Intelligent mowing robot test equipment and test method thereof

Abstract

The invention discloses intelligent mowing robot testing equipment and a testing method thereof.The intelligent mowing robot testing equipment comprises a workbench, a testing base is arranged on the workbench, a mowing robot is placed on the testing base, the intelligent mowing robot testing equipment further comprises a button testing assembly, two sets of collision testing assemblies and a three-axis electrical parameter module, the button testing assembly is arranged on one side of the testing base, and the two sets of collision testing assemblies are arranged on the other side of the testing base; the collision testing assemblies are arranged at the front end and the rear end of the testing base respectively, the three-axis electrical parameter module is arranged on the testing base, the button testing assembly is used for testing whether a button of the mowing robot can be normally started or not, and the collision testing assemblies are used for testing the collision function of the mowing robot. The three-axis electrical parameter module is used for testing information of a wheel set and a cutter head of the mowing robot. According to the scheme, the mowing robot is tested in sequence through the button testing assembly, the two collision testing assemblies and the three-axis electrical parameter module, so that the testing efficiency of the mowing robot is effectively improved, and the testing process of the mowing robot is simplified.

Description

Technical Field

[0001] The present invention relates to automated equipment, and particularly to a testing device for an intelligent lawn mowing robot and a testing method thereof. Background Art

[0002] With the development of technology and the continuous progress of automation technology, intelligent lawn mowing robots have gradually become important equipment in the modern horticulture and agriculture fields. They achieve automatic trimming of lawns through autonomous navigation, precise control, and intelligent algorithms, greatly reducing the manual labor intensity and improving work efficiency. Especially in home, commercial parks, and agricultural applications, the demand for intelligent lawn mowing robots continues to grow. However, with the increasing complexity of the usage environment and the continuous operation of the equipment, the performance and reliability of intelligent lawn mowing robots have gradually become the core issues of concern during use. At present, the intelligent lawn mowing robots can only be tested manually or semi-manually, and the operation is relatively complex and inefficient during the testing process. Therefore, improvements are needed. Summary of the Invention

[0003] Aiming at the defects in the prior art such as the relatively complex and inefficient testing of intelligent lawn mowing robots, the present invention provides a new testing device for an intelligent lawn mowing robot and a testing method thereof.

[0004] To solve the above technical problems, the present invention is achieved through the following technical solutions:

[0005] A testing device for an intelligent lawn mowing robot includes a workbench, a testing base is provided on the workbench, the lawn mowing robot is placed on the testing base, and further includes a button testing component, two sets of collision testing components, and a three-axis electrical parameter module. The button testing component is arranged on one side of the testing base, the collision testing components are respectively arranged at the front end and the rear end of the testing base, the three-axis electrical parameter module is arranged on the testing base. The button testing component is used to test whether the buttons of the lawn mowing robot can be started normally, the collision testing components are used to test the collision function of the lawn mowing robot, and the three-axis electrical parameter module is used to test the wheel set and cutter head information of the lawn mowing robot.

[0006] In this solution, by installing the lawn mowing robot on the testing base of the workbench and sequentially testing the lawn mowing robot through the button testing component, two sets of collision testing components, and the three-axis electrical parameter module, the testing efficiency of the lawn mowing robot is effectively improved and the testing process of the lawn mowing robot is simplified.

[0007] Preferably, for the above-mentioned intelligent lawn mowing robot testing device, the button testing component includes a robotic arm bracket, a support rod, a rotary cylinder, and a buffer. An installation space is provided on the robotic arm bracket, and the rotary cylinder is installed in the installation space. The rear end of the support rod is connected to the driving shaft of the rotary cylinder, and buffers are provided corresponding to the starting position and the ending position of the rotation of the support rod.

[0008] Preferably, for the above-mentioned intelligent lawn mowing robot testing device, the button testing component further includes a plurality of mini cylinders acting on the upper buttons of the lawn mowing robot and a pressing cylinder for pressing and fixing the lawn mowing robot. The mini cylinders and the pressing cylinder are both provided at the front end of the support rod, and a pressing head is provided on the driving shaft of the pressing cylinder.

