A detection method for a floor cleaning robot

Abstract

The present invention discloses a detection method for a floor cleaning robot, including a side brush detection step of the floor cleaning robot, a rag motor detection step of the floor cleaning robot, an overall machine assembly step of the floor cleaning robot, a water flow rate detection step of the floor cleaning robot, and a performance detection step of the floor cleaning robot. Among them: There is also a side brush detection device. The specific steps of the side brush detection of the floor cleaning robot are as follows: SA10: The side brush is placed in the side brush fixing fixture and moves to the lower part of the side brush detection mechanism; SA20: The side brush rotates forward, the side brush is in the extended state, the distance sensor rotates and detects whether the extended height of the side brush is qualified; SA30: The side brush rotates backward, the side brush is in the retracted state, the distance sensor rotates and detects whether the retracted height of the side brush is qualified. In this method, by performing the side brush detection, rag motor detection, water flow rate detection, and performance detection steps on the floor cleaning robot, the detection of various functions of the floor cleaning robot can be realized, thereby ensuring the good product rate of the floor cleaning robot.

Description

Technical Field

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

[0002] A floor-sweeping robot is a smart home device that can automatically perform floor cleaning tasks. Given its rich functions, such as having functions like rag lifting, side brush rotating for cleaning, and wet mopping, the current detection of floor-sweeping robots is usually to conduct an overall cleaning test after assembly. However, this method has limitations: it cannot accurately detect individual functions. In addition, once a certain function fails, it is necessary to disassemble the floor-sweeping robot again, replace parts and then reassemble it, which is both time-consuming and inconvenient. Summary of the Invention

[0003] The technical problem solved by the present invention is to provide a floor-sweeping robot detection method that can accurately detect each function.

[0004] The technical solution adopted by the present invention to solve its technical problems is: a floor-sweeping robot detection method, including a floor-sweeping robot side brush detection step, a floor-sweeping robot rag motor detection step, a floor-sweeping robot whole machine assembly step, a floor-sweeping robot water flow rate detection step, and a floor-sweeping robot performance detection step, wherein:

[0005] It further includes a side brush detection device, and the floor-sweeping robot side brush detection step is carried out through the side brush detection device. Specifically:

[0006] SA10: Place the side brush in the side brush fixing jig and move it to the lower part of the side brush detection mechanism;

[0007] SA20: Rotate the side brush forward, with the side brush in the extended state, and the distance sensor rotates to detect whether the extended height of the side brush is qualified;

[0008] SA30: Rotate the side brush backward, with the side brush in the retracted state, and the distance sensor rotates to detect whether the retracted height of the side brush is qualified;

[0009] It further includes a rag motor detection device, and the floor-sweeping robot rag motor detection step is carried out through the rag motor detection device. Specifically:

[0010] SB10: Place the main rag motor and the extended rag motor on the main jig and the extended jig respectively;

[0011] SB20: Lower the driving ends of the main rag motor and the extended rag motor, and use the distance sensors at the bottoms of the main rag motor and the extended rag motor to detect whether the lowered heights of the driving ends of the main rag motor and the extended rag motor are qualified;

[0012] SB30: The rotation detection rods at the lower parts of the main rag motor and the outward expansion rag motor extend into the drive ends of the main rag motor and the outward expansion rag motor. The drive ends of the main rag motor and the outward expansion rag motor rotate, and an encoder is used to detect whether their rotation speeds are qualified.

[0013] SB40: A pushing mechanism on one side of the outward expansion rag motor pushes the drive end of the outward expansion rag motor to detect whether the thrust of the drive end of the outward expansion rag motor is qualified.

[0014] It further includes a performance detection device. The performance detection steps of the floor cleaning robot are carried out through the performance detection device, specifically as follows:

[0015] SD10: Place the floor cleaning robot on the performance detection fixture and perform position calibration detection.

[0016] SD20: The front scanning end of the floor cleaning robot scans the surface light source, and the floor cleaning robot feeds back the distance data from the surface light source.

[0017] SD30: The front scanning end of the floor cleaning robot scans the front steps, and the floor cleaning robot feeds back the distance data from the front steps.

[0018] SD40: The front scanning end of the floor cleaning robot scans the front checkerboard, and the floor cleaning robot feeds back the distance data from the front checkerboard.

[0019] Furthermore: It further includes a water flow rate detection device. The water flow rate of the floor cleaning robot is detected through the water flow rate detection device, specifically as follows:

[0020] SC10: Perform a water replenishment operation on the water tank of the floor cleaning robot.

[0021] SC20: Control the floor cleaning robot to discharge water so that the water flows into the receiving water tank. A weighing device at the bottom of the receiving water tank weighs the receiving water tank and calculates the current flow rate according to the weight and time.

