Sweeping robot detection method

Abstract

The invention discloses a sweeping robot detection method, which comprises a sweeping robot side brush detection step, a sweeping robot rag motor detection step, a sweeping robot complete machine assembly step, a sweeping robot outlet water flow rate detection step, a sweeping robot performance detection step and a side brush detection device, the side brush detection step of the sweeping robot specifically comprises the steps that SA10, a side brush is placed in a side brush fixing jig and moves to the position below a side brush detection mechanism; sA20, the side brush rotates forwards, the side brush is in an extending state, and a distance sensor rotates and detects whether the extending height of the side brush is qualified or not; sA30, the side brush rotates reversely, the side brush is in a retraction state, the distance sensor rotates and detects whether the retraction height of the side brush is qualified or not, detection of all functions of the sweeping robot can be achieved through the steps of side brush detection, cleaning cloth motor detection, water outlet flow speed detection and performance detection on the sweeping robot, and therefore the yield of the sweeping robot is guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of sweeping robot detection, and in particular to a sweeping robot detection method. Background Art

[0002] A sweeping robot is a smart home device that can automatically perform floor cleaning tasks. Given its rich functions, such as mop lifting, side brush rotation cleaning, and wet mopping, the current inspection of sweeping robots is usually an overall cleaning test after assembly. However, this method has limitations: it cannot accurately test individual functions. In addition, once a function fails, the sweeping robot needs to be disassembled and reassembled after replacing parts, which is time-consuming and inconvenient. Summary of the invention

[0003] The technical problem solved by the present invention is to provide a sweeping robot detection method capable of realizing accurate detection of various functions.

[0004] The technical solution adopted by the present invention to solve the technical problem is: a sweeping robot detection method, including a sweeping robot side brush detection step, a sweeping robot mop motor detection step, a sweeping robot whole machine assembling step, a sweeping robot water flow rate detection step and a sweeping robot performance detection step, wherein: It also includes a side brush detection device, and the side brush detection steps of the sweeping robot are performed by the side brush detection device, specifically: SA10: The side brush is placed in the side brush fixing fixture and moved under the side brush detection mechanism; SA20: The side brush rotates forward, the side brush is in the extended state, and the distance sensor rotates and detects whether the extended height of the side brush is qualified; SA30: The side brush is reversed, the side brush is in the retracted state, and the distance sensor rotates and detects whether the side brush retracted height is qualified; It also includes a mop motor detection device, and the mop motor detection steps of the sweeping robot are performed by the mop motor detection device, specifically: SB10: Place the main wipe motor and the external wipe motor on the main fixture and the external fixture respectively; SB20: The driving ends of the main rag motor and the external rag motor descend, and the distance sensors at the bottom of the main rag motor and the external rag motor detect whether the descending height of the driving ends of the main rag motor and the external rag motor is qualified; SB30: The rotation detection rod at the bottom of the main rag motor and the external rag motor extends into the driving end of the main rag motor and the external rag motor. The driving end of the main rag motor and the external rag motor rotates, and the encoder is used to detect whether the speed is qualified; SB40: The pushing mechanism on one side of the outward-spreading rag motor pushes the driving end of the outward-spreading rag motor to detect whether the thrust of the driving end of the outward-spreading rag motor is qualified; It also includes a performance testing device, and the performance testing steps of the sweeping robot are carried out by the performance testing device, specifically: SD10: Place the robot vacuum cleaner on the performance test fixture and perform position calibration test; SD20: The front scanning end of the sweeping robot scans the surface light source, and the sweeping robot feeds back the distance data to the surface light source; SD30: The front scanning end of the sweeping robot scans the front step, and the sweeping robot feeds back the distance data to the front step; SD40: The front scanning end of the sweeping robot scans the front chessboard, and the sweeping robot feeds back the distance data to the front chessboard.

[0005] Furthermore, it also includes a water flow rate detection device, and the water flow rate detection of the sweeping robot is performed by the water flow rate detection device, specifically: SC10: Refill water into the water tank of the sweeping robot; SC20: Controls the robot vacuum cleaner to discharge water so that the water flows into the water receiving tank. The weighing device at the bottom of the water receiving tank weighs the water receiving tank and calculates the current flow rate based on the weight and time.

[0006] Furthermore, the side brush detection device comprises a first bottom plate, on which a side brush fixing fixture and a side brush driving mechanism for driving the side brush fixture to perform horizontal movement are arranged, and a side brush detection component is arranged above the first bottom plate; The side brush detection assembly includes a side brush detection mounting frame, on which a rotating disk and a first driving motor that drives the rotating disk to rotate are provided, a plurality of detector mounting frames are provided at the bottom of the rotating disk, and a plurality of first distance detection sensors for detecting the height of the side brush are provided on the detector mounting frames.