[0009] Preferably, for the above-mentioned intelligent lawn mowing robot testing device, the three-axis electrical parameter module includes a PCB main control board and a self-resetting wheel speed measurement module. A cutter head clearance area is provided on the test base, and the PCB main control board is installed in the cutter head clearance area. The self-resetting wheel speed measurement modules are provided on both sides of the test base.

[0010] Preferably, for the above-mentioned intelligent lawn mowing robot testing device, the self-resetting wheel speed measurement module includes a transmission wheel, a rotary encoder, and a reset spring. The rotary encoder is provided at the rear end of the test base. The transmission wheel is connected to the rotary encoder and is matched with the wheel set of the lawn mowing robot. An installation seat is provided near the rear end of the test base. A connecting rod is provided on the installation seat, and the connecting rod is arranged between the rotary encoder and the transmission wheel. The reset spring is provided on the installation seat, and the upper end of the reset spring is matched with the connecting rod, and the lower end of the reset spring is matched with the installation seat.

[0011] Preferably, for the above-mentioned intelligent lawn mowing robot testing device, the three-axis electrical parameter module further includes an analog battery pack and at least two photoelectric sensors. A battery pack installation area is provided at the rear end of the test base, and the analog battery pack is installed in the battery pack installation area. The photoelectric sensors are installed in the cutter head clearance area.

[0012] Preferably, for the above-mentioned intelligent lawn mowing robot testing device, the collision testing component includes an up-and-down motion cylinder and a front-and-back motion cylinder. The front-and-back motion cylinder is provided at the driving end of the up-and-down motion cylinder.

[0013] Preferably, the above-mentioned intelligent lawn mowing robot testing device further includes a first fulcrum and a second fulcrum. Fixed seats are respectively arranged at the lower ends of both sides of the workbench. The first fulcrum and the second fulcrum are connected by a rotating main shaft, and a driving motor is also arranged near the position of the first fulcrum or the second fulcrum. The driving end of the driving motor is connected to the rotating main shaft.

[0014] Preferably, the above-mentioned intelligent lawn mowing robot testing method includes the following steps: Step 1: Install the lawn mowing robot to be tested on the testing base, then turn it on and enter the testing mode; Step 2: Start the button testing component to simulate fingers to input instructions to the lawn mowing robot; Step 3: Start the self-resetting wheel speed measurement module in the three-axis electrical parameter module to test the wheel group speed and rotation direction data of the lawn mowing robot; Step 4: Start the PCB main control board in the three-axis electrical parameter module to detect the cutter head information of the lawn mowing robot; Step 5: Start the collision testing component to conduct collision tests on the front end and the rear end of the lawn mowing robot respectively; Step 6: Drive the workbench to tilt through the rotating main shaft of the first fulcrum and the second fulcrum, so as to conduct tilt and overturn tests on the lawn mowing robot; Step 7: Start the button testing component and press the emergency stop button of the lawn mowing robot to detect whether the lawn mowing robot can perform an emergency stop in any of the testing states in Step 2 and Step 6; The order of Step 2 to Step 6 can be freely switched and combined.

[0015] The present invention has the following advantages through the improvement of the above structure:

[0016] This application has the advantage of fully automatic testing compared with traditional manual or semi-manual testing. Among them, the lawn mowing robot is installed on the testing base of the workbench, and the button testing component, two sets of collision testing components and the three-axis electrical parameter module are used to test the lawn mowing robot in turn to test the performance and reliability of the lawn mowing robot. And in this solution, through the cooperation between each testing component, the testing efficiency of the lawn mowing robot can be effectively improved and the testing process of the lawn mowing robot can be simplified. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a three-dimensional structural schematic diagram of the lawn mowing robot of the present invention installed on the workbench;

[0018] Figure 2 It is a three-dimensional structural schematic diagram of the three-axis electrical parameter module of the present invention;

[0019] Figure 3 It is a three-dimensional structural schematic diagram when the button testing component of the present invention is working Figure 1 ;

[0020] Figure 4 It is a three-dimensional structural schematic diagram when the button testing component of the present invention is working Figure 2 ;