[0022] Furthermore: The side brush detection device includes a first bottom plate. A side brush fixing fixture and a side brush driving mechanism for driving the side brush fixture to move horizontally are arranged on the first bottom plate. A side brush detection component is arranged above the first bottom plate.

[0023] The side brush detection component includes a side brush detection mounting frame. A rotating disk and a first driving motor for driving the rotating disk to rotate are arranged on the side brush detection mounting frame. A plurality of detector mounting frames are arranged at the bottom of the rotating disk, and a plurality of first distance detection sensors for detecting the height of the side brush are arranged on the detector mounting frames.

[0024] Furthermore, the rag motor detection device includes a second base plate, on which a main rag motor fixing fixture and an extended rag motor fixing fixture are provided. Below the second base plate, there is a detector mounting plate, on which a second distance detection sensor and a third distance detection sensor are respectively provided. It also includes a first horizontal driving cylinder for driving the detector mounting plate to move horizontally, so that the second distance detection sensor and the third distance detection sensor can respectively move below the main rag motor and the extended rag motor.

[0025] It also includes a detection shaft mounting bracket, on which a first rotating detection shaft and a second rotating detection shaft are respectively provided. It also includes a first encoder and a second encoder respectively connected to the first rotating detection shaft and the second rotating detection shaft. It also includes a second horizontal driving cylinder for driving the detection shaft mounting bracket to move horizontally and a first lifting driving cylinder for driving the detection shaft mounting bracket to move up and down.

[0026] Furthermore, on one side of the extended rag motor fixing fixture, there is a push plate and a third horizontal driving cylinder for driving the push plate to move horizontally. A pressure sensor is provided between the push plate and the driving end of the third horizontal driving cylinder.

[0027] The main rag motor fixing fixture includes a first profiling support block, a plurality of positioning support rods on one side of the first profiling support block, and a first pressing assembly for pressing the product.

[0028] The extended rag motor fixing fixture includes a second profiling support seat and a second pressing assembly on one side of the second profiling support seat for pressing the product.

[0029] Furthermore, the water outflow rate detection device includes a first frame, on which a first whole machine mounting seat is provided. On one side of the first whole machine mounting seat, there is a clean water tank and a plug mounting plate. An outlet plug is provided on the plug mounting plate. It also includes a fourth horizontal driving cylinder for driving the plug mounting plate to move towards the product. A first connecting pipe is provided between the outlet plug and the clean water tank. A first water pump is provided on the first connecting pipe. Below the first whole machine mounting seat, there is a receiving tank. It also includes a weighing mechanism for weighing the receiving tank. A through hole is provided on the first whole machine mounting seat at the position of the receiving tank, so that the water falling in the sweeping robot directly flows into the receiving tank.

[0030] Furthermore, a return water tank is provided below the first frame. A second connecting pipe is provided between the receiving tank and the return water tank. A second water pump is provided on the second connecting pipe. A third connecting pipe is provided between the return water tank and the clean water tank. A third water pump and a filtering component are provided on the third connecting pipe. A float valve is provided in the clean water tank.

[0031] Furthermore, the performance detection device includes a third bottom plate, on which a performance detection fixture for positioning the sweeping robot is provided. On one side of the performance detection fixture, a first calibration plate is provided. On the other side of the performance detection fixture, a surface light source environment detection component, a step environment detection component, and a checkerboard environment detection component are respectively provided, such that the path scanning end of the sweeping robot faces the surface light source environment detection component, the step environment detection component, and the checkerboard environment detection component.

[0032] Furthermore, the surface light source environment detection component 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 movement are provided;

[0033] The step environment detection component 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 movement are installed. On the step mounting frame, a step is provided, and calibration white boards are provided on both sides and the rear end of the step;

[0034] The checkerboard environment detection component includes a checkerboard fixed on the third bottom plate.

[0035] Furthermore, the performance detection fixture includes a first fixture bottom plate. Above the first fixture bottom plate, a second fixture bottom plate and a servo lifting driving mechanism for driving the second fixture bottom plate to perform lifting movement are provided. On the second fixture bottom plate, a fixture body and a horizontal driving mechanism for driving the fixture body to perform horizontal movement are provided. On the fixture body, a support block and positioning pins for positioning the sweeping robot are provided. A plurality of support plates are circumferentially arranged on the outer side of the fixture body, and wear-resistant materials for abutting against the product are provided on the support plates.

[0036] The beneficial effects of the present invention are:

[0037] 1. In this method, by performing steps such as side brush detection, rag motor detection, water flow rate detection, and performance detection on the sweeping robot, the detection of various functions of the sweeping robot can be realized, thereby ensuring the yield rate of the sweeping robot.

[0038] 2. In this method, by detecting the height when the side brush extends and retracts, it can be detected whether the side brush can accurately perform the extending and retracting movements, thereby realizing the detection of the side brush movement in the simplest way.