[0007] Furthermore, the rag motor detection device includes a second bottom plate, a main rag motor fixing fixture and an outward rag motor fixing fixture are arranged on the second bottom plate, a detector mounting plate is arranged below the second bottom plate, a second distance detection sensor and a third distance detection sensor are respectively arranged on the detector mounting plate, and also includes a first horizontal driving cylinder for driving the detector mounting plate to perform horizontal movement, so that the second distance detection sensor and the third distance detection sensor can move to below the main rag motor and the outward rag motor respectively; It also includes a detection axis mounting frame, on which a first rotating detection axis and a second rotating detection axis are respectively arranged, and also includes a first encoder and a second encoder respectively connected to the first rotating detection axis and the second rotating detection axis, and also includes a second horizontal driving cylinder for driving the detection axis mounting frame to perform horizontal movement and a first lifting driving cylinder for driving the detection axis mounting frame to perform lifting movement.

[0008] Furthermore, a push plate and a third horizontal driving cylinder for driving the push plate to move horizontally are provided on one side of the outward-expanding rag motor fixing fixture, and a pressure sensor is provided between the push plate and the driving end of the third horizontal driving cylinder; The main rag motor fixing fixture comprises a first contour support block, a plurality of positioning support rods located on one side of the first contour support block, and a first pressing assembly for pressing the product; The outward-expanding rag motor fixing fixture comprises a second contoured support seat and a second pressing component located on one side of the second contoured support seat for pressing the product.

[0009] Furthermore, the water flow rate detection device includes a first frame, a first complete machine mounting seat is provided on the first frame, a clean water tank and a plug mounting plate are provided on one side of the first complete machine mounting seat, a water outlet plug is provided on the plug mounting plate, and also includes a fourth horizontal driving cylinder for driving the plug mounting plate to move toward the product direction, a first connecting pipe is provided between the water outlet plug and the clean water tank, a first water pump is provided on the first connecting pipe, a water receiving box is provided under the first complete machine mounting seat, and also includes a weighing mechanism for weighing the connected water tank, and a through hole is provided on the first complete machine mounting seat at the water receiving box, so that the water falling in the sweeping robot flows directly into the water receiving box.

[0010] Furthermore, a return water tank is arranged under the first frame, a second connecting pipe is arranged between the water receiving tank and the return water tank, a second water pump is arranged on the second connecting pipe, and a third connecting pipe is arranged between the return water tank and the clean water tank, a third water pump and a filter assembly are arranged on the third connecting pipe, and a float valve is arranged in the clean water tank.

[0011] Furthermore, the performance detection device includes a third base plate, on which a performance detection fixture for positioning the sweeping robot is arranged, a first calibration plate is arranged on one side of the performance detection fixture, and a surface light source environment detection component, a step environment detection component and a checkerboard environment detection component are respectively arranged on the other side of the performance detection fixture, so that the path scanning end of the sweeping robot is facing the surface light source environment detection component, the step environment detection component and the checkerboard environment detection component.

[0012] Furthermore, the surface light source environment detection assembly includes a first lifting mounting frame, on which a surface light source and a second lifting driving cylinder for driving the surface light source to perform lifting motion are arranged; The step environment detection assembly includes a second lifting mounting frame, on which a step mounting frame and a third lifting driving cylinder for driving the step mounting frame to perform lifting motion are mounted, and steps are arranged on the step mounting frame, and calibration whiteboards are arranged on both sides and the rear end of the steps; The chessboard environment detection component includes a chessboard fixed on the third bottom plate.

[0013] Furthermore, the performance testing jig includes a first jig base plate, a second jig base plate and a servo lifting drive mechanism for driving the second jig base plate to perform lifting and lowering movements are arranged above the first jig base plate, a jig body and a horizontal driving mechanism for driving the jig body to perform horizontal movements are arranged on the second jig base plate, a support block and a positioning pin for positioning the sweeping robot are arranged on the jig body, a plurality of support plates are arranged circumferentially on the outer side of the jig body, and a wear-resistant material for abutting against the product is arranged on the support plate.

[0014] The beneficial effects of the present invention are: 1. In this method, the side brush detection, mop motor detection, water flow rate detection and performance detection steps of the sweeping robot can be used to detect various functions of the sweeping robot, thereby ensuring the yield rate of the sweeping robot.

[0015] 2. In this method, the height of the side brush when it is extended and retracted is detected to detect whether the side brush can accurately extend and retract, so that the detection of the side brush movement can be realized in the simplest way.

[0016] 3. In this method, the yield rate of the rag motor is detected by detecting the lifting height and rotational force of the rag motor, thereby ensuring the accuracy of the rag motor drive.

