A multi-sensor compatible testing device and method

Abstract

The application is a kind of compatible sensor testing method, which adopts a kind of compatible sensor testing device and is carried out according to the following steps: positioning base stations are arranged at the four corners of the test room, the sensing end is suspended on the side wall of the test room, the robot end heating device is heated to a preset constant temperature, the arm device simulates hand swinging, and the wheel device simulates walking to move according to the preset test path and test time; when the robot movement is detected, the transmitting module sends a stop moving instruction, and after the receiving module receives the instruction, the robot is in a stationary state; the positioning module sends the robot stop position information to the positioning PC; the positioning PC marks the position information on the map; after a preset interval, the transmitting module sends a release stationary state instruction to the robot end, the arm device starts to swing and the wheel device starts to move, and the robot is in a moving state. The scheme can test infrared sensors and microwave sensors, and a set of testing device and a testing method are used, which reduces the testing cost.

Description

Technical Field

[0001] The present invention relates to the field of sensor testing technology, and in particular to a testing device and method compatible with multiple sensors. Background Art

[0002] A sensor is also called an inductor. The sensing range of a sensor is a major parameter for evaluating product performance. The reliability of the sensing range parameter and the measurement method of the parameter are extremely important.

[0003] The mainstream sensors in the current market are divided into two categories: infrared sensors and microwave sensors. Since the detection principles of infrared sensors and microwave sensors are different, different testing methods are used.

[0004] The existing sensor range testing method has the following defects:

[0005] (1) Different types of sensors require different testing devices and methods, which results in the inability to use universal testing equipment and high testing costs.

[0006] (2) In order to simulate the actual application scenarios of sensors, a large test space is required, which leads to a shortage of commercial land for production.

[0007] In order to overcome the above shortcomings, we invented a testing device and method that is compatible with multiple sensors. Summary of the Invention

[0008] The present invention aims to address the existing sensor testing methods, which use different test devices and methods for different sensor types, resulting in incompatible test equipment and high testing costs. In order to simulate actual application scenarios, a large test space is required, leading to a shortage of commercial land for manufacturers. The specific solutions are as follows:

[0009] A method for testing multiple sensors is provided, employing a device for testing multiple sensors. The device comprises a sensing terminal, a robot terminal wirelessly connected to the sensing terminal, and a PC terminal wirelessly connected to the robot terminal. The sensing terminal comprises a sensor, a sensor control chip electrically connected to the sensor, and a transmitter module electrically connected to the sensor control chip. The robot terminal comprises a receiving module and a main control chip electrically connected to the receiving module. The main control chip is electrically connected to a heating device, an arm device, a wheel device, a positioning module, and a display device, respectively. The PC terminal comprises a positioning PC. The testing method is performed in the following steps:

[0010] Step 1: Set up positioning base stations at the four corners of the test room, turn on the PC in the test room, and set the temperature and humidity of the test room to a constant state;

[0011] Step 2: Hang the sensing end on one side wall of the test room at a test height from the ground, and connect the power supply of the sensing end to make it work;

[0012] Step 3: Turn on the power of the robot, heat the heating device to a preset constant temperature, set the test parameters of the robot on the display device, and then prepare for the test;

[0013] Step 4: The arm device swings in a manner similar to a human hand swing, and the wheel device moves in a manner similar to a human walking speed according to a preset test path and a preset test time;

[0014] Step 5: When the sensor detects the movement of the robot, the sensor control chip sends a command to the transmitter module, and the transmitter module sends a stop movement command to the robot. After receiving the stop movement command, the receiving module on the robot immediately notifies the main control chip.

[0015] Step 6: The main control chip controls the arm device to stop swinging and the wheel device to stop moving, and the robot is placed in a stationary state;

[0016] Step 7: The main control chip controls the positioning module to send the robot's stopping position information to the positioning PC;

[0017] Step 8: The positioning PC marks the robot's stopped position on the map;

[0018] Step 9: After the robot stops moving, the sensor fails to detect any moving objects. After a preset interval, the sensor control chip controls the transmitter module to send a command to the robot to release the stationary state. The receiving module on the robot immediately notifies the main control chip after receiving the command.