[0039] 3. In this method, by detecting the lifting height and rotational force of the rag motor, the yield rate of the rag motor can be detected, thereby ensuring the accuracy of the driving of the rag motor.

[0040] 4. In this method, the water flow rate of the floor sweeping robot is detected by weighing the discharged water, which is simple and efficient. At the same time, through the setting of the filtering component and the water pump, the recycled use of the water discharged from the floor sweeping robot can be realized, ensuring the detection accuracy on the one hand and reducing the waste of water resources on the other hand.

[0041] 5. In this method, the performance detection of the floor sweeping robot is realized by synthesizing the surface light source environment detection, the step environment detection and the checkerboard environment detection at the same station. At the same time, since the position of the floor sweeping robot does not change during the detection, the accuracy and convenience of the detection can be guaranteed. Brief Description of the Drawings

[0042] Figure 1 It is a schematic structural diagram of the side brush detection device in the floor sweeping robot detection method of the embodiment of the present application.

[0043] Figure 2 It is a schematic structural diagram of the side brush detection device in the floor sweeping robot detection method of the embodiment of the present application from another perspective.

[0044] Figure 3 It is a schematic structural diagram of the rag motor detection device in the floor sweeping robot detection method of the embodiment of the present application.

[0045] Figure 4 It is a schematic structural diagram of the rag motor detection device in the floor sweeping robot detection method of the embodiment of the present application from another perspective.

[0046] Figure 5 It is a schematic structural diagram of the water flow rate detection device in the floor sweeping robot detection method of the embodiment of the present application.

[0047] Figure 6 It is a schematic structural diagram of the water flow rate detection device in the floor sweeping robot detection method of the embodiment of the present application from another perspective.

[0048] Figure 7 It is a schematic structural diagram of the performance detection device in the floor sweeping robot detection method of the embodiment of the present application.

[0049] Figure 8 It is a schematic structural diagram of the performance detection device in the floor sweeping robot detection method of the embodiment of the present application from another perspective.

[0050] The labels in the figure are:

[0051] Side brush detection mounting bracket 101, rotating disk 102, first drive motor 103, detector mounting bracket 104, first distance detection sensor 105, first bottom plate 106, side brush fixing jig 107;

[0052] The second bottom plate 201, the main rag motor fixing jig 202, the outward expanding rag motor fixing jig 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 shaft mounting bracket 208, the first rotating detection shaft 209, the second rotating detection shaft 210, the second horizontal driving cylinder 211, the first lifting driving cylinder 212, the third horizontal driving cylinder 213, the push plate 214, the pressure sensor 215;

[0053] The first frame 301, the first whole machine mounting seat 302, the clean water tank 303, the water outlet plug 304, the fourth horizontal driving cylinder 305, the water receiving tank 306, the weighing mechanism 307, the return water tank 308, the filter assembly 309, the float valve 310;

[0054] The third bottom plate 401, the first jig bottom plate 402, the second jig bottom plate 403, the servo lifting driving mechanism 404, the jig body 405, the horizontal driving mechanism 406, the support plate 407, the wear-resistant material 408, the first calibration plate 409, the first lifting mounting bracket 410, the surface light source 411, the second lifting driving cylinder 412, the second lifting mounting bracket 413, the third lifting driving cylinder 414, the step 415, the calibration white board 416, the checkerboard 417. Detailed implementation manners

[0055] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following will describe the detailed implementation manners of the present invention in conjunction with the accompanying drawings.

[0056] The embodiments of the present application disclose a detection method for a sweeping robot, including a side brush detection step of the sweeping robot, a rag motor detection step of the sweeping robot, a whole machine assembly step of the sweeping robot, a water flow rate detection step of the sweeping robot, and a performance detection step of the sweeping robot, wherein:

[0057] It further includes a side brush detection device, and the side brush detection step of the sweeping robot is carried out through the side brush detection device, specifically:

[0058] SA10: The side brush is placed in the side brush fixing jig 107 and moves to the lower part of the side brush detection mechanism;

[0059] SA20: The side brush rotates forward, the side brush is in the extended state, the distance sensor rotates and detects whether the extended height of the side brush is qualified;

[0060] SA30: The side brush rotates reversely, the side brush is in the retracted state, the distance sensor rotates and detects whether the retracted height of the side brush is qualified;

[0061] It further includes a rag motor detection device, and the rag motor detection step of the sweeping robot is carried out through the rag motor detection device, specifically:

[0062] SB10: Place the main wiping cloth motor and the outward-expanding wiping cloth motor on the main fixture and the outward-expanding fixture respectively;

[0063] SB20: Lower the driving ends of the main wiping cloth motor and the outward-expanding wiping cloth motor, and use the distance sensors at the bottoms of the main wiping cloth motor and the outward-expanding wiping cloth motor to detect whether the descending heights of the driving ends of the main wiping cloth motor and the outward-expanding wiping cloth motor are qualified;

