Ground mobile robot performance test equipment and test method using same

Abstract

The invention discloses a ground mobile robot performance test device and a test method using the same, and the device comprises a rack, a plurality of transmission rollers are rotatably connected to the rack side by side, and a transmission belt is connected to the transmission rollers; the driving motor is fixed to the outer side of one end of the rack, an output shaft of the driving motor is in transmission connection with one of the transmission rollers, and the driving motor is used for compensating friction resistance of the transmission rollers during operation of the transmission belt; the torque rotating speed sensor is fixed on the rack and is positioned between the output shaft of the driving motor and the corresponding transmission roller; the robot mounting frame is fixed on two side walls of the rack and located above the transmission belt, a to-be-tested robot is mounted on the robot mounting frame, the to-be-tested robot is arranged on the transmission belt, and the driving motor is used for compensating torque, so that the driving state of the to-be-tested robot on the transmission belt is equivalent to the driving state of the to-be-tested robot on a corresponding road surface; the device is convenient to use and has a large load torque adjusting range.

Description

Technical Field

[0001] The present invention relates to the technical field of robot performance testing, and in particular to a ground mobile robot performance testing device and a testing method using the same. Background Art

[0002] In recent years, with the continuous advancement of robotics technology, the research and development and testing of ground mobile robots that can replace humans in reconnaissance, inspection, and transportation have become popular in the field of robotics. However, it is very difficult to test the motion performance of ground mobile robots in outdoor environments. Repeated tests are required, which not only takes a long time, but also consumes huge manpower, material, and financial resources. Special testing sites are also required, and the testing conditions are limited. Developing performance testing equipment indoors and using reasonable and effective testing methods are of great application value for the application and promotion of ground mobile robots.

[0003] Therefore, how to provide a ground mobile robot performance testing device and a testing method using the same is a problem that those skilled in the art urgently need to solve. Summary of the invention

[0004] In view of this, the present invention provides a ground mobile robot performance testing device and a testing method using the same, which has a wide load torque adjustment range and can meet the requirements of various test road conditions without a large test site. It has low investment cost and simple and efficient testing.

[0005] In order to achieve the above object, the present invention adopts the following technical solution: a ground mobile robot performance testing device, which comprises:

[0006] A frame, wherein a plurality of transmission rollers are rotatably connected in parallel to the frame, and a transmission belt is connected to the transmission rollers;

[0007] A driving motor, wherein the driving motor is fixed to the outside of one end of the frame, and the output shaft of the driving motor is drivingly connected to one of the driving rollers, and the driving motor is used to compensate for the friction resistance of the driving roller when the driving belt is running;

[0008] A torque and speed sensor, which is fixed on the frame and located between the output shaft of the drive motor and the corresponding transmission roller;

[0009] A robot mounting frame is fixed on two side walls of the frame and is located above the transmission belt. A robot to be tested is mounted on the robot mounting frame, and the robot to be tested is placed on the transmission belt.

[0010] The resulting technical effect is: the present invention simulates the walking condition of the robot to be tested by cooperating with the transmission belt and the transmission roller. Since the operation of the transmission belt itself is affected by factors such as the transmission roller and the bearing, there will be a certain friction resistance. The set drive motor can complete the torque compensation. The friction of the robot to be tested on different road surfaces is different. Therefore, the driving motor is used to compensate for the torque of the transmission belt to simulate the driving condition of the robot to be tested on different test road surfaces. The arrangement of the drive motor can compensate for the friction resistance required for the operation of the original transmission belt, thereby expanding the load torque adjustment range of the overall test bench. Traditional load adjustment cannot solve the influence of the friction force of the transmission belt itself. That is to say, when the friction resistance generated by the test road surface is less than the friction force of the transmission belt itself, torque compensation cannot be achieved, which limits the adjustment range of the load torque.

[0011] Preferably, the frame is a telescopic frame, the frame includes a frame head at both ends and a frame body in the middle, the frame heads at both ends are slidably connected to the two ends of the frame body, the frame heads are connected with adjusting bolts, the adjusting bolts are threadedly connected to the ends of the frame body, and the rotation of the adjusting bolts causes the distance between the frame body and the frame head to be adjusted, the transmission roller includes an active transmission roller, a driven transmission roller and a supporting transmission roller, wherein the frame head at one end is rotatably connected with an active transmission roller, and the frame head at the other end is rotatably connected with a driven transmission roller, the driving motor and the torque speed sensor are fixed to the frame head at one end and are transmission-connected to the active transmission roller, the robot mounting frame is fixed on both sides of the frame body, and the supporting transmission rollers are rotatably connected to the frame body side by side.

