 1 has a ramp;

[0055] The obstacle detection function test module 8 is equipped with a force detection mechanism;

[0056] The AGV (Automated Guided Vehicle) 9 passes through each of the above modules in sequence to conduct performance tests.

[0057] See Figure 2 In one embodiment of the present invention, the ramp performance testing module 1 includes a first base 11, the interior of the first base 11 is hollow, an electric push rod 12 is installed inside the hollow first base, a first lifting platform 13 is provided at the top of the first base 11, a first lifting support 14 is installed at the bottom of the first lifting platform 13, the first lifting support 14 is connected to the telescopic end of the electric push rod 12, and a first pin is provided at the connection between the electric push rod 12 and the first lifting support 14.

[0058] The first base 11 has four top corners equipped with guide posts 15, and the surface of the guide posts 15 is movably fitted with a first guide sleeve 17. The top of one side of the first base 11 is provided with a ramp 16, and the ramp 16 is installed with a connecting seat on the side near the first lifting platform 13. The connecting seat is equipped with a second pin, and the bottom of the other side of the ramp is equipped with a roller.

[0059] The first base 11 has a guide groove adapted to the roller on its top surface near the ramp, and the ramp 16 is slidably connected to the first base through the roller and the guide groove. An angle sensor 18 is provided at the bottom end of the ramp 16 near the connecting seat.

[0060] See Figure 3 In another embodiment of the present invention, the uneven road surface testing module 2 includes a flatness of 0.5~1.5m. 2 The uneven road surface 21 has a length greater than 3 mm.

[0061] Ideally, a flatness of 1m should be selected. 2 Uneven road surface.

[0062] See Figure 4 In one embodiment of the present invention, the stepped pavement test module 3 includes a second base 31, an electric jack 38 is installed on the top of the second base 31, a second lifting platform 35 is provided on the top of the electric jack 38, a second lifting support 36 is connected to the bottom of the second lifting platform 35, a pin 37 is connected to the output end of the second lifting support 36 and the electric jack 38, and a guide component is provided between the second lifting platform 35 and the second base 31.

[0063] The guide assembly includes a lifting rod support 32, a second guide sleeve 33, and a lifting guide rod 34. The lifting rod support 32 is installed on the top of the second base 31, the second guide sleeve 33 is disposed on the top of the lifting rod support 32, the lifting guide rod 32 is connected to the bottom of the second base 31, and the end of the lifting guide rod 34 away from the second lifting platform extends through into the interior of the second guide sleeve.

[0064] A displacement sensor support 310 is mounted on the top of the second base 31, and a displacement sensor 39 is connected to the top of the displacement sensor support.

[0065] See Figure 5 In addition, in this embodiment of the invention, the groove width testing module 4 includes a first plane 41, the first plane 41 having a groove, the top surface of the groove being connected to a third base 42, the top surfaces of the third base 42 being connected to both ends of a linear guide rail 43, the top surface of the linear guide rail 43 being connected to a horizontal moving platform 44, the bottom surface of the horizontal moving platform 44 being connected to a transmission nut 45, one side surface of the transmission nut 45 being connected to a lead screw 46, one end of the lead screw 46 being connected to a reducer 47, the other end of the reducer 47 being connected to the output end of a motor 410, the bottom surface of the horizontal moving platform 44 being connected to a displacement sensor support 48, one end surface of the displacement sensor support 48 being connected to a displacement sensor 49, and the displacement sensor 49 being disposed on the top surface of one end of the third base 41.

[0066] See Figure 6 In another embodiment of the present invention, the maximum speed test module 5 includes a second plane, and a grating group 51 is provided at both the beginning and end of the second plane.

[0067] See Figure 7 In another embodiment of the present invention, the navigation loss protection test module 6 includes a third plane, wherein the navigation bar of the third plane is truncated to test whether the automated guided vehicle stops.

[0068] See Figure 8 In another embodiment of the present invention, the braking performance and parking accuracy test module 7 includes a fourth plane, on which a signal collector 71 is provided. When the AGV (Automated Guided Vehicle) is connected to the signal collector 71 and the signal collector 71 is triggered, braking is performed.

[0069] See Figure 9-10 In another embodiment of the present invention, the obstacle detection function test module 8 includes a fifth plane, on which the force detection mechanism is provided. The force detection mechanism includes a housing 85, and a torque connecting rod 83, a torque sensor 86, and a support bearing 84 are provided inside the housing 85. One end of the torque connecting rod 83 is connected to the torque sensor 86, and the other end of the torque connecting rod 83 penetrates the housing 85 and is connected to a collision block support rod 82. A collision block 81 is fixed to the other end of the collision block support rod 82. The support bearing 84 is located at the upper and lower ends of the penetration point of the torque connecting rod 83. The torque sensor 86 is connected to a control box 87.