[0064] SB30: Extend the rotation detection rods at the lower parts of the main wiping cloth motor and the outward-expanding wiping cloth motor into the driving ends of the main wiping cloth motor and the outward-expanding wiping cloth motor. Rotate the driving ends of the main wiping cloth motor and the outward-expanding wiping cloth motor, and use an encoder to detect whether their rotation speeds are qualified;

[0065] SB40: Use the pushing mechanism on one side of the outward-expanding wiping cloth motor to push the driving end of the outward-expanding wiping cloth motor, and detect whether the thrust of the driving end of the outward-expanding wiping cloth motor is qualified;

[0066] It also includes a water outflow rate detection device. The water outflow rate of the floor sweeping robot is detected by the water outflow rate detection device. Specifically:

[0067] SC10: Perform a water replenishment operation on the water tank of the floor sweeping robot;

[0068] SC20: Control the floor sweeping robot to discharge water so that the water flows into the receiving water tank 306. The weighing device at the bottom of the receiving water tank 306 weighs the receiving water tank 306 and calculates the current flow rate based on the weight and time;

[0069] It also includes a performance detection device. The performance detection steps of the floor sweeping robot are carried out by the performance detection device. Specifically:

[0070] SD10: Place the floor sweeping robot on the performance detection fixture and perform a calibration detection of the position;

[0071] SD20: The front scanning end of the floor sweeping robot scans the surface light source 411, and the floor sweeping robot feeds back the distance data from the surface light source 411;

[0072] SD30: The front scanning end of the floor sweeping robot scans the front step 415, and the floor sweeping robot feeds back the distance data from the front step 415;

[0073] SD40: The front scanning end of the floor sweeping robot scans the front checkerboard 417, and the floor sweeping robot feeds back the distance data from the front checkerboard 417.

[0074] Specifically, when detecting the side brush, only the side brush parts are separately detected. When detecting the mopping motor, only the mopping motor parts are separately detected. Then, the qualified side brush parts, mopping motor parts, and the body shell, control component, water tank, radar, and other mechanisms of the sweeping robot are assembled to form the whole sweeping robot. The specific assembly steps are the same as those in the prior art and will not be elaborated here. After the whole machine is assembled, subsequent water flow rate detection and overall performance detection are carried out, thus completing the detection operation of the whole sweeping robot.

[0075] In this method, the individual parts are separately detected first and then assembled into a whole machine. On the one hand, it can ensure the detection efficiency, and on the other hand, it can ensure the yield rate of the assembled whole machine.

[0076] In this embodiment, the side brush detection device includes a first base plate 106. A side brush fixing fixture 107 and a side brush driving mechanism for driving the side brush fixture to move horizontally are arranged on the first base plate 106. A side brush detection component is arranged above the first base plate 106.

[0077] The side brush detection component includes a side brush detection mounting frame 101. A rotating disk 102 and a first driving motor 103 for driving the rotating disk 102 to rotate are arranged on the side brush detection mounting frame 101. A plurality of detector mounting frames 104 are arranged at the bottom of the rotating disk 102. A plurality of first distance detection sensors 105 for detecting the height of the side brush are arranged on the detector mounting frames 104.

[0078] When specifically detecting, the side brush parts are placed into the side brush fixing fixture 107. Then, the side brush driving mechanism drives the side brush fixture to move below the detector mounting frame 104. Next, the side brush rotates forward, and at this time, the side brush is in the extended state. The first driving motor 103 drives the rotating disk 102 to rotate. At this time, the first distance detection sensors 105 rotate. The plurality of first distance detection sensors 105 detect the extended height of the side brush during the rotation process. Whether the extended height of the side brush meets the specifications is judged by the detected distance between the first distance detection sensors 105 and the side brush. Then, the side brush rotates backward, and at this time, the side brush is in the retracted state. Similarly, whether the retracted height of the side brush meets the specifications is judged by the detected distance between the first distance detection sensors 105 and the side brush.

[0079] In this structure, whether the side brush can accurately extend and retract is detected by detecting the height of the side brush when it extends and retracts, so that the detection of the side brush movement can be realized in the simplest way.

[0080] 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 extended rag motor fixing fixture 203 are provided. Below the second bottom plate 201, there is a detector mounting plate 204, on which a second distance detection sensor 205 and a third distance detection sensor 206 are respectively provided. It also includes a first horizontal driving cylinder 207 for driving the detector mounting plate 204 to move horizontally, so that the second distance detection sensor 205 and the third distance detection sensor 206 can respectively move below the main rag motor and the extended rag motor.

[0081] It also includes a detection shaft mounting frame 208, on which a first rotation detection shaft 209 and a second rotation detection shaft 210 are respectively provided. It also includes a first encoder and a second encoder respectively connected to the first rotation detection shaft 209 and the second rotation detection shaft 210. It also includes a second horizontal driving cylinder 211 for driving the detection shaft mounting frame 208 to move horizontally and a first lifting driving cylinder 212 for driving the detection shaft mounting frame 208 to move vertically.

