Intelligent mowing robot testing device and testing method thereof

Abstract

The application discloses a kind of intelligent mowing robot test equipment and its testing method, including workbench, workbench is equipped with test base, mowing robot is placed on test base, still include button test component, two sets of collision test components and three-axis electric parameter module, button test component is arranged in one side of test base, collision test component is respectively arranged at the front end and rear end of test base, three-axis electric parameter module is arranged on test base, button test component is used to test whether the button of mowing robot can be normally started, collision test component is used to test the collision function of mowing robot, three-axis electric parameter module is used to test the wheel group and cutter disc information of mowing robot.In the scheme, mowing robot is tested in turn by button test component, two sets of collision test components and three-axis electric parameter module, so as to effectively improve the test efficiency of mowing robot and simplify the test process of mowing robot.

Description

Technical Field

[0001] This invention relates to automated equipment, and more particularly to a testing device and testing method for an intelligent lawnmower robot. Background Technology

[0002] With the development of science and technology and the continuous progress of automation technology, intelligent lawn mowing robots have gradually become important equipment in modern horticulture and agriculture. They achieve automatic lawn mowing through autonomous navigation, precise control and intelligent algorithms, which greatly reduces the intensity of manual labor and improves work efficiency. In particular, the demand for intelligent lawn mowing robots continues to grow in home, commercial park and agricultural applications. However, with the increasing complexity of the use environment and the increasing number of equipment operations, the performance and reliability of intelligent lawn mowing robots have gradually become the core issues of concern in the use process. At present, intelligent lawn mowing robots can only be tested manually or semi-manually. The operation is relatively complicated and inefficient during the testing process, so improvements are needed. Summary of the Invention

[0003] This invention addresses the shortcomings of existing technologies, such as the complexity and low efficiency of testing intelligent lawn mowing robots, by providing a new testing device and method for intelligent lawn mowing robots.

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

[0005] A testing device for an intelligent lawnmower robot includes a workbench with a test base on it. The lawnmower robot is placed on the test base. The device also includes a button testing component, two sets of collision testing components, and a three-axis electrical parameter module. The button testing component is located on one side of the test base. The collision testing components are located at the front and rear ends of the test base. The three-axis electrical parameter module is located on the test base. The button testing component is used to test whether the button on the lawnmower robot can be activated normally. The collision testing components are used to test the collision function of the lawnmower robot. The three-axis electrical parameter module is used to test the wheel assembly and blade information of the lawnmower robot.

[0006] In this solution, the lawnmower robot is installed on the test base of the workbench, and the lawnmower robot is tested sequentially using a button test component, two sets of collision test components, and a three-axis electrical parameter module, thereby effectively improving the testing efficiency of the lawnmower robot and simplifying the testing process.

[0007] Preferably, in the above-described intelligent lawnmower testing device, the button testing component includes a robotic arm support, a support rod, a rotary cylinder, and a buffer. The robotic arm support has an installation space, the rotary cylinder is installed in the installation space, the rear end of the support rod is connected to the drive shaft of the rotary cylinder, and buffers are provided at the starting and ending positions of the support rod rotation.

[0008] Preferably, in the above-described intelligent lawn mowing robot testing device, the button testing component further includes several mini cylinders that act on the upper button of the lawn mowing robot and a pressing cylinder that presses down to fix the lawn mowing robot. Both the mini cylinders and the pressing cylinder are located at the front end of the support rod, and a pressure head is provided on the drive shaft of the pressing cylinder.

[0009] Preferably, in the above-described intelligent lawnmower testing equipment, the three-axis electrical parameter module includes a PCB main control board and a self-resetting wheel speed measuring module. The test base has a cutter head clearance area, the PCB main control board is installed in the cutter head clearance area, and the self-resetting wheel speed measuring module is provided on both sides of the test base.

[0010] Preferably, in the aforementioned intelligent lawnmower testing device, the self-resetting wheel speed measuring module includes a transmission wheel, a rotary encoder, and a reset spring. The rotary encoder is located at the rear end of the test base. The transmission wheel is connected to the rotary encoder and engages with the wheel assembly of the lawnmower. A mounting base is located near the rear end of the test base, and a connecting rod is provided on the mounting base. The connecting rod is positioned between the rotary encoder and the transmission wheel. The reset spring is located on the mounting base, with its upper end engaging with the connecting rod and its lower end engaging with the mounting base.