[0019] Step 10: The main control chip controls the arm device to start swinging and the wheel device to start moving, and the robot is put into motion;

[0020] Step 11: loop through steps 5 to 11 until the preset path endpoint is reached. The main control chip then controls the wheel device to rotate 180 degrees, looping through steps 4 to 11 until the first half of the test is completed, and then proceeding to step 12.

[0021] Step 12: Rotate the sensor 180 degrees and repeat steps 4 to 11 to start the second half of the test. Continue until the test is complete, then go to step 13.

[0022] Step 13, adjust the other sensitivity gears of the sensor, and repeat steps 4 to 13 until the test is completed, then go to step 14;

[0023] Step 14: After completing all sensitivity gear tests of the sensor, the entire test is completed and the test map is exported from the positioning PC.

[0024] Furthermore, the temperature of the test room is 25±3°C.

[0025] Furthermore, the test height is the declared height divided by the robot reduction factor.

[0026] Furthermore, the test height is divided into three levels, and the level classification is as follows: Level 1 is that the test height is the same as the declared height, and the ratio of the robot to the human is the same. The test height of this level is 0.9-15 meters, and the height of the robot at this level is 175CM; Level 2 is that the test height is half of the declared height, and the robot is half of a human. The test height of this level is 1.5-3 meters, and the height of the robot at this level is 87.5CM; Level 3 is that the test height is one-fifth of the declared height, and the robot is one-fifth of a human. The test height of this level is 1.2-3 meters, and the height of the robot at this level is 35CM.

[0027] Furthermore, the test parameters of the robot include: test path, test time, swing parameters, and movement speed.

[0028] Furthermore, the arm device simulates the swinging manner of a human hand in a manner that: the swing radius is -45 degrees to 45 degrees, and the swing speed is 45 degrees / 1 second.

[0029] Furthermore, the wheel device simulates a person's walking speed and is adjustable from 0.2 m / s to 1 m / s.

[0030] Furthermore, the movement according to the preset test path and the preset test time includes: a tracking camera set on the robot end automatically identifies and tracks the pre-drawn lines on the floor of the test room as the preset test path, and the tracking camera automatically sends the signal of the automatic identification and tracking to the main control chip in real time to control the wheel device to move along the preset test path.

[0031] Furthermore, the sensor includes an infrared sensor and a microwave sensor, and the preset test path includes: a path consisting of multiple line endpoints connected in series for testing the infrared sensor, or a path consisting of nine V-shaped lines in a semicircle for testing the microwave sensor. The path consisting of multiple line endpoints connected in series is composed of multiple line endpoints connected by a connecting line, with a fixed spacing of 1 meter between adjacent line endpoints. Adjacent V-shaped lines in the nine V-shaped semicircle path overlap on one side, with the V-shaped lines forming an angle of 20 degrees, and the central apex of each V-shaped line converges at the center of the semicircle.

[0032] A device for testing multiple sensors, used in the aforementioned method for testing multiple sensors, comprises a sensing end, a robot end wirelessly connected to the sensing end, and a PC end wirelessly connected to the robot end. The sensing end includes a sensor, a sensor control chip electrically connected to the sensor, and a transmitting module electrically connected to the sensor control chip. The robot end includes a receiving module and a main control chip electrically connected to the receiving module. The main control chip is electrically connected to a heating device, an arm device, a wheel device, a positioning module, and a display device, respectively. The PC end includes a positioning PC. The heating device includes a heating wire electrically connected to a relay and a temperature controller electrically connected to the main control chip. The relay is electrically connected to the main control chip. The arm device includes an arm and a servo drive connected to the arm, the servo drive being electrically connected to the main control chip. The wheel device includes four wheels and a motor drive connected to the wheels, the motor drive being electrically connected to the main control chip. The display device includes a touch screen for displaying and setting parameters and an indicator light for indicating when the wheels have stopped. The robot end also includes an obstacle avoidance module for avoiding obstacles and a tracking camera for identifying and tracking the test path. The positioning module and the positioning PC are wirelessly connected to a plurality of positioning base stations. The sensor includes an infrared sensor or a microwave sensor.