[0070] A performance testing method for AGV (Automated Guided Vehicle) vehicles, the testing method being as follows:

[0071] Step 1: In the ramp performance test module, adjust the ramp gradient to be no less than 0.05, drive the AGV (Automated Guided Vehicle) at the rated speed, and the AGV should run normally; control the AGV to stop at the parking point on the ramp, and test whether the AGV can stop reliably.

[0072] Step 2: In the uneven road test module, control the automated guided vehicle to travel on the uneven road at a rated speed to test whether the AGV is operating normally;

[0073] Step 3: In the stepped road test module, adjust the step height to be no less than 5mm, control the AGV to travel at the rated speed, and test whether the AGV is operating normally;

[0074] Step 4: In the trench width test module, adjust the trench width to be no less than 8mm, control the AGV to drive towards the trench width at the rated speed, and test whether the AGV is operating normally.

[0075] Step 5: The highest speed test module of the AGV (Automated Guided Vehicle) is determined by the AGV traveling on the second plane. The timing starts at the trigger start end and ends at the trigger end end. The ratio of the distance between the two ends of the grating to the time taken for the AGV to travel is used to obtain the highest speed of the AGV.

[0076] Step 6: Navigation loss protection test module. Remove a section of the navigation bar and test whether the AGV can stop automatically.

[0077] Step 7: In the braking performance and parking accuracy test module, on the AGV's travel path, through the set signal acquisition device, when the AGV triggers the signal, it starts braking. The distance from the starting point of the AGV's movement to the complete stop point is measured, which is the AGV's braking distance. On this path, stop position marks are set. The AGV stops normally at the rated speed, and the front, back, left and right stopping positions of the AGV are measured.

[0078] Step 8: In the obstacle detection function test module, prepare two sets of force detection mechanisms with different shapes and masses. After the force detection mechanisms are placed on the AGV automatic guided vehicle's movement path in different postures, the AGV automatic guided vehicle is fully loaded and drives towards the force detection mechanism at the highest speed to detect the force detection mechanism when it is impacted.

[0079] In step 8, the stress condition specifically refers to: analyzing whether the AGV (Automated Guided Vehicle) exceeds the bearing capacity specified in GB / T20721-2022 "General Technical Conditions for Automated Guided Vehicles".

[0080] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. An AGV (Automated Guided Vehicle) performance testing platform, characterized in that, The system includes an AGV (Automated Guided Vehicle) and a testing platform. The testing platform is equipped with a navigation bar to guide the AGV's forward direction. The testing platform includes, in sequence, a slope performance testing module, an uneven road surface testing module, a stepped road surface testing module, a ditch width testing module, a maximum speed testing module, a navigation loss protection testing module, a braking performance and parking accuracy testing module, and an obstacle detection function testing module. The ramp performance testing module includes a ramp; The obstacle detection function test module is equipped with a force detection mechanism; The AGV (Automated Guided Vehicle) passes through each of the above modules in sequence to conduct performance tests; The groove width testing module includes a first plane with a groove. A third base is connected to the top surface of the groove. Linear guide rails are connected to both ends of the top surface of the third base. A horizontal moving platform is connected to the top surface of the linear guide rails. A transmission nut is connected to the bottom surface of the horizontal moving platform. A lead screw is connected through one side surface of the transmission nut. A reducer is connected to one end of the lead screw. The other end of the reducer is connected to the output end of a motor. A displacement sensor support is connected to the bottom surface of the horizontal moving platform. A displacement sensor is connected to one end of the displacement sensor support. The displacement sensor is located on the top surface of one end of the third base. The navigation loss protection test module includes a third plane, in which the navigation bar is truncated to test whether the automated guided vehicle stops. The obstacle detection function test module includes a fifth plane, on which the force detection mechanism is set. The force detection mechanism includes a housing, inside which a torsion link, a torque sensor, and a support bearing are installed. One end of the torsion link is connected to the torque sensor, and the other end of the torsion link penetrates the housing and is connected to a collision block support rod. A collision block is fixed to the other end of the collision block support rod. The support bearing is located at the upper and lower ends of the penetration point of the torsion link. The torque sensor is connected to a control box.