[0082] It should be explained that both the main rag motor and the extended rag motor here are power components on the floor sweeping robot. When the floor sweeping robot is working, rags will be installed on the driving parts of the main rag motor and the extended rag motor. The driving ends of the main rag motor and the extended rag motor will descend a certain distance so that the rags can contact the ground. Then the main rag motor and the extended rag motor will rotate reciprocally, making the rags wipe the ground. The above actions are the conventional actions of the floor sweeping robot, so their descending distances and rotation ranges need to comply with the design regulations.

[0083] Specifically, during the detection, the main wiping cloth motor is placed on the main wiping cloth motor fixing fixture 202, and the outward expanding wiping cloth motor is placed on the outward expanding wiping cloth motor fixing fixture 203. Then, the first horizontal driving cylinder 207 drives the detector mounting plate 204 to move forward, so that the second distance detection sensor 205 and the third distance detection sensor 206 respectively move below the driving ends of the main wiping cloth motor and the outward expanding wiping cloth motor. The driving ends of the main wiping cloth motor and the outward expanding wiping cloth motor perform lifting movements. The second distance detection sensor 205 and the third distance detection sensor 206 detect whether the lifting heights of the driving ends of the wiping cloth motor and the outward expanding wiping cloth motor meet the specified requirements. After the detection is completed, the first horizontal driving cylinder 207 drives the detector mounting plate 204 to retract. Then, the second horizontal driving cylinder 211 drives the detection shaft mounting bracket 208 to perform a horizontal movement, so that the first rotating detection shaft 209 and the second rotating detection shaft 210 move below the driving ends of the main wiping cloth motor and the outward expanding wiping cloth motor. Then, the first lifting driving cylinder 212 drives the detection shaft mounting bracket 208 to rise, so that the first rotating detection shaft 209 extends into the driving end of the main wiping cloth motor, and the second rotating detection shaft 210 extends into the driving end of the outward expanding wiping cloth motor. Then, the driving ends of the main wiping cloth motor and the outward expanding wiping cloth motor perform rotational movements, and the rotational drives of the main wiping cloth motor and the outward expanding wiping cloth motor are detected through 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.

[0084] In this structure, the lifting and rotating detection of the main wiping cloth motor and the outward expanding wiping cloth motor can be realized through the settings of the distance detection sensor, the rotating shaft and the encoder. This detection method is simple and practical, and has good detection effects at the same time.

[0085] In this embodiment, a push plate 214 and a third horizontal driving cylinder 213 for driving the push plate 214 to perform a horizontal movement are arranged on one side of the outward expanding wiping cloth motor fixing fixture 203, and a pressure sensor 215 is arranged between the push plate 214 and the driving end of the third horizontal driving cylinder 213.

[0086] When it is necessary to detect the horizontal movement of the outward expanding wiping cloth 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 wiping cloth motor to perform a horizontal lateral movement. During the pushing process, the pressure detection sensor acquires the current pushing pressure, and judges the smoothness of the current horizontal movement of the outward expanding wiping cloth motor through the data detected by the pressure detection sensor.

[0087] In the above structure, the horizontal movement of the outward expanding wiping cloth motor can be detected through the setting of the pressure detection sensor. The structure is simple and the detection accuracy is high.

[0088] In this embodiment, the main rag motor fixing jig 202 includes a first profiling support block, a plurality of positioning support rods located on one side of the first profiling support block, and a first pressing assembly for pressing the product.

[0089] The outer expanding rag motor fixing jig 203 includes a second profiling support base and a second pressing assembly located on one side of the second profiling support base for pressing the product.

[0090] Specifically, when fixing the main rag motor, place the main rag motor on the first profiling support block, and at the same time insert the plurality of positioning support rods into the positioning holes of the main rag motor. Then, use the first pressing assembly to press the main rag motor. Similarly, when fixing the outer expanding rag motor, place the outer expanding rag motor on the second profiling support base and press the outer expanding rag motor through the second pressing assembly.

[0091] In the above structure, through the setting of the profiling support block and the pressing assembly, accurate positioning and fixing of the main rag motor and the outer expanding rag motor can be achieved, thus ensuring the accuracy of subsequent height detection and rotation detection.