[0021] Figure 5 It is a three-dimensional structural schematic diagram when the front collision test component of the present invention is working;

[0022] Figure 6 It is a three-dimensional structural schematic diagram when the rear collision test component of the present invention is working;

[0023] Figure 7 It is a three-dimensional structural schematic diagram when the first fulcrum and the second fulcrum of the present invention drive the workbench to rotate Figure 1 ;

[0024] Figure 8 It is a three-dimensional structural schematic diagram when the first fulcrum and the second fulcrum of the present invention drive the workbench to rotate Figure 2 。

[0025] Reference numerals in the drawings: 1. Workbench; 2. Lawn mowing robot; 11. Test base; 3. Button test component; 4. Collision test component; 5. Three-axis electrical parameter module; 31. Robotic arm bracket; 32. Support rod; 33. Rotary cylinder; 34. Buffer; 311. Installation space; 34. Buffer; 35. Mini cylinder; 36. Pressing cylinder; 361. Pressing head; 51. PCB main control board; 52. Self-resetting wheel speed measurement module; 111. Tool disc clearance area; 52. Speed measurement module; 521. Driving wheel; 522. Rotary encoder; 523. Reset spring; 11. Test base; 112. Mounting seat; 1121. Connecting rod; 53. Simulated battery pack; 54. Photoelectric sensor; 113. Battery pack installation area; 41. Up and down movement cylinder; 42. Front and back movement cylinder; 6. First fulcrum; 7. Second fulcrum; 13. Fixed seat; 9. Driving motor; 8. Rotary main shaft. Specific embodiments

[0026] The following combines the attached Figure 1-8 and specific embodiments to further describe the present invention in detail, but they are not limitations to the present invention:

[0027] Embodiment 1

[0028] As Figure 1 、 Figure 2 、 Figure 3As shown in the figure, an intelligent lawn mowing robot testing device includes a workbench 1. A testing base 11 is provided on the workbench 1. The lawn mowing robot 2 is placed on the testing base 11. The device further includes a button testing component 3, two sets of collision testing components 4, and a three-axis electrical parameter module 5. The button testing component 3 is arranged on one side of the testing base 11. The collision testing components 4 are respectively arranged at the front end and the rear end of the testing base 11. The three-axis electrical parameter module 5 is arranged on the testing base 11. The button testing component 3 is used to test whether the buttons of the lawn mowing robot 2 can be started normally. The collision testing components 4 are used to test the collision function of the lawn mowing robot 2. The three-axis electrical parameter module 5 is used to test the wheel set and cutter head information of the lawn mowing robot 2.

[0029] Preferably, the button testing component 3 includes a robotic arm bracket 31, a support rod 32, a rotary cylinder 33, and a buffer 34. An installation space 311 is provided on the robotic arm bracket 31. The rotary cylinder 33 is installed in the installation space 311. The rear end of the support rod 32 is connected to the drive shaft of the rotary cylinder 33, and buffers 34 are arranged corresponding to the starting position and the ending position of the rotation of the support rod 32.

[0030] Preferably, the button testing component 3 further includes a number of mini cylinders 35 acting on the upper buttons of the lawn mowing robot 2 and a pressing cylinder 36 for pressing and fixing the lawn mowing robot 2. The mini cylinders 35 and the pressing cylinder 36 are both arranged at the front end of the support rod 32. A pressing head 361 is provided on the drive shaft of the pressing cylinder 36.

[0031] Specifically, the rotary cylinder 33 in the above structure can drive the support rod 32 to rotate left or right by a maximum of 180 degrees, and the buffer 34 can buffer the support rod 32 when rotating to the maximum value.

[0032] More specifically, when the button testing component 3 is working, first the rotary cylinder 33 drives the support rod 32 to rotate, so that the mini cylinders 35 and the pressing cylinder 36 on the support rod 32 are located above the lawn mowing robot 2. Then the pressing cylinder 36 presses down to fix the lawn mowing robot 2. Then the mini cylinders 35 sequentially conduct button tests on the lawn mowing robot 2. After the tests are completed, the rotary cylinder 33 drives the support rod 32 to return to its original position.