[0012] The resulting technical effect is: the adjusting bolts at both ends of the frame are used to adjust the contact degree between the transmission belt and the transmission roller, ensuring that the transmission belt and the transmission roller are transmitted without slipping, thereby ensuring the accuracy of the test results.

[0013] Preferably, the robot mounting frame includes vertical rails and cross beams, the vertical rails are grouped in pairs and are respectively fixed on the two outer side walls of the frame body, and slide grooves are provided on the inner sides of the vertical rails that are close to each other. The cross beam is located between the two grouped vertical rails and the end of the cross beam is adapted to be slidably connected in the slide groove, and the cross beam is fixedly connected to the robot to be tested.

[0014] The resulting technical effect is: the robot mounting frame is used to limit the relative position of the robot to be tested on the frame. Due to the lifting effect of the crossbeam on the vertical rail, the robot to be tested can adaptively float up and down to cooperate with the operation of the transmission belt and the supporting transmission roller, truly simulating the road walking state of the robot to be tested.

[0015] The present invention also discloses a method for testing the performance of a ground mobile robot, which uses the above-mentioned testing device and is characterized in that it comprises the following steps:

[0016] Step 1: Testing and torque compensation of the friction torque of the transmission belt. First, the LuGre model is used to model the friction torque of the transmission belt. This model takes the stribeck effect and hysteresis factors into consideration and conforms to the friction characteristics. The model relationship between the friction torque of the model and the transmission belt speed is as follows:

[0017] τ f =a+b·e -c·v +d·v

[0018] Where: τ f is the friction torque of the transmission belt, v is the speed of the transmission belt, a, b, c, d are the parameters to be estimated respectively, and the torque T measured by the torque speed sensor includes the inertia moment, centrifugal force and Coriolis moment, gravity moment and friction moment of the equipment. Since the measurement is in a uniform speed state, the inertia moment is 0, and the centrifugal force and Coriolis moment can be ignored. When the equipment rotates back and forth at a uniform speed, the gravity moment is equal, and the friction moment is equal in magnitude and opposite in direction when any speed is opposite in direction. Based on this, the difference between the two torques measured when the speeds are the same in magnitude and opposite in direction is twice the friction torque value at the speed;

[0019] Therefore, it is first operated at a speed of v1 under no-load condition, and the torque of the torque speed sensor is recorded as T1. Then it is operated at a speed of -v1, and the torque of the torque sensor is recorded as T2.

[0020] τ f1 =(T2-T1) / 2

[0021] In this way, four groups of speed and friction torque relationships are measured using four different v1 values, which can form an equation group containing four parameters a, b, c, and d. The four parameters a, b, c, and d can be solved, and the relationship between the friction torque and speed of the transmission belt is obtained, which is used to compensate for the friction resistance later;

[0022] Step 2: Obtain the operating parameters of the robot to be tested, place the robot to be tested on different test roads, fix the test speed of the robot to be tested, and record the current required by the robot system to be tested at the corresponding test speed;

[0023] Step 3: Place the robot to be tested on the transmission belt and connect it to the robot mounting frame. At this time, the travel mechanism of the robot to be tested operates and causes the transmission belt to move. The transmission belt drives the output shaft of the drive motor to rotate through the transmission roller.

[0024] Step 4: According to the relationship between friction resistance and speed in step 1, the friction resistance at the test speed in step 2 is obtained. On this basis, the compensation torque of the driving motor is adjusted so that the product of the voltage and current of the robot to be tested is equal to that on the corresponding road surface to be tested. At this time, the motion state of the robot to be tested on the transmission belt is equivalent to the driving state of the robot to be tested on the road surface to be tested.

[0025] Step 5: Under the running state of step 4, at least the movement time and internal temperature rise data of the robot to be tested on the transmission belt are monitored, and data support is provided for subsequent robot research and development.