[0017] 4. In this method, the water outlet flow rate of the sweeping robot is detected by weighing the outlet water, which is simple and efficient. At the same time, the filter component and the water pump can be set to realize the recycling of the outlet water of the sweeping robot, which ensures the detection accuracy on the one hand and reduces the waste of water resources on the other hand.

[0018] 5. In this method, the performance detection of the sweeping robot is realized by synthesizing the surface light source environment detection, the step environment detection and the checkerboard environment detection in the same workstation. At the same time, since the position of the sweeping robot will not change during the detection, the accuracy and convenience of the detection can be guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1Schematic diagram of the structure of the side brush detection device in the sweeping robot detection method according to an embodiment of the present application.

[0020] Figure 2 This is a structural schematic diagram from another perspective of the side brush detection device in the sweeping robot detection method of an embodiment of the present application.

[0021] Figure 3 This is a schematic diagram of the structure of the mop motor detection device in the sweeping robot detection method according to an embodiment of the present application.

[0022] Figure 4 This is a structural schematic diagram from another perspective of the mop motor detection device in the sweeping robot detection method of an embodiment of the present application.

[0023] Figure 5 It is a structural schematic diagram of the water flow rate detection device in the sweeping robot detection method according to an embodiment of the present application.

[0024] Figure 6 This is a structural schematic diagram from another perspective of the water flow rate detection device in the sweeping robot detection method of an embodiment of the present application.

[0025] Figure 7 This is a schematic diagram of the structure of the performance detection equipment in the sweeping robot detection method according to an embodiment of the present application.

[0026] Figure 8 This is a structural schematic diagram from another perspective of the performance detection device in the sweeping robot detection method of an embodiment of the present application.

[0027] The markings in the figure are: Side brush detection mounting frame 101, rotating disk 102, first driving motor 103, detector mounting frame 104, first distance detection sensor 105, first bottom plate 106, side brush fixing fixture 107; The second bottom plate 201, the main rag motor fixing fixture 202, the external rag motor fixing fixture 203, the detector mounting plate 204, the second distance detection sensor 205, the third distance detection sensor 206, the first horizontal driving cylinder 207, the detection axis mounting frame 208, the first rotating detection axis 209, the second rotating detection axis 210, the second horizontal driving cylinder 211, the first lifting driving cylinder 212, the third horizontal driving cylinder 213, the push plate 214, and the pressure sensor 215; The first frame 301, the first whole machine mounting base 302, the clean water tank 303, the water outlet plug 304, the fourth horizontal driving cylinder 305, the water receiving box 306, the weighing mechanism 307, the return water tank 308, the filter assembly 309, and the float valve 310; The third base plate 401, the first jig base plate 402, the second jig base plate 403, the servo lifting drive mechanism 404, the jig body 405, the horizontal drive mechanism 406, the support plate 407, the wear-resistant material 408, the first calibration plate 409, the first lifting mounting frame 410, the surface light source 411, the second lifting drive cylinder 412, the second lifting mounting frame 413, the third lifting drive cylinder 414, the step 415, the calibration whiteboard 416, and the chessboard 417. DETAILED DESCRIPTION

[0028] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0029] The embodiment of the present application discloses a cleaning robot detection method, including a cleaning robot side brush detection step, a cleaning robot mop motor detection step, a cleaning robot whole machine assembly step, a cleaning robot water flow rate detection step and a cleaning robot performance detection step, wherein: It also includes a side brush detection device, and the side brush detection steps of the sweeping robot are performed by the side brush detection device, specifically: SA10: The side brush is placed in the side brush fixing fixture 107 and moved to the bottom of the side brush detection mechanism; SA20: The side brush rotates forward, the side brush is in the extended state, and the distance sensor rotates and detects whether the extended height of the side brush is qualified; SA30: The side brush is reversed, the side brush is in the retracted state, and the distance sensor rotates and detects whether the side brush retracted height is qualified; It also includes a mop motor detection device, and the mop motor detection steps of the sweeping robot are performed by the mop motor detection device, specifically: SB10: Place the main wipe motor and the external wipe motor on the main fixture and the external fixture respectively; SB20: The driving ends of the main rag motor and the external rag motor descend, and the distance sensors at the bottom of the main rag motor and the external rag motor detect whether the descending height of the driving ends of the main rag motor and the external rag motor is qualified; SB30: The rotation detection rod at the bottom of the main rag motor and the external rag motor extends into the driving end of the main rag motor and the external rag motor. The driving end of the main rag motor and the external rag motor rotates, and the encoder is used to detect whether the speed is qualified; SB40: The pushing mechanism on one side of the outward-spreading rag motor pushes the driving end of the outward-spreading rag motor to detect whether the thrust of the driving end of the outward-spreading rag motor is qualified; It also includes a water flow rate detection device, which is used to detect the water flow rate of the sweeping robot, specifically: SC10: Refill water into the water tank of the sweeping robot; SC20: Control the robot vacuum cleaner to discharge water so that the water flows into the water receiving box 306. The weighing device at the bottom of the water receiving box 306 weighs the water receiving box 306 and calculates the current flow rate according to the weight and time. It also includes a performance testing device, and the performance testing steps of the sweeping robot are carried out by the performance testing device, specifically: SD10: Place the robot vacuum cleaner on the performance test fixture and perform position calibration test; SD20: the front scanning end of the sweeping robot scans the surface light source 411, and the sweeping robot feeds back the distance data to the surface light source 411; SD30: the front scanning end of the sweeping robot scans the front step 415, and the sweeping robot feeds back the distance data to the front step 415; SD40: the front scanning end of the sweeping robot scans the front chessboard 417 , and the sweeping robot feeds back the distance data to the front chessboard 417 .