[0033] As Figure 4 shown, the three-axis electrical parameter module 5 includes a PCB main control board 51 and a self-resetting wheel speed measurement module 52. A cutter head clearance area 111 is opened on the testing base 11. The PCB main control board 51 is installed in the cutter head clearance area 111. The self-resetting wheel speed measurement modules 52 are arranged on both sides of the testing base 11.

[0034] Specifically, the PCB main control board 51 in the above structure is mainly used to collect information on the left and right wheels of the mowing robot 2 and the three axes of the cutter head motor, so as to calculate the corresponding rotational speed and rotation direction of the mowing robot 2;

[0035] And setting the PCB main control board 51 in the cutter head clearance area 111 can effectively improve the waterproof and moisture-proof effects of the PCB main control board 51, thereby extending the service life of the PCB main control board 51.

[0036] Preferably, the self-resetting wheel speed measurement module 52 includes a transmission wheel 521, a rotary encoder 522 and a reset spring 523. The rotary encoder 522 is provided at the rear end of the test base 11. The transmission wheel 521 is connected to the rotary encoder 522, and the transmission wheel 521 cooperates with the wheel set of the mowing robot 2. An installation seat 112 is provided near the rear end position of the test base 11. A connecting rod 1121 is provided on the installation seat 112. The connecting rod 1121 is arranged between the rotary encoder 522 and the transmission wheel 521. The reset spring 523 is provided on the installation seat 112, and the upper end of the reset spring 523 cooperates with the connecting rod 1121, and the lower end of the reset spring 523 cooperates with the installation seat 112.

[0037] Specifically, the rotary encoder 522 in the above structure is a high-resolution rotary encoder 522, which has the advantages of high test efficiency and high test accuracy compared with conventional single-pulse induction;

[0038] And the reset spring 523 can ensure stable and continuous transmission between the transmission wheel 521 and the left and right wheels of the mowing robot 2.

[0039] Preferably, the three-axis electrical parameter module 5 further includes an analog battery pack 53 and at least two photoelectric sensors 54. A battery pack installation area 113 is opened at the rear end of the test base 11. The analog battery pack 53 is installed in the battery pack installation area 113, and the photoelectric sensors 54 are installed in the cutter head clearance area 111.

[0040] Specifically, the corresponding analog battery pack 53 can be replaced according to different mowing robots 2.

[0041] More specifically, when the three-axis electrical parameter module 5 is testing, the rotary encoder 522 respectively collects the rotational speed and rotation direction data of the left and right wheels of the mowing robot 2, and the two photoelectric sensors 54 simultaneously emit photoelectric signals to detect blade signals or non-blade signals, and transmit the collected rotational speed and rotation direction data of the left and right wheels and the blade signals or non-blade signals to the PCB main control board 51.

[0042] Such as Figure 5 、Figure 6 As shown, the collision test assembly 4 includes an up-and-down moving cylinder 41 and a front-and-back moving cylinder 42, and the front-and-back moving cylinder 42 is arranged on the driving end of the up-and-down moving cylinder 41.

[0043] Specifically, during the test, the collision test assembly 4 first drives the front-and-back moving cylinder 42 to rise by the up-and-down moving cylinder 41, and then the front-and-back moving cylinder 42 outputs towards the lawn mowing robot 2 to detect the anti-collision functions of the front end and the rear end of the lawn mowing robot 2.

[0044] As Figure 7 、 Figure 8 shown, it further includes a first fulcrum 6 and a second fulcrum 7. Fixed seats 13 are respectively arranged at the lower ends of both sides of the workbench 1. The first fulcrum 6 and the second fulcrum 7 are connected by a rotating main shaft 8, and a driving motor 9 is also arranged near the position of the first fulcrum 6 or the second fulcrum 7. The driving end of the driving motor 9 is connected to the rotating main shaft 8.

[0045] Specifically, the driving motor 9 in the above structure drives the rotating main shaft 8 to rotate, so that the first fulcrum 6 and the second fulcrum 7 drive the lawn mowing robot 2 to rotate to detect whether the lawn mowing robot 2 can stop working when the lawn mowing robot 2 tilts or capsizes.