[0092] In this embodiment, the water outflow rate detection device includes a first frame 301. A first whole machine mounting seat 302 is arranged on the first frame 301. A water tank 303 and a plug mounting plate are arranged on one side of the first whole machine mounting seat 302. An outlet plug 304 is arranged on the plug mounting plate. It further includes a fourth horizontal driving cylinder 305 for driving the plug mounting plate to move towards the product. A first connecting pipe is arranged between the outlet plug 304 and the water tank 303. A first water pump is arranged on the first connecting pipe. A receiving tank 306 is arranged below the first whole machine mounting seat 302. It further includes a weighing mechanism 307 for weighing the receiving tank 306. A through hole is arranged on the first whole machine mounting seat 302 at the position of the receiving tank 306, so that the water falling in the sweeping robot directly flows into the receiving tank 306.

[0093] Specifically, when performing the detection, place the whole sweeping robot on the first whole machine mounting seat 302. The fourth horizontal driving cylinder 305 drives the plug mounting plate to move towards the product, so that the outlet plug 304 is inserted into the water replenishing port of the whole sweeping robot. The first water pump works to replenish the water in the water tank 303 into the water tank of the sweeping robot. The sweeping robot starts, the water outlet at the bottom of the sweeping robot performs a water outlet operation and starts timing. The water in the sweeping robot flows into the receiving tank 306. The weighing device at the bottom of the receiving tank 306 weighs the receiving tank 306 and calculates the current flow rate according to the weight and time.

[0094] 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.

[0095] 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 tank 306 and the return water tank 308. A second water pump is arranged on the second connecting pipe. A third connecting pipe is further arranged between the return water tank 308 and the clean water tank 303. A third water pump and a filtering component 309 are arranged on the third connecting pipe. A float valve 310 is arranged in the clean water tank 303.

[0096] Specifically, after the detection is completed, in order to ensure the accuracy of 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 volume in the water receiving tank 306 is zero. When the float valve 310 in the clean water tank 303 detects that the water volume is insufficient, the third water pump works to supplement the water in the return water tank 308 to the clean water tank 303. When the set water level is reached, the third water pump stops working.

[0097] In this structure, through the setting of the return water tank 308, it can be ensured that when a new floor sweeping robot is detected, the liquid volume in the water receiving tank 306 is zero, thereby ensuring the accuracy of subsequent detection. At the same time, when the water in the return water tank 308 is supplemented to the clean water tank 303, it will pass through the filtering of the filtering component 309, thereby ensuring the cleanliness of the water flowing back to the clean water tank 303. This method can ensure the accuracy of subsequent detection on the premise of saving water resources.

[0098] In this embodiment, the performance detection device includes a third bottom plate 401. A performance detection fixture for positioning the floor sweeping robot is arranged on the third bottom plate 401. A first calibration plate 409 is arranged on one side of the performance detection fixture. 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 floor sweeping robot faces the surface light source environment detection component, the step environment detection component, and the checkerboard environment detection component.

[0099] Specifically, during the detection, the whole floor cleaning robot is placed on the performance detection fixture. The radar installed on the side of the floor cleaning robot scans the first calibration board 409 and feeds back whether the distance between it and the first calibration board 409 is the set value. If it is the set value, it means that the position of the floor cleaning robot is accurate. Then, the front scanning end of the floor cleaning robot scans the surface light source 411, and the floor cleaning robot feeds back whether the distance data from the surface light source 411 is the set value. Then, the front scanning end of the floor cleaning robot scans the front step 415, and the floor cleaning robot feeds back whether the distance data from the front step 415 is the set value; finally, the front scanning end of the floor cleaning robot scans the front checkerboard 417, and the floor cleaning robot feeds back whether the distance data from the front checkerboard 417 is the set value.

[0100] In this method, the performance detection of the floor cleaning robot is realized by synthesizing the environment detection of the surface light source 411, the environment detection of the step 415, and the environment detection of the checkerboard 417 in the same station. At the same time, since the position of the floor cleaning robot does not change during the detection, the accuracy and convenience of the detection can be guaranteed.

[0101] In this embodiment, the surface light source environment detection component includes a first lifting mounting frame 410. A surface light source 411 and a second lifting driving cylinder 412 for driving the surface light source 411 to move up and down are arranged on the first lifting mounting frame 410;

[0102] The step environment detection component includes a second lifting mounting frame 413. A step mounting frame and a third lifting driving cylinder 414 for driving the step mounting frame to move up and down are installed on the second lifting mounting frame 413. A step 415 is arranged on the step mounting frame, and calibration white boards 416 are arranged on both sides and the rear end of the step 415;

[0103] The checkerboard environment detection component includes a checkerboard 417 fixed on the third bottom plate 401.

[0104] Specifically, after the environment detection of the surface light source 411 is completed, the second lifting driving cylinder 412 drives the surface light source 411 to descend, so that the rear step 415 is exposed within the sight range of the floor cleaning robot. When the detection of the step 415 is completed, the third lifting driving cylinder 414 drives the step mounting frame to rise, so that the checkerboard 417 behind the step mounting frame is exposed within the sight range of the floor cleaning robot, and thus the detection of the three environments can be realized.