[0030] Specifically, when conducting the side brush inspection, only the side brush parts are inspected separately, and when conducting the mop motor inspection, only the mop motor parts are inspected separately, and the qualified side brush parts, mop motor parts and sweeping robot shell, control components, water tank, radar and other mechanisms are assembled to form a sweeping robot complete machine. The specific assembly steps are the same as those in the prior art and will not be repeated here. After the whole machine is assembled, subsequent water flow rate detection and overall performance detection are carried out to complete the detection operation of the entire sweeping robot.

[0031] In this method, individual parts are first tested individually and then assembled into a complete machine, which can ensure the testing efficiency on the one hand and the yield rate of the assembled complete machine on the other hand.

[0032] In this embodiment, the side brush detection device includes a first bottom plate 106, on which a side brush fixing fixture 107 and a side brush driving mechanism for driving the side brush fixture to move horizontally are arranged, and a side brush detection component is arranged above the first bottom plate 106; The side brush detection assembly includes a side brush detection mounting frame 101, on which a rotating disk 102 and a first driving motor 103 that drives the rotating disk 102 to rotate are provided, and a plurality of detector mounting frames 104 are provided at the bottom of the rotating disk 102, and a plurality of first distance detection sensors 105 for detecting the height of the side brush are provided on the detector mounting frames 104.

[0033] During the specific detection, the side brush parts are placed in the side brush fixing fixture 107, and then the side brush driving mechanism drives the side brush fixture to move to the bottom of the detector mounting bracket 104. Then, the side brush rotates forward, and the side brush is in an extended state. The first driving motor 103 drives the rotating disk 102 to rotate. At this time, the first distance detection sensor 105 rotates. Multiple first distance detection sensors 105 detect the extended height of the side brush during the rotation process. The distance between the first distance detection sensor 105 and the side brush is detected to determine whether the extended height of the side brush meets the specifications. Then, the side brush reverses, and the side brush is in a retracted state. Similarly, the distance between the first distance detection sensor 105 and the side brush is detected to determine whether the retracted height of the side brush meets the specifications.

[0034] In this structure, by detecting the height of the side brush when it is extended and retracted, it is detected whether the side brush can accurately perform the extension and retraction movement, so that the detection of the side brush movement can be achieved in the simplest way.

[0035] In this embodiment, the rag motor detection device includes a second bottom plate 201, on which a main rag motor fixing fixture 202 and an outward-expanding rag motor fixing fixture 203 are arranged, and a detector mounting plate 204 is arranged below the second bottom plate 201, on which a second distance detection sensor 205 and a third distance detection sensor 206 are respectively arranged, and further includes a first horizontal driving cylinder 207 that drives the detector mounting plate 204 to perform horizontal movement, so that the second distance detection sensor 205 and the third distance detection sensor 206 can move to below the main rag motor and the outward-expanding rag motor respectively; It also includes a detection axis mounting frame 208, on which a first rotating detection axis 209 and a second rotating detection axis 210 are respectively provided, and also includes a first encoder and a second encoder respectively connected to the first rotating detection axis 209 and the second rotating detection axis 210, and also includes a second horizontal driving cylinder 211 for driving the detection axis mounting frame 208 to make horizontal movement and a first lifting driving cylinder 212 for driving the detection axis mounting frame 208 to make lifting movement.

[0036] It needs to be explained that the main rag motor and the external rag motor here are both power components on the sweeping robot. When the sweeping robot is working, the driving parts of the main rag motor and the external rag motor will be installed with rags, and the driving ends of the main rag motor and the external rag motor will drop a certain distance to make the rag contact with the ground. Then the main rag motor and the external rag motor will rotate back and forth, causing the rag to wipe the ground. The above actions are routine actions of the sweeping robot, so its descent distance and rotation range must comply with design requirements.