[0033] In summary, the technical solution of the present invention has the following beneficial effects:

[0034] This solution is compatible with infrared and microwave sensors and can be tested at multiple sensitivity levels and test heights. This allows for a single set of test equipment and testing methods to be used across multiple sensors, reducing testing costs and ensuring high versatility and compatibility. This solution uses robots to simulate human testing, saving labor and improving testing efficiency. In a limited test room, this solution rotates the sensor 180 degrees to create a top and bottom half of the test area. This allows for full-range sensor testing using half the available space. By reducing the test height and the number of robots, the required test room height is reduced, achieving the beneficial effects of saving test room space and height while ensuring the validity of the declared height and full-range sensor testing. This solution uses a tracking camera on the robot to automatically identify and track a pre-set test path without manual intervention. This test path can be of different colors and shapes, significantly improving the robot's efficiency in tracking the test path and its compatibility with different color and shape paths. This solution utilizes a transmitter and receiver module to automatically communicate sensing information and stop and go commands between the sensor and the robot. The robot and the PC utilize a positioning module and a positioning base station, enabling real-time transmission of location information between the robot and the PC, as well as real-time location mapping. The obstacle avoidance module automatically identifies obstacles within the test room and issues an alarm. The indicator light serves the dual purpose of indicating the robot's normal stop status and abnormally indicating a fault or obstacle. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments of the present invention. Obviously, the drawings described below only represent a portion of the embodiments of the present invention, and those skilled in the art can derive other drawings based on these drawings without inventive effort.

[0036] Figure 1 This is a structural diagram of a testing device compatible with multiple sensors according to the present invention;

[0037] Figure 2 This is a test path diagram of Example 1 of a test method compatible with multiple sensors of the present invention;

[0038] Figure 3 This is a schematic diagram of a test path of Example 2 of a test method compatible with multiple sensors of the present invention;

[0039] Figure 4 This is the test map of Example 1 of the present invention;

[0040] Figure 5 This is the test map of Example 2 of the present invention. DETAILED DESCRIPTION

[0041] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0042] like Figures 1 to 5 As shown, a method for testing multiple sensors is provided, which uses a device for testing multiple sensors. The device includes a sensing end, a robot end wirelessly connected to the sensing end, and a PC end wirelessly connected to the robot end. The sensing end includes a sensor, a sensor control chip electrically connected to the sensor, and a transmitting module electrically connected to the sensor control chip. The robot end includes a receiving module and a main control chip electrically connected to the receiving module. The main control chip is electrically connected to the heating device, the arm device, the wheel device, the positioning module, and the display device respectively. The PC end includes a positioning PC (which is internally provided with a positioning module wirelessly connected to the positioning base station). The testing method is carried out in the following steps:

[0043] Step 1: Set up positioning base stations at the four corners of the test room, start the PC in the test room, and set the temperature and humidity of the test room to a constant level. It is best to set up four or six positioning base stations to improve the test position accuracy. (For example: the temperature of the test room is 25±3℃.)

[0044] Step 2: Hang the sensing end on one side wall of the test room at a test height from the ground, and connect the power supply of the sensing end to make it work;

[0045] Step 3: Turn on the robot power supply and heat the heating device to a preset constant temperature (the preset constant temperature is: 37±2 degrees). Set the robot test parameters on the display device and prepare for the test. (The robot test parameters include: test path, test time, swing parameters, and movement speed.)

[0046] Step 4: The arm device simulates the swinging of a human hand, and the wheel device simulates the walking speed of a human and moves according to the preset test path and the preset test time; (the arm device simulates the swinging of a human hand: the swing radius is -45 degrees to 45 degrees, and the swing speed is 45 degrees / 1 second. The wheel device simulates the walking speed of a human and is adjustable from 0.2 m / s to 1 m / s. The preset test time is preferably: 2 seconds to 5 seconds, and the test time varies depending on the product model and specifications)

[0047] Step 5: When the sensor detects the movement of the robot, the sensor control chip sends a command to the transmitter module, and the transmitter module sends a stop movement command to the robot. After receiving the stop movement command, the receiving module on the robot immediately notifies the main control chip.