[0046] An intelligent lawn mowing robot test method, which is applicable to the above intelligent lawn mowing robot test equipment, and the test method includes the following steps:

[0047] Step 1: Install the lawn mowing robot 2 to be tested on the test base 11 and then turn on the machine and enter the test mode; Step 2: Start the button test assembly 3 to simulate finger input commands to the lawn mowing robot 2; Step 3: Start the self-resetting wheel speed measurement module 52 in the three-axis electrical parameter module 5 to test the wheel set speed and rotation direction data of the lawn mowing robot 2; Step 4: Start the PCB main control board 51 in the three-axis electrical parameter module 5 to detect the cutter head information of the lawn mowing robot 2; Step 5: Start the collision test assembly 4 to perform collision tests on the front end and the rear end of the lawn mowing robot 2 respectively; Step 6: Drive the workbench 1 to tilt through the rotating main shaft 8 of the first fulcrum 6 and the second fulcrum 7, so as to perform tilt and capsize tests on the lawn mowing robot 2; Step 7: Start the button test assembly 3 and press the emergency stop button of the lawn mowing robot 2 to detect whether the lawn mowing robot 2 can perform an emergency stop in any test state in Step 2 and Step 6; The order of Step 2 to Step 6 can be freely switched and combined, and other test items such as rain detection can be added in Step 2 to Step 6.

[0048] In summary, the above are only the preferred embodiments of the present invention, and all equal changes and modifications made within the scope of the patent application of the present invention shall fall within the scope covered by the present invention.

Claims

1. An intelligent lawn mowing robot testing device, comprising a workbench (1), wherein a test base (11) is provided on the workbench (1), and a lawn mowing robot (2) is placed on the test base (11), characterized in that: The robot also comprises a button test component (3), two sets of collision test components (4) and a three-axis electrical parameter module (5); the button test component (3) is arranged on one side of the test base (11); the collision test component (4) is arranged at the front end and the rear end of the test base (11), respectively; the three-axis electrical parameter module (5) is arranged on the test base (11); the button test component (3) is used to test whether the button of the lawn mower robot (2) can be started normally; the collision test component (4) is used to test the collision function of the lawn mower robot (2); and the three-axis electrical parameter module (5) is used to test the wheel set and blade information of the lawn mower robot (2).

2. The intelligent lawn mowing robot testing device according to claim 1, characterized in that: The button test assembly (3) comprises a mechanical arm support (31), a support rod (32), a rotary cylinder (33) and a buffer (34); the mechanical arm support (31) is provided with an installation space (311); the rotary cylinder (33) is installed on the installation space (311); the rear end of the support rod (32) is connected to the driving shaft of the rotary cylinder (33); and the buffer (34) is provided at the starting position and the ending position of the rotation of the support rod (32).

3. The intelligent lawn mowing robot testing device according to claim 2, characterized in that: The button test assembly (3) further comprises a plurality of mini cylinders (35) acting on the upper button of the lawn mower robot (2) and a pressing cylinder (36) pressing down and fixing the lawn mower robot (2); the mini cylinders (35) and the pressing cylinder (36) are both arranged at the front end of the support rod (32); and a pressure head (361) is provided on the driving shaft of the pressing cylinder (36).

4. The intelligent lawn mowing robot testing device according to claim 1, characterized in that: The three-axis electrical parameter module (5) comprises a PCB main control board (51) and a self-resetting wheel speed measurement module (52); a cutter disc air avoidance area (111) is provided on the test base (11); the PCB main control board (51) is installed in the cutter disc air avoidance area (111); and the self-resetting wheel speed measurement module (52) is provided on both sides of the test base (11).