[0026] The beneficial effects of the present invention are as follows: first, the friction resistance of the transmission belt at different speeds is obtained, because the friction resistance of the transmission belt is different at different speeds, and then the operating parameters of the robot to be tested are obtained. The obtained data is a reference standard, and the current and voltage data of the robot to be tested on different road surfaces and at different speeds are obtained. Then, the transmission belt road surface simulation is performed. After the robot to be tested is installed in place, the drive motor is started so that the product of the voltage and current of the robot to be tested on the transmission belt is equal to its data on the corresponding road surface. This can be equivalent to the driving of the robot to be tested on the corresponding road surface, and there is no need for personnel to follow and record, which provides convenience for subsequent tests.

[0027] Preferably, in step 2, the road surface to be tested includes at least grass, gravel, cement road surface, and slope, and the friction force of the robot to be tested on different road surfaces to be tested is different.

[0028] The resulting technical effect is: since different road surfaces to be tested provide different frictional resistances to the robot to be tested, they need to be discussed and simulated separately.

[0029] Preferably, in step 2, when the friction force of the robot to be tested on the road surface to be tested at a certain speed is less than the friction resistance of the transmission belt at this speed, the driving motor performs friction resistance compensation so that the driving state of the robot to be tested on the transmission belt is equivalent to the driving state of the robot to be tested on the corresponding road surface to be tested.

[0030] The resulting technical effect is: when the road surface to be tested is smaller than the friction resistance of the transmission belt, the driving motor needs to reversely compensate for the friction resistance. Otherwise, the friction resistance of the transmission belt itself is greater than the resistance of the road surface to be tested, and the performance test under this road condition cannot be completed.

[0031] Preferably, in step 4, the direction of the output torque of the drive motor is opposite to the direction of the friction resistance experienced by the transmission belt.

[0032] The resulting technical effect is that the drive motor can compensate for the friction torque of the transmission belt, so that the operation of the transmission belt can equivalently meet the requirements of the road surface to be tested.

[0033] Preferably, when testing the maximum output torque of the robot to be tested: the drive motor is replaced with a magnetic powder brake, the magnetic powder brake is connected to the transmission roller through a torque speed sensor, the robot to be tested is placed on the transmission belt and fixed to the robot mounting frame, the traveling mechanism of the robot to be tested moves, the traveling mechanism contacts the transmission belt and then drives the transmission belt to move, at this time, the magnetic powder brake is turned on, and the magnetic powder braking torque is gradually increased until the traveling mechanism of the robot to be tested is blocked and cannot rotate, and the maximum output torque of the test robot is the sum of the friction resistance of the transmission belt in the no-load state and the torque value of the torque speed sensor.

[0034] The resulting technical effect is that the maximum output torque of the robot to be tested can be tested by adding the friction resistance of the transmission belt to the torque speed sensor data. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 The present invention is a structural diagram of a ground mobile robot performance testing device.

[0036] 1 frame, 11 frame head, 12 frame body, 13 transmission roller, 14 adjustment bolt, 15 support roller, 2 transmission belt, 3 drive motor, 4 torque speed sensor, 5 robot mounting frame, 51 vertical rail, 52 crossbeam, 6 robot to be tested. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] See the attached Figure 1 According to an embodiment of the present invention, a ground mobile robot performance testing device comprises:

[0039] A frame 1 is provided, and a plurality of transmission rollers 13 are connected to the frame 1 for rotation in parallel, and a transmission belt 2 is connected to the transmission rollers 13;

[0040] The driving motor 3 is fixed to the outside of one end of the frame 1. The output shaft of the driving motor 3 is connected to one of the driving rollers. The driving motor 3 is used to compensate for the friction resistance of the driving roller 13 when the driving belt is running, because the driving belt has resistance when running without load, and the friction resistance varies with the running speed of the driving belt;

[0041] A torque speed sensor 4 is fixed on the frame 1 and is located between the output shaft of the drive motor 3 and the corresponding transmission roller 13. A coupling is connected between the torque speed sensor 4 and the transmission roller 13.

[0042] The robot mounting frame 5 is fixed on the two side walls of the frame 1 and is located above the transmission belt 2. The robot 6 to be tested is installed on the robot mounting frame 5, and the robot 6 to be tested is placed on the transmission belt 2. The robot to be tested uses the robot mounting frame to achieve a constant relative position, and there is no need for a worker to move with the robot to be tested.