[0048] Step 6: The main control chip controls the arm device to stop swinging and the wheel device to stop moving, and the robot is placed in a stationary state; (optionally, the main control chip controls the indicator light on the robot end to light up during the stop time)

[0049] Step 7: The main control chip controls the positioning module to send the robot's stopping position information to the positioning PC;

[0050] Step 8: The positioning PC marks the robot's stopped position on the map;

[0051] Step 9: After the robot stops moving, the sensor fails to detect the moving object (i.e., the robot). After a preset interval, the sensor control chip controls the transmitter module to send a command to the robot to release the stationary state. The receiving module on the robot side immediately notifies the main control chip after receiving the command; (The preset interval is preferably 5 seconds)

[0052] Step 10: The main control chip controls the arm device to start swinging and the wheel device to start moving, and the robot is put into motion. (Optionally, the main control chip also controls the indicator light on the robot end to turn off when in motion.)

[0053] Step 11: loop through steps 5 to 11 until the preset path endpoint is reached. The main control chip then controls the wheel device to rotate 180 degrees, looping through steps 4 to 11 until the first half of the test is completed, and then proceeding to step 12.

[0054] Step 12: Rotate the sensor 180 degrees and repeat steps 4 to 11 to start the second half of the test. Continue until the test is complete, then go to step 13.

[0055] Step 13, adjust the other sensitivity gears of the sensor, and repeat steps 4 to 13 until the test is completed, then go to step 14;

[0056] Step 14: After completing all sensor sensitivity settings, the entire test is complete and the test map is exported from the positioning PC. (Sensor sensitivity is set to: 10% to 100% adjustable)

[0057] Specifically, the test height of this solution is the declared height divided by the robot's reduction factor. The test height is divided into three levels, and the level classification is as follows:

[0058] Level 1: The test height is the same as the declared height, and the robot has the same proportions as a human. The test height for this level is 0.9-15 meters, and the height of the robot at this level is 175cm;

[0059] Level 2 is a test height that is half the declared height, and the robot is half the height of a human. The test height for this level is 1.5-3 meters, and the height of the robot at this level is 87.5CM.

[0060] Level 3 is a test height that is one-fifth of the declared height, and the robot is one-fifth of a human. The test height for this level is 1.2-3 meters, and the height of the robot at this level is 35CM.

[0061] Specifically, moving according to a preset test path and a preset test time includes: a tracking camera set on the robot end automatically identifies and tracks pre-drawn lines on the floor of the test room as a preset test path, and the tracking camera automatically sends the identified and tracked signals to the main control chip in real time to control the wheel device to move along the preset test path.

[0062] A test device compatible with multiple sensors, in addition to the above, specifically, the heating device includes a heating wire electrically connected to the relay, a temperature controller electrically connected to the main control chip, and the relay is electrically connected to the main control chip. The arm device includes an arm and a servo drive connected to the arm, and the servo drive is electrically connected to the main control chip. The wheel device includes four wheels and a motor drive connected to the wheels, and the motor drive is electrically connected to the main control chip. The display device includes a touch screen for displaying and setting parameters and an indicator light for displaying that the wheel has stopped (the indicator light indicating the stop state is long bright). Preferably, the robot end also includes an obstacle avoidance module for avoiding obstacles (belonging to the existing technology) and a tracking camera for identifying and tracking the test path. The positioning module and the positioning PC are wirelessly connected to multiple positioning base stations respectively. The sensor includes an infrared sensor or a microwave sensor. The obstacle avoidance module can automatically identify obstacles in the test room and issue an alarm. When an abnormality, fault or obstacle alarm occurs in this solution, the alarm is displayed by a flashing indicator light.

[0063] The following describes the testing methods of infrared sensors and microwave sensors in conjunction with specific embodiments.

[0064] Example 1:

[0065] like Figure 2As shown, based on the above-introduced device and method for testing multiple sensors, when it is necessary to test the infrared sensor, the preset test path (which can be distinguished by color, such as a red line) is: a path of multiple row line endpoints connected in series, a path of multiple row line endpoints connected in series, formed by connecting multiple row lines with series lines, with a fixed interval between adjacent row lines, and the interval is preferably 1 meter. The test path starts at point A. The robot's tracking camera automatically identifies horizontal lines (long horizontal lines, such as AA1, which is a line directly below the infrared sensor) and serial lines (vertical lines, such as A1A2 and A3A4). The robot moves from point A to point A1, then continues to point A2, then along another line to point A3, then to point A4, and continues along a third line. During this movement, if the infrared sensor detects the robot's movement, the sensor control chip sends a command to the transmitter module, which in turn sends a stop command to the robot. Upon receiving the stop command, the receiver module immediately notifies the main control chip. The main control chip stops the arm and wheels, bringing the robot to a standstill. The main control chip also turns on the robot's indicator light. The main control chip then controls the positioning module to send the robot's stopping location to the positioning PC, which then marks the robot's stopping location on a map. After the robot is stationary, the sensor fails to detect the moving robot. After 5 seconds, the sensor control chip controls the transmitting module to send a command to the robot to release the stationary state. After receiving the command, the receiving module immediately notifies the main control chip. The main control chip controls the arm device to start swinging and the wheel device to start moving. The robot is put into motion. At the same time, the main control chip controls the indicator light on the robot to turn off. Loop through steps 5 to 11 until the preset path endpoint B is reached. Then the main control chip controls the wheel device to turn 180 degrees and return from point B along the path connected by multiple line endpoints for movement testing. Loop through steps 4 to 11 until the first half of the test is completed. Rotate the sensor 180 degrees and start the second half of the test again according to steps 4 to 11 until the test is completed. Adjust the other sensitivity gears of the sensor and re-execute steps 4 to 13 until the test is completed. After completing all sensitivity gear tests of the sensor, the entire test is completed and the test map is exported from the positioning PC. The test map is as follows: Figure 4 The figure shows multiple concentric circles with radii increasing by 1 meter, and multiple radial lines extending counterclockwise from the center of the circle with angles increasing by 10 degrees. The points in the figure represent the detection positions of the infrared sensor (that is, the positions where the robot stops after being detected), and the range formed by the points is the detection range of the infrared sensor.

[0066] Example 2:

[0067] like Figure 3As shown, based on the previously described multi-sensor testing device and method, when testing microwave sensors, the preset test path (identified by black lines) is a nine-V-shaped semicircle path. Adjacent V-lines in this semicircle path overlap on one side, with the angle between them being 20 degrees. The central apex of each V-line converges at the center of the semicircle. The nine V-lines are: AOB, BOC, COD, DOE, EOF, FOG, GOH, HO I, and IOJ. The center of the semicircle is point O. The starting point of this test path is endpoint A. The robot moves from point A along line AO ​​while testing (the testing method is the same as described above). When it reaches point O, multiple bifurcated lines appear. The tracking cameras consist of three cameras (with the base lens facing the ground in front of the robot) mounted on the front of the robot in a horizontally aligned left, center, and right configuration. The tracking cameras, combined with the robot's main control chip, enable color and pattern recognition and tracking capabilities. Color and pattern recognition and tracking technology is prior art and will not be described in detail here. The main control chip is equipped with a preset program. When a bifurcation line appears, the nearest line on the right side of the robot is selected for tracking. That is, the robot turns from point O and continues to walk along the OB line while moving and testing until the B endpoint. Then the robot turns 180 degrees and moves along the BO line while testing. When it reaches point O, the robot turns from point O and continues to walk along the OC line while moving and testing until the C endpoint. Then the robot turns 180 degrees and moves along the CO line while testing. When it reaches the O endpoint, the robot continues to move and test in the same way as above... until it reaches point O by moving along the JO line while testing. The first half of the test is completed. Then the microwave sensor is turned 180 degrees and the second half of the test is carried out in the same way as above. After the entire test is completed, the test map is exported from the positioning PC. The test map is as follows Figure 5 The figure shows multiple concentric circles with radii increasing by 1 meter, and multiple radial lines extending counterclockwise from the center of the circle with angles increasing by 20 degrees. The points in the figure represent the detection positions of the microwave sensor (that is, the positions where the robot stops after being detected), and the range formed by the points is the detection range of the microwave sensor.

[0068] Special note: When the sensor is installed at a height of more than 3 meters (3-15 meters), it is unlikely that we can establish test sites at various heights for actual simulation testing. However, this testing method in this solution can solve this problem well, saving a large test site and time.

[0069] We assume that when the sensor is at a height of 3 meters, the robot size is normally the size of an average person, 175±5CM. If the sensor is installed at a height of 12 meters, the size of the test robot needs to be reduced when testing within a test field of less than 3 meters. The proportional relationship between the two is as follows:

[0070] Declared height (H) Test height Robot proportions (height) 0.9-15 meters H (0.9-15 meters) 1:1(175CM) 3-6 meters H / 2 (1.5-3 meters) 1:2(87.5CM) 6-15 meters H / 5 (1.2-3 meters) 1:5(35CM)

[0071] Note: The declared height in the table is the actual height in use, and the test height is the simulated height when the product is undergoing simulation testing.