5. The intelligent lawn mowing robot testing device according to claim 4, characterized in that: The self-resetting wheel speed measurement module (52) comprises a transmission wheel (521), a rotary encoder (522) and a reset spring (523); the rotary encoder (522) is arranged at the rear end of the test base (11); the transmission wheel (521) is connected to the rotary encoder (522), and the transmission wheel (521) cooperates with the wheel set of the lawn mowing robot (2); a mounting seat (112) is arranged near the rear end of the test base (11); a connecting rod (1121) is arranged on the mounting seat (112); the connecting rod (1121) is arranged between the rotary encoder (522) and the transmission wheel (521); the reset spring (523) is arranged on the mounting seat (112), and the upper end of the reset spring (523) cooperates with the connecting rod (1121), and the lower end of the reset spring (523) cooperates with the mounting seat (112).

6. The intelligent lawn mowing robot testing device according to claim 4, characterized in that: The three-axis electrical parameter module (5) further comprises a simulated battery pack (53) and at least two photoelectric sensors (54); a battery pack installation area (113) is provided at the rear end of the test base (11); the simulated battery pack (53) is installed in the battery pack installation area (113); and the photoelectric sensor (54) is installed in the tool disc clearance area (111).

7. The intelligent lawn mowing robot testing device according to claim 1, characterized in that: The collision test assembly (4) comprises an up-and-down moving cylinder (41) and a front-and-rear moving cylinder (42), wherein the front-and-rear moving cylinder (42) is arranged on a driving end of the up-and-down moving cylinder (41).

8. The intelligent lawn mowing robot testing device according to claim 1, characterized in that: It also includes a first fulcrum (6) and a second fulcrum (7), and fixed seats (13) are respectively provided at the lower ends of both sides of the workbench (1), and the first fulcrum (6) and the second fulcrum (7) are connected through a rotating main shaft (8), and a driving motor (9) is also provided near the first fulcrum (6) or the second fulcrum (7), and the driving end of the driving motor (9) is connected to the rotating main shaft (8).

9. A method for testing an intelligent lawn mowing robot according to any one of claims 1 to 7, characterized in that: The method comprises the following steps: step 1: installing a lawn mower robot (2) to be tested on a test base (11), then starting the machine and entering a test mode; step 2: starting a button test component (3) to simulate a finger inputting a command to the lawn mower robot (2); step 3: starting a self-resetting wheel speed measurement module (52) in a three-axis electrical parameter module (5) to test the wheel speed and rotation direction data of the lawn mower robot (2); step 4: starting a PCB main control board (51) in the three-axis electrical parameter module (5) to detect the blade information of the lawn mower robot (2); step 5: starting a self-resetting wheel speed measurement module (52) in a three-axis electrical parameter module (5) to test the wheel speed and rotation direction data of the lawn mower robot (2); step 6: starting a self-resetting wheel speed measurement module (52) in a three-axis electrical parameter module (5) to test the wheel speed and rotation direction data of the lawn mower robot (2); step 7: starting a self-resetting wheel speed measurement module (52) in a three-axis electrical parameter module (5) to test the wheel speed and rotation direction data of the lawn mower robot (2); step 8: starting a self-resetting wheel speed measurement module (52) in a three-axis electrical parameter module (5) to test the wheel speed and rotation direction data of the lawn mower robot (2); step 9: starting a self-resetting wheel speed measurement module (52) in a three-axis electrical parameter module (5) to test the wheel speed information of the lawn mower robot (2); step 10: starting a self-resetting wheel speed measurement module (52) in a three-axis electrical parameter module (5) to test the wheel speed information of the lawn mower robot (2); step 11: starting a self-resetting wheel speed measurement module (52) in a three-axis electrical parameter module (5) to test the wheel speed information of the lawn mower robot (2); step 12: starting a self-resetting wheel speed measurement module (52) in a three-axis electrical parameter module (5) to test The dynamic collision test component (4) performs collision tests on the front end and the rear end of the mowing robot (2) respectively; step six: the rotating main shaft (8) of the first fulcrum (6) and the second fulcrum (7) is used to drive the workbench (1) to tilt, thereby performing tilt and overturning tests on the mowing robot (2); step seven: the button test component (3) is started and the emergency stop button of the mowing robot (2) is pressed to detect whether the mowing robot (2) can perform an emergency stop in any test state in step two and step six; wherein the order of step two to step six can be freely switched and combined.

Images