[0037] Specifically, during the inspection, the main rag motor is placed on the main rag motor fixing fixture 202, and the outward rag motor is placed on the outward rag motor fixing fixture 203, and then the first horizontal driving cylinder 207 drives the detector mounting plate 204 to push forward, so that the second distance detection sensor 205 and the third distance detection sensor 206 move to the bottom of the driving ends of the main rag motor and the outward rag motor respectively, and the driving ends of the main rag motor and the outward rag motor perform lifting movements, and the second distance detection sensor 205 and the third distance detection sensor 206 detect whether the lifting height of the driving ends of the rag motor and the outward rag motor meets the specified requirements. After the inspection is completed, the first horizontal driving cylinder 207 drives the detector mounting plate 204 to withdraw, and then The second horizontal driving cylinder 211 drives the detection shaft mounting frame 208 to make horizontal movement, so that the first rotating detection shaft 209 and the second rotating detection shaft 210 move to below the driving ends of the main rag motor and the outward-expanding rag motor, and then the first lifting driving cylinder 212 drives the detection shaft mounting frame 208 to rise, so that the first rotating detection shaft 209 extends into the driving end of the main rag motor, and the second rotating detection shaft 210 extends into the driving end of the outward-expanding rag motor, and then the driving ends of the main rag motor and the outward-expanding rag motor make rotational movement, and the rotational drive of the main rag motor and the outward-expanding rag motor are detected by the first encoder and the second encoder. After the detection is completed, the first rotating detection shaft 209 and the second rotating detection shaft 210 are reset to complete the entire lifting and rotating detection.

[0038] In this structure, the lifting and rotating detection of the main rag motor and the external rag motor can be realized through the setting of the distance detection sensor, the rotating shaft and the encoder. This detection method is simple and practical, and has a good detection effect.

[0039] In this embodiment, a push plate 214 and a third horizontal driving cylinder 213 for driving the push plate 214 to move horizontally are provided on one side of the outward-expanding rag motor fixing fixture 203, and a pressure sensor 215 is provided between the push plate 214 and the driving end of the third horizontal driving cylinder 213.

[0040] When it is necessary to detect the lateral movement of the outward-expanding rag motor, the third horizontal driving cylinder 213 drives the push plate 214 to move forward, so that the push plate 214 pushes the outward-expanding rag motor to make horizontal lateral movement. During the pushing process, the pressure detection sensor obtains the current pushing pressure, and judges the smoothness of the current lateral movement of the outward-expanding rag motor through the data detected by the pressure detection sensor.

[0041] In the above structure, the lateral movement of the outward-expanding mop motor can be detected by setting a pressure detection sensor, which has a simple structure and high detection accuracy.

[0042] In this embodiment, the main rag motor fixing fixture 202 includes a first contour support block and a plurality of positioning support rods located on one side of the first contour support block and a first pressing assembly for pressing the product; The outward-expanding rag motor fixing fixture 203 includes a second contoured support seat and a second pressing component located on one side of the second contoured support seat for pressing the product.

[0043] Specifically, when fixing the main rag motor, the main rag motor is placed on the first contoured support block, and at the same time, multiple positioning support rods are inserted into the positioning holes of the main rag motor, and then the main rag motor is pressed by the first clamping assembly. Similarly, when fixing the outward-expanding rag motor, the outward-expanding rag motor is placed on the second contoured support seat, and the outward-expanding rag motor is pressed by the second clamping assembly.

[0044] In the above structure, the configuration of the contoured support block and the clamping assembly can realize precise positioning and fixation of the main rag motor and the outward-expanding rag motor, thereby ensuring the accuracy of subsequent height detection and rotation detection.

[0045] In this embodiment, the water outlet flow rate detection device includes a first frame 301, a first complete machine mounting seat 302 is arranged on the first frame 301, a clean water tank 303 and a plug mounting plate are arranged on one side of the first complete machine mounting seat 302, a water outlet plug 304 is arranged on the plug mounting plate, and also includes a fourth horizontal driving cylinder 305 for driving the plug mounting plate to move toward the product direction, a first connecting pipe is arranged between the water outlet plug 304 and the clean water tank 303, a first water pump is arranged on the first connecting pipe, a water receiving box 306 is arranged below the first complete machine mounting seat 302, and also includes a weighing mechanism 307 for weighing the water receiving box 306, and a through hole is arranged on the first complete machine mounting seat 302 at the water receiving box 306, so that the water falling in the sweeping robot flows directly into the water receiving box 306.