[0043] Specifically, the frame 1 is a retractable frame, which is convenient for adjusting the tension relationship between the transmission belt and the transmission roller to prevent the transmission belt from slipping. The frame 1 includes a frame head 11 at both ends and a frame body 12 in the middle. The frame heads 11 at both ends are slidably connected to the two ends of the frame body 12. An adjusting bolt 14 is connected to the frame head 11. The adjusting bolt 14 is threadedly connected to the end of the frame body 12. The rotation of the adjusting bolt 14 causes the distance between the frame body 12 and the frame head 11 to be adjusted. The transmission roller 13 includes an active transmission roller, a driven transmission roller and a supporting transmission roller, wherein the frame head 11 at one end is rotatably connected to the active transmission roller, and the frame head at the other end is rotatably connected to the driven transmission roller. The driving motor 3 and the torque speed sensor 4 are fixed to the frame head 11 at one end and are transmission-connected to the active transmission roller. The robot mounting frame 5 is fixed on both sides of the frame body 12, and the supporting transmission rollers are rotatably connected to the frame body 12 side by side.

[0044] More specifically, the robot mounting frame is used to install different robots to be tested and can adapt to the specifications and sizes of different robots to be tested. The robot mounting frame 5 includes vertical rails 51 and horizontal beams 52. The vertical rails 51 are grouped in pairs and are respectively fixed on the two outer walls of the frame body 12. The inner sides of the vertical rails 51 are close to each other and are provided with slide grooves. The horizontal beam 52 is located between the two vertical rails in the group and the end of the horizontal beam is adapted to be slidably connected in the slide groove. The horizontal beam 52 is fixedly connected to the robot to be tested 6, and the robot to be tested can float up and down while traveling on the transmission belt.

[0045] The present invention also discloses a method for testing the performance of a ground mobile robot, using the above-mentioned ground mobile robot performance testing device, which comprises the following steps:

[0046] Step 1: Testing and torque compensation of the friction torque of the transmission belt. First, the LuGre model is used to model the friction torque of the transmission belt. This model takes the stribeck effect and hysteresis factors into consideration and conforms to the friction characteristics. The model relationship between the friction torque of the model and the transmission belt speed is as follows:

[0047] τ f =a+b·e -c·v +d·v

[0048] Where: τf is the friction torque of the transmission belt, v is the transmission belt speed, a, b, c, d are the parameters to be estimated respectively, and the torque T measured by the torque speed sensor includes the inertia moment, centrifugal force and Coriolis moment, gravity moment and friction moment of the equipment. Since the measurement is in a uniform speed state, the inertia moment is 0, the centrifugal force and Coriolis moment can be ignored, and the equipment is in a uniform back and forth rotation process. When any speed is opposite in direction and equal in magnitude, its gravity moment is equal, and the friction moment is equal in magnitude and opposite in direction. Based on this, the difference between the two torques measured when the speeds are the same in magnitude and opposite in direction is twice the friction torque value at the speed; therefore, it is first operated at a speed of v1 under no-load condition, and the torque of the torque speed sensor is recorded as T1, and then it is operated at a speed of -v1, and the torque of the torque sensor is recorded as T2, then there is

[0049] τ f1 =(T2-T1) / 2

[0050] In this way, four groups of speed and friction torque relationships are measured using four different v1 values, which can form an equation group containing four parameters a, b, c, and d. The four parameters a, b, c, and d can be solved. At this time, the relationship between the friction torque and speed of the transmission belt is obtained, which is used to compensate for the friction resistance later; Step 1 is to obtain the relationship between the speed of the transmission belt and the friction resistance under no-load state:

[0051] Step 2: Obtain the operating parameters of the robot to be tested. Place the robot to be tested on different test roads, fix the test speed of the robot to be tested, and record the current required by the robot system to be tested at the corresponding test speed. This step is to obtain reference data for different test roads.

[0052] Step 3: Place the robot to be tested on the transmission belt and connect it to the robot mounting frame. At this time, the travel mechanism of the robot to be tested operates and causes the transmission belt to move. The transmission belt drives the output shaft of the drive motor to rotate through the transmission roller.

[0053] Step 4: According to the relationship between friction resistance and speed in step 1, the friction resistance at the test speed in step 2 is obtained. On this basis, the compensation torque of the driving motor is adjusted so that the product of the voltage and current of the robot to be tested is equal to that on the corresponding road surface to be tested. At this time, the motion state of the robot to be tested on the transmission belt is equivalent to the driving state of the robot to be tested on the road surface to be tested.

[0054] Step 5: Under the running state of step 4, at least the movement time and internal temperature rise data of the robot to be tested on the transmission belt are monitored, and data support is provided for subsequent robot research and development.