[0105] In this embodiment, the performance detection fixture includes a first fixture base plate 402. Above the first fixture base plate, a second fixture base plate 403 and a servo lifting drive mechanism 404 for driving the second fixture base plate 403 to move up and down are provided. On the second fixture base plate 403, a fixture body 405 and a horizontal drive mechanism 406 for driving the fixture body 405 to move horizontally are provided. On the fixture body 405, a support block and a positioning pin for positioning the sweeping robot are provided. A plurality of support plates 407 are circumferentially arranged outside the fixture body 405, and wear-resistant materials 408 for abutting against the product are provided on the support plates 407.

[0106] Specifically, when performing the detection, after placing the sweeping robot on the fixture body 405, the four sides of the sweeping robot can abut against the wear-resistant materials 408 on the support plates 407 to ensure the stability of the entire sweeping robot. At the same time, before performing the complete detection, the position of the fixture body 405 needs to be adjusted first. When adjusting, a sweeping robot can be placed first, and by using the radar of the sweeping robot itself in cooperation with the first calibration plate 409 and the second calibration plate, the position of the fixture body 405 is adjusted through the horizontal drive mechanism 406 and the servo lifting drive mechanism, so that the fixture body 405 is adjusted to the set position. After the position of the fixture body 405 is adjusted, the position of the fixture body 405 does not need to be adjusted again subsequently.

[0107] The above structure can adjust the position of the sweeping robot according to the test requirements, thereby ensuring the accuracy of the detection.

[0108] The above specific embodiments have further elaborated on the purpose, technical solutions, and beneficial effects of the present invention. It should be understood that the above are only specific embodiments of the present invention and are not used to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for detecting a floor cleaning robot, characterized in that, Including the side brush detection step of the floor sweeping robot, the rag motor detection step of the floor sweeping robot, the whole machine assembly step of the floor sweeping robot, the water flow rate detection step of the floor sweeping robot, and the performance detection step of the floor sweeping robot, where: It also includes a side brush detection device, and the side brush detection step of the floor sweeping robot is carried out through the side brush detection device. Specifically: SA10: Place the side brush in the side brush fixing jig (107) and move it to the lower part of the side brush detection mechanism; SA20: The side brush rotates forward, the side brush is in the extended state, the distance sensor rotates and detects whether the extended height of the side brush is qualified; SA30: The side brush rotates backward, the side brush is in the retracted state, the distance sensor rotates and detects whether the retracted height of the side brush is qualified; It also includes a rag motor detection device, and the rag motor detection step of the floor sweeping robot is carried out through the rag motor detection device. Specifically: SB10: Place the main rag motor and the extended rag motor on the main jig and the extended jig respectively; SB20: The driving ends of the main rag motor and the extended rag motor descend, and the distance sensors at the bottoms of the main rag motor and the extended rag motor detect whether the descending heights of the driving ends of the main rag motor and the extended rag motor are qualified; SB30: The rotating detection rods at the lower parts of the main rag motor and the extended rag motor extend into the driving ends of the main rag motor and the extended rag motor, and the driving ends of the main rag motor and the extended rag motor rotate, and the encoder detects whether their rotation speeds are qualified; SB40: The pushing mechanism on one side of the extended rag motor pushes the driving end of the extended rag motor to detect whether the thrust of the driving end of the extended rag motor is qualified; It also includes a performance detection device, and the performance detection step of the floor sweeping robot is carried out through the performance detection device. Specifically: SD10: Place the floor sweeping robot on the performance detection jig and perform calibration detection of the position; SD20: The front scanning end of the floor sweeping robot scans the surface light source (411), and the floor sweeping robot feeds back the distance data from the surface light source (411); SD30: The front scanning end of the floor sweeping robot scans the front step (415), and the floor sweeping robot feeds back the distance data from the front step (415); SD40: The front scanning end of the floor sweeping robot scans the front checkerboard (417), and the floor sweeping robot feeds back the distance data from the front checkerboard (417).

2. The floor sweeping robot detection method according to claim 1, wherein, It also includes a water flow rate detection device, and the water flow rate detection of the floor sweeping robot is carried out through the water flow rate detection device. Specifically: SC10: Perform a water replenishment operation on the water tank of the floor sweeping robot; SC20: Control the floor sweeping robot to discharge water so that the water flows into the receiving water tank (306), and the weighing device at the bottom of the receiving water tank (306) weighs the receiving water tank (306) and calculates the current flow rate according to the weight and time.

3. The floor sweeping robot detection method according to claim 1, wherein, The side brush detection device includes a first bottom plate (106), a side brush fixing jig (107) is arranged on the first bottom plate (106), and a side brush driving mechanism for driving the side brush jig to move horizontally, and a side brush detection component is arranged above the first bottom plate (106); The side brush detection component includes a side brush detection mounting bracket (101). A rotating disk (102) and a first driving motor (103) for driving the rotating disk (102) to rotate are arranged on the side brush detection mounting bracket (101). A plurality of detector mounting brackets (104) are arranged at the bottom of the rotating disk (102). A plurality of first distance detection sensors (105) for detecting the height of the side brush are arranged on the detector mounting brackets (104).