[0046] Specifically, during the inspection, the sweeping robot is placed on the first machine mounting seat 302, and the fourth horizontal driving cylinder 305 drives the plug mounting plate to move toward the product direction, so that the water outlet plug 304 is inserted into the water supply port of the sweeping robot. The first water pump works to replenish the water in the clean water tank 303 into the water tank of the sweeping robot. The sweeping robot is started, and the water outlet at the bottom of the sweeping robot performs water outlet operation and starts timing. The water in the sweeping robot flows into the water receiving tank 306, and the weighing device at the bottom of the water receiving tank 306 weighs the docking water tank 306 and calculates the current flow rate based on the weight and time.

[0047] In the above mechanism, the flow rate is calculated by weighing the docking water tank 306 and cooperating with the water outlet timing. In this mechanism, the flow rate can be detected by using a timing device and a weighing device. This device can achieve accurate flow rate detection through a simple structure and a simple detection method.

[0048] In this embodiment, a return water tank 308 is arranged below the first frame 301, a second connecting pipe is arranged between the water receiving box 306 and the return water tank 308, a second water pump is arranged on the second connecting pipe, and a third connecting pipe is also arranged between the return water tank 308 and the clean water tank 303, a third water pump and a filter assembly 309 are arranged on the third connecting pipe, and a float valve 310 is arranged in the clean water tank 303.

[0049] Specifically, after the detection is completed, in order to ensure the accuracy of the subsequent detection, the second water pump works to pump the water in the water receiving tank 306 into the return water tank 308, so that the water level in the water receiving tank 306 returns to zero. When the float valve 310 in the clean water tank 303 detects that the water level is insufficient, the third water pump works to replenish the water in the return water tank 308 into the clean water tank 303. When the set water level is reached, the third water pump stops working.

[0050] In this structure, the setting of the return water tank 308 can ensure that the amount of liquid in the water receiving tank 306 is zero when a new sweeping robot is detected, thereby ensuring the accuracy of subsequent detections. At the same time, when the water in the return water tank 308 is replenished into the clean water tank 303, it will be filtered by the filter component 309, thereby ensuring the cleanliness of the water flowing back into the clean water tank 303. This method can ensure the accuracy of subsequent detections while saving water resources.

[0051] In this embodiment, the performance detection equipment includes a third base plate 401, and a performance detection fixture for positioning the sweeping robot is arranged on the third base plate 401, a first calibration plate 409 is arranged on one side of the performance detection fixture, and a surface light source environment detection component, a step environment detection component and a checkerboard environment detection component are respectively arranged on the other side of the performance detection fixture, so that the path scanning end of the sweeping robot is facing the surface light source environment detection component, the step environment detection component and the checkerboard environment detection component.

[0052] Specifically, during the inspection, the entire sweeping robot is placed on a performance inspection jig, and the radar installed on the side of the sweeping robot scans the first calibration plate 409 and feeds back whether the distance between it and the first calibration plate 409 is the set value. If it is the set value, it means that the position of the sweeping robot is accurate. Then the front scanning end of the sweeping robot scans the surface light source 411, and the sweeping robot feeds back whether the distance data to the surface light source 411 is the set value. Then the front scanning end of the sweeping robot scans the front step 415, and the sweeping robot feeds back whether the distance data to the front step 415 is the set value. Finally, the front scanning end of the sweeping robot scans the front checkerboard 417, and the sweeping robot feeds back whether the distance data to the front checkerboard 417 is the set value.

[0053] In this method, the performance detection of the sweeping robot is realized by synthesizing the surface light source 411 environment detection, the step 415 environment detection and the checkerboard 417 environment detection in the same workstation. At the same time, since the position of the sweeping robot does not change during the detection, the accuracy and convenience of the detection can be guaranteed.

[0054] In this embodiment, the surface light source environment detection assembly includes a first lifting mounting frame 410, on which a surface light source 411 and a second lifting driving cylinder 412 for driving the surface light source 411 to perform lifting motion are arranged; The step environment detection assembly includes a second lifting mounting frame 413, on which a step mounting frame and a third lifting driving cylinder 414 for driving the step mounting frame to perform lifting motion are mounted, and a step 415 is arranged on the step mounting frame, and calibration whiteboards 416 are arranged on both sides and the rear end of the step 415; The chessboard environment detection component includes a chessboard 417 fixed on the third base plate 401 .

[0055] Specifically, after the environmental detection of the surface light source 411 is completed, the second lifting drive cylinder 412 drives the surface light source 411 to descend, so that the rear step 415 is exposed within the field of vision of the sweeping robot. When the detection of the step 415 is completed, the third lifting drive cylinder 414 drives the step mounting frame to rise, so that the checkerboard 417 behind the step mounting frame is exposed within the field of vision of the sweeping robot, thereby realizing the detection of three environments.