[0055] Specifically, in step 2, the road surface to be tested includes at least grass, gravel, cement road surface, and slope, and the friction force of the robot 6 to be tested on different road surfaces to be tested is different.

[0056] Then when the friction force of the test road surface is greater than the friction resistance of the transmission belt itself, the drive motor is also required to complete the torque compensation. For example, when the transmission belt is unloaded and runs at a certain speed, the friction resistance of the transmission belt at this speed is 10Nm, and the friction force on the slope at this test speed is 20Nm. In order to achieve the equivalence of the transmission belt and the slope road surface, the drive motor is required to positively compensate for the torque of 10Nm.

[0057] More specifically, in step 2, when the friction force of the robot to be tested on the road surface to be tested at a certain speed is less than the friction resistance of the transmission belt at this speed, the driving motor performs friction resistance compensation so that the driving state of the robot to be tested on the transmission belt is equivalent to the driving state of the robot to be tested on the corresponding road surface to be tested.

[0058] For example, when the transmission belt is unloaded and runs at a certain speed, the friction resistance of the transmission belt is 10Nm, and the friction force it encounters in the grass at this test speed is 8Nm. In order to achieve equivalence between the transmission belt and the grass road surface, the drive motor needs to be used to reversely compensate for a torque of 2Nm.

[0059] In step 4 in some other specific embodiments, the direction of the output torque of the driving motor 3 is opposite to the direction of the friction resistance of the transmission belt 2, which is used for torque compensation.

[0060] In addition, the present invention can also test the maximum output torque of the robot to be tested: the driving motor is replaced with a magnetic powder brake, the magnetic powder brake is connected to the transmission roller through a torque speed sensor, the robot to be tested is placed on the transmission belt and fixedly connected to the robot mounting frame, the traveling mechanism of the robot to be tested moves, the traveling mechanism contacts the transmission belt and then drives the transmission belt to move, at this time, the magnetic powder brake is turned on, and the magnetic powder braking torque is gradually increased until the traveling mechanism of the robot to be tested is blocked and cannot rotate, and the maximum output torque of the test robot is the sum of the friction resistance of the transmission belt in the no-load state and the torque value of the torque speed sensor.

[0061] The present invention does not require a large-scale test site or personnel to move with, and is convenient for testing. According to different test road surfaces, the torque of the drive motor can be adjusted to make the driving state of the robot to be tested on the transmission belt equivalent to the driving state on the corresponding test road surface.

[0062] As for the device and the method of use disclosed in the embodiment, since they correspond to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the description of the method part.

[0063] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A ground mobile robot performance test device, characterized in that: include: A frame (1), wherein a plurality of transmission rollers (13) are rotatably connected in parallel to the frame (1), and a transmission belt (2) is connected to the transmission rollers (13); A drive motor (3), the drive motor (3) being fixed on the outer side of one end of the frame (1), the output shaft of the drive motor (3) being drivingly connected to one of the transmission rollers, the drive motor (3) being used to compensate for the friction resistance of the transmission roller (13) exerted on the transmission belt during operation; A torque and speed sensor (4), the torque and speed sensor (4) being fixed on the frame (1) and located between the output shaft of the drive motor (3) and the corresponding drive roller (13); A robot mounting frame (5), the robot mounting frame (5) being fixed on the two side walls of the frame (1) and being located above the transmission belt (2), the robot mounting frame (5) being mounted with a robot to be tested (6), the robot to be tested (6) being placed on the transmission belt (2).

2. A ground mobile robot performance testing device according to claim 1, characterized in that: The frame (1) is a telescopic frame, comprising a frame head (11) at both ends and a frame body (12) in the middle, wherein the frame heads (11) at both ends are slidably connected to the end of the frame body (12) near the side, an adjusting bolt (14) is connected to the frame head (11), and the adjusting bolt (14) is threadedly connected to the end of the frame body (12), and the rotation of the adjusting bolt (14) causes the distance between the frame body (12) and the frame head (11) to be adjusted, and the transmission roller (13) comprises an active transmission roller, a driven transmission roller and a supporting transmission roller, wherein the frame head (11) at one end is rotatably connected to the active transmission roller, and the frame head at the other end is rotatably connected to the driven transmission roller, the driving motor (3) and the torque speed sensor (4) are fixed to the frame head (11) at one end and are transmission-connected to the active transmission roller, the robot mounting frame (5) is fixed to both sides of the frame body (12), and the supporting transmission rollers are rotatably connected to the frame body (12) side by side.