[0072] Preferably, the sensor control chip model in this solution is HC89S003AF4 (for infrared sensors) and AT58MP1T1 RS32A (for microwave sensors). The transmitter module model is CMS8S6990, the receiver module model is FT60E011, the main control chip model is Speed ​​M1W, whose built-in chip is Kendryte K210, and the positioning module model is SR250. These are all prior art and will not be described in detail here. Other models of sensor control chip, transmitter module, receiver module, main control chip, and positioning module in this solution can also be used.

[0073] In summary, the technical solution of the present invention has the following beneficial effects:

[0074] This solution is compatible with infrared and microwave sensors and can be tested at multiple sensitivity levels and test heights. This allows for a single set of test equipment and testing methods to be used across multiple sensors, reducing testing costs and ensuring high versatility and compatibility. This solution uses robots to simulate human testing, saving labor and improving testing efficiency. In a limited test room, this solution rotates the sensor 180 degrees to create a top and bottom half of the test area. This allows for full-range sensor testing using half the available space. By reducing the test height and the number of robots, the required test room height is reduced, achieving the beneficial effects of saving test room space and height while ensuring the validity of the declared height and full-range sensor testing. This solution uses a tracking camera on the robot to automatically identify and track a pre-set test path without manual intervention. This test path can be of different colors and shapes, significantly improving the robot's efficiency in tracking the test path and its compatibility with different color and shape paths. This solution utilizes a transmitter and receiver module to automatically communicate sensing information and stop and go commands between the sensor and the robot. The robot and the PC utilize a positioning module and a positioning base station, enabling real-time transmission of location information between the robot and the PC, as well as real-time location mapping. The obstacle avoidance module automatically identifies obstacles within the test room and issues an alarm. The indicator light serves the dual purpose of indicating the robot's normal stop status and abnormally indicating a fault or obstacle.

[0075] The above-described embodiments do not constitute a limitation on the scope of protection of this technical solution. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the above-described embodiments shall be included in the scope of protection of this technical solution.

Claims

1. A method for testing multiple sensors, using a device for testing multiple sensors, comprising a sensing end, a robot end wirelessly connected to the sensing end, and a PC end wirelessly connected to the robot end, characterized in that: The sensing end includes a sensor, a sensor control chip electrically connected to the sensor, and a transmitting module electrically connected to the sensor control chip. The sensor includes an infrared sensor and a microwave sensor. The robot end includes a receiving module and a main control chip electrically connected to the receiving module. The main control chip is electrically connected to a heating device, an arm device, a wheel device, a positioning module, and a display device respectively. The PC end includes a positioning PC. The testing method is performed according to the following steps: Step 1: Set up positioning base stations at the four corners of the test room, turn on the PC in the test room, and set the temperature and humidity of the test room to a constant state; Step 2: Hang the sensing end on one side wall of the test room at a test height from the ground, and connect the power supply of the sensing end to make it work; Step 3: Turn on the power of the robot, heat the heating device to a preset constant temperature, set the test parameters of the robot on the display device, and then prepare for the test; Step 4: The arm device swings in a manner similar to a human hand swing, and the wheel device moves in a manner similar to a human walking speed according to a preset test path and a preset test time; Step 5: When the sensor detects the movement of the robot, the sensor control chip sends a command to the transmitter module, and the transmitter module sends a stop movement command to the robot. After receiving the stop movement command, the receiving module on the robot immediately notifies the main control chip. Step 6: The main control chip controls the arm device to stop swinging and the wheel device to stop moving, and the robot is placed in a stationary state; Step 7: The main control chip controls the positioning module to send the robot's stopping position information to the positioning PC; Step 8: The positioning PC marks the robot's stopped position on the map; Step 9: After the robot stops moving, the sensor fails to detect any moving objects. After a preset interval, the sensor control chip controls the transmitter module to send a command to the robot to release the stationary state. The receiving module on the robot immediately notifies the main control chip after receiving the command. Step 10: The main control chip controls the arm device to start swinging and the wheel device to start moving, and the robot is put into motion; Step 11: loop through steps 5 to 11 until the preset path endpoint is reached. The main control chip then controls the wheel device to rotate 180 degrees, looping through steps 4 to 11 until the first half of the test is completed, and then proceeding to step 12. Step 12: Rotate the sensor 180 degrees and repeat steps 4 to 11 to start the second half of the test. Continue until the test is complete, then go to step 13. Step 13, adjust the other sensitivity gears of the sensor, and repeat steps 4 to 13 until the test is completed, then go to step 14; Step 14: After completing all sensitivity gear tests of the sensor, the entire test is completed and the test map is exported from the positioning PC.