4. The floor sweeping robot detection method according to claim 1, wherein, The rag motor detection device includes a second bottom plate (201). A main rag motor fixing fixture (202) and an extended rag 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). It further includes a first horizontal driving cylinder (207) for driving the detector mounting plate (204) to move horizontally, so that the second distance detection sensor (205) and the third distance detection sensor (206) can respectively move below the main rag motor and the extended rag motor; It further includes a detection shaft mounting bracket (208). A first rotation detection shaft (209) and a second rotation detection shaft (210) are respectively arranged on the detection shaft mounting bracket (208). It further includes a first encoder and a second encoder respectively connected to the first rotation detection shaft (209) and the second rotation detection shaft (210). It further includes a second horizontal driving cylinder (211) for driving the detection shaft mounting bracket (208) to move horizontally and a first lifting driving cylinder (212) for driving the detection shaft mounting bracket (208) to move up and down.

5. The floor sweeping robot detection method according to claim 4, wherein A push plate (214) and a third horizontal driving cylinder (213) for driving the push plate (214) to move horizontally are arranged on one side of the extended rag motor fixing fixture (203). A pressure sensor (215) is arranged between the push plate (214) and the driving end of the third horizontal driving cylinder (213); The main rag motor fixing fixture (202) includes a first profiling support block, a plurality of positioning support rods on one side of the first profiling support block, and a first pressing component for pressing the product; The extended rag motor fixing fixture (203) includes a second profiling support seat and a second pressing component for pressing the product on one side of the second profiling support seat.

6. The floor sweeping robot detection method according to claim 2, wherein, The water outlet flow rate detection device includes a first frame (301). A first whole machine mounting base (302) is provided on the first frame (301). A water tank (303) and a plug mounting plate are provided on one side of the first whole machine mounting base (302). A water outlet plug (304) is provided on the plug mounting plate. It further includes a fourth horizontal driving cylinder (305) for driving the plug mounting plate to move towards the product. A first connecting pipe is provided between the water outlet plug (304) and the water tank (303). A first water pump is provided on the first connecting pipe. A receiving water tank (306) is provided below the first whole machine mounting base (302). It further includes a weighing mechanism (307) for weighing the receiving water tank (306). A through hole is provided at the position of the receiving water tank (306) on the first whole machine mounting base (302), so that the water falling from the sweeping robot directly flows into the receiving water tank (306).

7. The floor sweeping robot detection method according to claim 6, wherein A return water tank (308) is provided below the first frame (301). A second connecting pipe is provided between the receiving water tank (306) and the return water tank (308). A second water pump is provided on the second connecting pipe. A third connecting pipe is further provided between the return water tank (308) and the water tank (303). A third water pump and a filtering component (309) are provided on the third connecting pipe. A float valve (310) is provided in the water tank (303).

8. The floor sweeping robot detection method according to claim 1, characterized in that, The performance detection device includes a third bottom plate (401). A performance detection fixture for positioning the sweeping robot is provided on the third bottom plate (401). A first calibration plate (409) is provided on one side of the performance detection fixture. A surface light source environment detection component, a step environment detection component, and a checkerboard environment detection component are respectively provided 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 checkerboard environment detection component.

9. The floor sweeping robot detection method according to claim 8, wherein, The surface light source environment detection component includes a first lifting mounting frame (410). A surface light source (411) and a second lifting driving cylinder (412) for driving the surface light source (411) to perform lifting movement are provided on the first lifting mounting frame (410). The step environment detection component includes a second lifting mounting frame (413). A step mounting frame and a third lifting driving cylinder (414) for driving the step mounting frame to perform lifting movement are mounted on the second lifting mounting frame (413). A step (415) is provided on the step mounting frame. Calibration white boards (416) are provided on both sides and the rear end of the step (415). The checkerboard environment detection component includes a checkerboard (417) fixed on the third bottom plate (401).

10. The floor sweeping robot detection method according to claim 9, wherein The performance detection fixture includes a first fixture bottom plate (402). Above the first fixture bottom plate, a second fixture bottom plate (403) and a servo lifting drive mechanism (404) for driving the second fixture bottom plate (403) to perform lifting motion are provided. A fixture body (405) and a horizontal drive mechanism (406) for driving the fixture body (405) to perform horizontal motion are provided on the second fixture bottom plate (403). A support block and positioning pins for positioning the sweeping robot are provided on the fixture body (405). A plurality of support plates (407) are circumferentially arranged outside the fixture body (405). Wear-resistant materials (408) for abutting against the product are provided on the support plates (407).

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