[0056] In this embodiment, the performance testing jig includes a first jig base plate 402, a second jig base plate 403 and a servo lifting drive mechanism 404 for driving the second jig base plate 403 to perform lifting motion are arranged above the first jig base plate, a jig body 405 and a horizontal driving mechanism 406 for driving the jig body 405 to perform horizontal motion are arranged on the second jig base plate 403, the jig body 405 is provided with support blocks and positioning pins for positioning the sweeping robot, a plurality of support plates 407 are arranged circumferentially on the outer side of the jig body 405, and the support plates 407 are provided with wear-resistant materials 408 for abutting against the product.

[0057] Specifically, when conducting the inspection, after the sweeping robot is placed on the jig body 405, the four sides of the sweeping robot can abut against the wear-resistant material 408 on the support plate 407 to ensure the stability of the entire sweeping robot. At the same time, before conducting a complete inspection, the position of the jig body 405 needs to be adjusted. When making the adjustment, a sweeping robot can be placed first, and the position of the jig body 405 can be adjusted through the sweeping robot's own radar in combination with the first calibration plate 409 and the second calibration plate, and through the horizontal drive mechanism 406 and the servo upgrade drive mechanism, the jig body 405 is adjusted to the set position. After the position adjustment of the jig body 405 is completed, the position of the jig body 405 does not need to be adjusted again.

[0058] The above-mentioned structure can be set to adjust the position of the sweeping robot according to the test requirements, thereby ensuring the accuracy of the detection.

[0059] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for detecting a sweeping robot, characterized in that: It includes the steps of detecting the side brush of the sweeping robot, detecting the mop motor of the sweeping robot, assembling the whole sweeping robot, detecting the water flow rate of the sweeping robot and detecting the performance of the sweeping robot, wherein: It also includes a side brush detection device, and the side brush detection steps of the sweeping robot are performed by the side brush detection device, specifically: SA10: The side brush is placed in the side brush fixing fixture (107) and moved to below the side brush detection mechanism; SA20: The side brush rotates forward, the side brush is in the extended state, and the distance sensor rotates and detects whether the extended height of the side brush is qualified; SA30: The side brush is reversed, the side brush is in the retracted state, and the distance sensor rotates and detects whether the side brush retracted height is qualified; It also includes a mop motor detection device, and the mop motor detection steps of the sweeping robot are performed by the mop motor detection device, specifically: SB10: Place the main wipe motor and the external wipe motor on the main fixture and the external fixture respectively; SB20: The driving ends of the main rag motor and the external rag motor descend, and the distance sensors at the bottom of the main rag motor and the external rag motor detect whether the descending height of the driving ends of the main rag motor and the external rag motor is qualified; SB30: The rotation detection rod at the bottom of the main rag motor and the external rag motor extends into the driving end of the main rag motor and the external rag motor. The driving end of the main rag motor and the external rag motor rotates, and the encoder is used to detect whether the speed is qualified; SB40: The pushing mechanism on one side of the outward-spreading rag motor pushes the driving end of the outward-spreading rag motor to detect whether the thrust of the driving end of the outward-spreading rag motor is qualified; It also includes a performance testing device, and the performance testing steps of the sweeping robot are carried out by the performance testing device, specifically: SD10: Place the robot vacuum cleaner on the performance test fixture and perform position calibration test; SD20: the front scanning end of the sweeping robot scans the surface light source (411), and the sweeping robot feeds back distance data to the surface light source (411); SD30: The front scanning end of the sweeping robot scans the front step (415), and the sweeping robot feeds back the distance data to the front step (415); SD40: The front scanning end of the sweeping robot scans the front chessboard (417), and the sweeping robot feeds back the distance data to the front chessboard (417).

2. The cleaning robot detection method according to claim 1, characterized in that: It also includes a water flow rate detection device, which is used to detect the water flow rate of the sweeping robot, specifically: SC10: Refill water into the water tank of the sweeping robot; SC20: Control the sweeping robot to discharge water so that the water flows into the water receiving box (306); a weighing device at the bottom of the water receiving box (306) weighs the water receiving box (306) and calculates the current flow rate based on the weight and time.

3. The cleaning robot detection method according to claim 1, characterized in that: The side brush detection device comprises a first bottom plate (106), on which a side brush fixing fixture (107) and a side brush driving mechanism for driving the side brush fixture to perform horizontal movement are arranged, and above the first bottom plate (106) a side brush detection component is arranged; The side brush detection assembly comprises a side brush detection mounting frame (101), on which a rotating disk (102) and a first drive motor (103) for driving the rotating disk (102) to perform a rotating motion are arranged, and a plurality of detector mounting frames (104) are arranged at the bottom of the rotating disk (102), and on which a plurality of first distance detection sensors (105) for detecting the height of the side brush are arranged.