2. The method for testing multiple sensors according to claim 1, wherein: The temperature of the test room was 25±3°C.

3. The method for testing multiple sensors according to claim 1, wherein: The test height is the declared height divided by the robot reduction factor.

4. A method for testing multiple sensors according to claim 3, characterized in that: The test height is divided into three levels, and the level classification is as follows: Level 1 is that the test height is the same as the declared height, and the proportion of the robot and the human is the same. The test height of this level is 0.9-15 meters, and the height of the robot at this level is 175CM; Level 2 is that the test height is half of the declared height, and the robot is half of a human. The test height of this level is 1.5-3 meters, and the height of the robot at this level is 87.5CM; Level 3 is that the test height is one-fifth of the declared height, and the robot is one-fifth of a human. The test height of this level is 1.2-3 meters, and the height of the robot at this level is 35CM.

5. The method for testing multiple sensors according to claim 1, characterized in that: The test parameters of the robot include: test path, test time, swing parameters, and moving speed.

6. The method for testing multiple sensors according to claim 1, characterized in that: The arm device simulates the swinging manner of a human hand by swinging in a manner that: the swing radius is -45 degrees to 45 degrees, and the swing speed is 45 degrees / 1 second.

7. The method for testing multiple sensors according to claim 1, characterized in that: The walking speed of the wheel device simulating a person is adjustable from 0.2 m / s to 1 m / s.

8. The method for testing multiple sensors according to claim 1, characterized in that: The movement according to the preset test path and the preset test time includes: the tracking camera set on the robot end automatically identifies and tracks the pre-drawn lines on the floor of the test room as the preset test path, and the tracking camera automatically sends the signal of the identification and tracking to the main control chip in real time to control the wheel device to move along the preset test path.

9. The method for testing multiple sensors according to claim 1, characterized in that: The preset test path includes: a path with multiple line endpoints connected in series for testing infrared sensors, or a path with nine V-shaped lines in a semicircle for testing microwave sensors. The path with multiple line endpoints connected in series is composed of multiple lines connected by a series line, with adjacent lines spaced a fixed distance of 1 meter apart. Adjacent V-shaped lines in the nine V-shaped line semicircle path overlap on one side, with the angle between the V-shaped lines being 20 degrees, and the central point of each V-shaped line converging at the center of the semicircle.

10. A device for testing multiple sensors, for implementing the method for testing multiple sensors according to any one of claims 1 to 9, characterized in that: The invention comprises a sensing end, a robot end wirelessly connected to the sensing end, and a PC end wirelessly connected to the robot end, wherein the sensing end comprises a sensor, a sensor control chip electrically connected to the sensor, and a transmitting module electrically connected to the sensor control chip; the robot end comprises a receiving module and a main control chip electrically connected to the receiving module, wherein the main control chip is electrically connected to a heating device, an arm device, a wheel device, a positioning module, and a display device respectively; the PC end comprises a positioning PC; the heating device comprises a heating wire electrically connected to a relay and a temperature controller electrically connected to the main control chip, wherein the relay is electrically connected to the main control chip; the arm device comprises an arm and a servo drive connected to the arm, wherein the servo drive is electrically connected to the main control chip; the wheel device comprises four wheels and a motor drive connected to the wheels, wherein the motor drive is electrically connected to the main control chip; the display device comprises a touch screen for displaying and setting parameters and an indicator light for indicating that the wheels have stopped; the robot end further comprises an obstacle avoidance module for avoiding obstacles and a tracking camera for identifying and tracking a test path; the positioning module and the positioning PC are wirelessly connected to multiple positioning base stations respectively.

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