3. A ground mobile robot performance testing device according to claim 2, characterized in that: The robot mounting frame (5) comprises vertical rails (51) and cross beams (52), wherein the vertical rails (51) are grouped in pairs and are respectively fixed on the two outer side walls of the frame body (12), and slide grooves are provided on the inner sides of the vertical rails (51) adjacent to each other, and the cross beam (52) is located between the two grouped vertical rails and the end of the cross beam is adapted to be slidably connected in the slide groove, and the cross beam (52) is fixedly connected to the robot (6) to be tested.

4. A method for testing the performance of a ground mobile robot, using the ground mobile robot performance testing device according to any one of claims 1 to 3, characterized in that: The following steps are involved: Step 1: Testing and torque compensation of the friction torque of the transmission belt. First, the LuGre model is used to model the friction torque of the transmission belt. This model takes the stribeck effect and hysteresis factors into consideration and conforms to the friction characteristics. The model relationship between the friction torque of the model and the transmission belt speed is as follows: τ f a+b·e -c·v +d·v Where: τ f is the friction torque of the transmission belt, v is the transmission belt speed, a, b, c, d are the parameters to be estimated, first run at v1 speed under no-load condition, record the torque of the torque speed sensor as T1, then run at -v1 speed, record the torque of the torque sensor as T2, then we have t f1 =(T2-T1) / 2 In this way, four groups of speed and friction torque relationships are measured using four different v1 values, which can form an equation group containing four parameters a, b, c, and d. The four parameters a, b, c, and d can be solved, and the relationship between the friction torque and speed of the transmission belt is obtained, which is used to compensate for the friction resistance later; Step 2: Obtain the operating parameters of the robot to be tested, place the robot to be tested on different test roads, fix the test speed of the robot to be tested, and record the current required by the robot system to be tested at the corresponding test speed; Step 3: Place the robot to be tested on the transmission belt and connect it to the robot mounting frame. At this time, the travel mechanism of the robot to be tested operates and causes the transmission belt to move. The transmission belt drives the output shaft of the drive motor to rotate through the transmission roller. Step 4: According to the relationship between friction resistance and speed in step 1, the friction resistance of the transmission belt at the test speed in step 2 is obtained. On this basis, the compensation torque of the driving motor is adjusted so that the product of the voltage and current of the robot to be tested is equal to that on the corresponding road surface to be tested. At this time, the motion state of the robot to be tested on the transmission belt is equivalent to the driving state of the robot to be tested on the road surface to be tested. Step 5: Under the running state of step 4, at least the movement time and internal temperature rise data of the robot to be tested on the transmission belt are monitored, and data support is provided for subsequent robot research and development.

5. A method for testing the performance of a ground mobile robot according to claim 4, characterized in that: In the step 2, the road surface to be tested includes at least grass, gravel, cement road surface, and slope, and the friction force of the robot to be tested (6) on different road surfaces to be tested is different.

6. A method for testing the performance of a ground mobile robot according to claim 4, characterized in that: In the step 2, when the friction force of the robot to be tested on the road surface to be tested at a certain speed is less than the friction resistance of the transmission belt at the speed, the driving motor compensates for the friction resistance so that the driving state of the robot to be tested on the transmission belt is equivalent to the driving state of the robot to be tested on the corresponding road surface to be tested.

7. A method for testing the performance of a ground mobile robot according to claim 4, characterized in that: In the step 4, the direction of the output torque of the driving motor (3) is opposite to the direction of the friction resistance experienced by the transmission belt (2).

8. A method for testing the performance of a ground mobile robot according to claim 4, characterized in that: When testing the maximum output torque of the robot to be tested: replace the drive motor with a magnetic powder brake, which is connected to the transmission roller through a torque speed sensor. Place the robot to be tested on the transmission belt and securely connect it to the robot mounting frame. The traveling mechanism of the robot to be tested moves, and the traveling mechanism contacts the transmission belt and drives the transmission belt to move. At this time, turn on the magnetic powder brake and gradually increase the magnetic powder braking torque until the traveling mechanism of the robot to be tested is blocked and cannot rotate. The maximum output torque of the test robot is the sum of the friction resistance of the transmission belt in the no-load state and the torque value of the torque speed sensor.

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