4. The cleaning robot detection method according to claim 1, characterized in that: The mop motor detection device comprises a second bottom plate (201), a main mop motor fixing fixture (202) and an outward-expanding mop motor fixing fixture (203) are arranged on the second bottom plate (201), a detector mounting plate (204) is arranged below the second bottom plate (201), a second distance detection sensor (205) and a third distance detection sensor (206) are respectively arranged on the detector mounting plate (204), and further comprises a first horizontal driving cylinder (207) for driving the detector mounting plate (204) to perform horizontal movement, so that the second distance detection sensor (205) and the third distance detection sensor (206) can move to below the main mop motor and the outward-expanding mop motor respectively; The invention also includes a detection shaft mounting frame (208), on which a first rotating detection shaft (209) and a second rotating detection shaft (210) are respectively arranged, and also includes a first encoder and a second encoder respectively connected to the first rotating detection shaft (209) and the second rotating detection shaft (210), and also includes a second horizontal driving cylinder (211) for causing the detection shaft mounting frame (208) to perform horizontal movement, and a first lifting driving cylinder (212) for driving the detection shaft mounting frame (208) to perform lifting movement.

5. The cleaning robot detection method according to claim 4, characterized in that: A push plate (214) and a third horizontal driving cylinder (213) for driving the push plate (214) to move horizontally are provided on one side of the outward-expanding rag motor fixing fixture (203), and a pressure sensor (215) is provided between the driving ends of the push plate (214) and the third horizontal driving cylinder (213); The main rag motor fixing fixture (202) comprises a first contour support block, a plurality of positioning support rods located on one side of the first contour support block, and a first pressing assembly for pressing the product; The outward-expanding rag motor fixing fixture (203) comprises a second contoured support seat and a second pressing component located on one side of the second contoured support seat and used for pressing the product.

6. The cleaning robot detection method according to claim 1, characterized in that: The water outlet flow rate detection device comprises a first frame (301), a first complete machine mounting seat (302) is arranged on the first frame (301), a clean water tank (303) and a plug mounting plate are arranged on one side of the first complete machine mounting seat (302), a water outlet plug (304) is arranged on the plug mounting plate, and further comprises a fourth horizontal driving cylinder (305) for driving the plug mounting plate to move in the product direction, a first connecting pipe is arranged between the water outlet plug (304) and the clean water tank (303), a first water pump is arranged on the first connecting pipe, a water receiving box (306) is arranged below the first complete machine mounting seat (302), and further comprises a weighing mechanism (307) for weighing the water receiving box (306), and a through hole is arranged on the first complete machine mounting seat (302) at the water receiving box (306) so that water falling in the sweeping robot directly flows into the water receiving box (306).

7. The cleaning robot detection method according to claim 6, characterized in that: A return water tank (308) is provided below the first frame (301); a second connecting pipe is provided between the water receiving box (306) and the return water tank (308); a second water pump is provided on the second connecting pipe; and a third connecting pipe is provided between the return water tank (308) and the clean water tank (303); a third water pump and a filter assembly (309) are provided on the third connecting pipe; and a float valve (310) is provided in the clean water tank (303).

8. The cleaning robot detection method according to claim 1, characterized in that: The performance detection device comprises a third bottom plate (401), on which a performance detection fixture for positioning the sweeping robot is arranged, a first calibration plate (409) is arranged on one side of the performance detection fixture, and a surface light source environment detection component, a step environment detection component and a chessboard environment detection component are arranged on the other side of the performance detection fixture, so that the path scanning end of the sweeping robot faces the surface light source environment detection component, the step environment detection component and the chessboard environment detection component.

9. The cleaning robot detection method according to claim 8, characterized in that: The surface light source environment detection component comprises a first lifting mounting frame (410), on which the surface light source (411) and a second lifting driving cylinder (412) for driving the surface light source (411) to perform lifting motion are arranged; The step environment detection assembly comprises a second lifting mounting frame (413), on which a step mounting frame and a third lifting driving cylinder (414) for driving the step mounting frame to perform lifting motion are mounted, the step mounting frame is provided with a step (415), and calibration white boards (416) are provided on both sides and the rear end of the step (415); The chessboard environment detection component comprises a chessboard (417) fixed on the third bottom plate (401).

10. The cleaning robot detection method according to claim 9, characterized in that: The performance testing jig comprises a first jig base plate (402), a second jig base plate (403) and a servo lifting drive mechanism (404) for driving the second jig base plate (403) to perform lifting movement are arranged above the first jig base plate, a jig body (405) and a horizontal drive mechanism (406) for driving the jig body (405) to perform horizontal movement are arranged on the second jig base plate (403), a support block and a positioning pin for positioning the sweeping robot are arranged on the jig body (405), a plurality of support plates (407) are arranged in a circumferential direction on the outer side of the jig body (405), and a wear-resistant material (408) for abutting against a product is arranged on the support plate (407).

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