2. The AGV (Automated Guided Vehicle) performance testing platform according to claim 1, characterized in that, The ramp performance testing module includes a first base, the interior of which is hollow, and an electric push rod is installed inside the hollow first base. A first lifting platform is provided at the top of the first base, and a first lifting support is installed at the bottom of the first lifting platform. The first lifting support is connected to the telescopic end of the electric push rod, and a first pin is provided at the connection between the electric push rod and the first lifting support. The first base has guide posts installed at its four apex corners, and a first guide sleeve is movably fitted onto the surface of the guide posts. The first base has a ramp at one top side, and a connecting seat is installed on the side of the ramp near the first lifting platform. A second pin is installed inside the connecting seat, and a roller is installed at the bottom of the other side of the ramp. The first base has a guide groove on its top surface near the ramp that is adapted to the roller, and the ramp is slidably connected to the first base through the roller and the guide groove. An angle sensor is provided at the bottom end of the ramp near the connecting seat.

3. The AGV (Automated Guided Vehicle) performance testing platform according to claim 1, characterized in that, The uneven road surface testing module includes a flatness range of 0.5~1.5m. 2 Uneven road surface.

4. The AGV (Automated Guided Vehicle) performance testing platform according to claim 1, characterized in that, The stepped pavement testing module includes a second base, an electric jack rod mounted on the top of the second base, a second lifting platform mounted on the top of the electric jack rod, a second lifting support connected to the bottom of the second lifting platform, a pin connecting the second lifting support to the output end of the electric jack rod, and a guide assembly between the second lifting platform and the second base. The guide assembly includes a lifting rod support, a second guide sleeve, and a lifting guide rod. The lifting rod support is installed on the top of the second base, the second guide sleeve is disposed on the top of the lifting rod support, and the lifting guide rod is connected to the bottom of the second base. The end of the lifting guide rod away from the second lifting platform extends through into the interior of the second guide sleeve. A displacement sensor support is mounted on the top of the second base, and a displacement sensor is connected to the top of the displacement sensor support.

5. The AGV (Automated Guided Vehicle) performance testing platform according to claim 1, characterized in that, The highest speed test module includes a second plane, and grating groups are provided at both the beginning and end of the second plane.

6. The AGV (Automated Guided Vehicle) performance testing platform according to claim 1, characterized in that, The braking performance and parking accuracy testing module includes a fourth plane, on which a signal collector is installed. When the AGV (Automated Guided Vehicle) is connected to the signal collector and the signal collector is triggered, braking is performed.

7. A method for testing the performance of an AGV (Automated Guided Vehicle), implemented using the AGV performance testing platform as described in any one of claims 1-6, characterized in that, The testing method is as follows: Step 1: In the ramp performance test module, adjust the ramp gradient to be no less than 0.05, drive the AGV (Automated Guided Vehicle) at the rated speed, and the AGV should run normally; control the AGV to stop at the parking point on the ramp, and test whether the AGV can stop reliably. Step 2: In the uneven road test module, control the automated guided vehicle to travel on the uneven road at a rated speed to test whether the AGV is operating normally; Step 3: In the stepped road test module, adjust the step height to be no less than 5mm, control the AGV to travel at the rated speed, and test whether the AGV is operating normally; Step 4: In the trench width test module, adjust the trench width to be no less than 8mm, control the AGV to drive towards the trench width at the rated speed, and test whether the AGV is operating normally. Step 5: The highest speed test module of the AGV (Automated Guided Vehicle) is determined by the AGV traveling on the second plane. The timing starts at the trigger start end and ends at the trigger end end. The ratio of the distance between the two ends of the grating to the time taken for the AGV to travel is used to obtain the highest speed of the AGV. Step 6: Navigation loss protection test module. Remove a section of the navigation bar and test whether the AGV can stop automatically. Step 7: In the braking performance and parking accuracy test module, on the AGV's travel path, through the set signal acquisition device, when the AGV triggers the signal, it starts braking. The distance from the starting point of the AGV's movement to the complete stop point is measured, which is the AGV's braking distance. On this path, stop position marks are set. The AGV stops normally at the rated speed, and the front, back, left and right stopping positions of the AGV are measured. Step 8: In the obstacle detection function test module, prepare two sets of force detection mechanisms with different shapes and masses. After the force detection mechanisms are placed on the AGV automatic guided vehicle's movement path in different postures, the AGV automatic guided vehicle is fully loaded and drives towards the force detection mechanism at the highest speed to detect the force detection mechanism when it is impacted.

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