[0011] Preferably, in the above-described intelligent lawnmower robot testing equipment, the three-axis electrical parameter module further includes a simulated battery pack and at least two photoelectric sensors. The rear end of the test base has a battery pack mounting area, the simulated battery pack is installed in the battery pack mounting area, and the photoelectric sensors are installed in the cutter head clearance area.

[0012] Preferably, in the above-described intelligent lawnmower testing equipment, the collision testing component includes an up-and-down movement cylinder and a front-and-back movement cylinder, with the front-and-back movement cylinder mounted on the drive end of the up-and-down movement cylinder.

[0013] Preferably, the intelligent lawn mowing robot testing device described above also includes a first fulcrum and a second fulcrum. Fixed seats are respectively provided at the lower ends of both sides of the workbench. The first fulcrum and the second fulcrum are connected by a rotating spindle. A drive motor is also provided near the first fulcrum or the second fulcrum. The drive end of the drive motor is connected to the rotating spindle.

[0014] Preferably, the intelligent lawnmower testing method includes the following steps: Step 1: Install the lawnmower to be tested on the test base, then power it on and enter the test mode; Step 2: Activate the button test component to simulate finger input commands to the lawnmower; Step 3: Activate the self-resetting wheel speed measurement module in the three-axis electrical parameter module to test the wheel speed and rotation direction data of the lawnmower; Step 4: Activate the PCB main control board in the three-axis electrical parameter module to detect the blade information of the lawnmower; Step 5: Activate the collision test component to perform collision tests on the front and rear ends of the lawnmower; Step 6: Use the rotating spindle of the first and second fulcrums to drive the worktable to tilt, thereby performing tilting and overturning tests on the lawnmower; Step 7: Activate the button test component and press the emergency stop button of the lawnmower to test whether the lawnmower can perform an emergency stop in any test state in Step 2 and Step 6; wherein the order of Step 2 to Step 6 can be freely switched and combined.

[0015] The present invention has the following advantages through the above structural improvements:

[0016] Compared to traditional manual or semi-manual testing, this application has the advantage of fully automated testing. The lawnmower robot is installed on a test base on the workbench, and the lawnmower robot is tested sequentially through a button test component, two sets of collision test components, and a three-axis electrical parameter module to test the performance and reliability of the lawnmower robot. Furthermore, the cooperation between the various test components in this solution can effectively improve the testing efficiency of the lawnmower robot and simplify the testing process. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of the lawnmower robot of the present invention mounted on the workbench;

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

[0019] Figure 3 This is a three-dimensional structural diagram of the button testing component of the present invention during operation. Figure 1 ;

[0020] Figure 4 This is a three-dimensional structural diagram of the button testing component of the present invention during operation. Figure 2 ;

[0021] Figure 5 This is a three-dimensional structural diagram of the front-side collision test component of the present invention during operation;

[0022] Figure 6 This is a three-dimensional structural diagram of the rear-side collision test component of the present invention during operation;

[0023] Figure 7 This is a three-dimensional structural diagram of the worktable rotating when the first and second fulcrums of the present invention are used. Figure 1 ;

[0024] Figure 8 This is a three-dimensional structural diagram of the worktable rotating when the first and second fulcrums of the present invention are used. Figure 2 .

[0025] Reference numerals: 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. Downward pressing cylinder; 361. Press head; 51. PCB main control board; 52. Self-resetting wheel speed measuring module; 111. Cutter head clearance area; 52. Speed ​​measuring module; 521. Transmission wheel; 522. Rotary encoder; 523. Return spring; 11. Test base; 112. Mounting seat; 1121. Connecting rod; 53. Simulated battery pack; 54. Photoelectric sensor; 113. Battery pack mounting area; 41. Up-down movement cylinder; 42. Forward-backward movement cylinder; 6. First fulcrum; 7. Second fulcrum; 13. Fixed seat; 9. Drive motor; 8. Rotary spindle. Detailed Implementation

[0026] The following is in conjunction with the appendix Figure 1-8 The invention will be further described in detail with reference to specific embodiments, but these are not intended to limit the invention:

[0027] Example 1

[0028] like Figure 1 , Figure 2 , Figure 3As shown, a testing device for an intelligent lawnmower robot includes a workbench 1, on which a test base 11 is provided. A lawnmower robot 2 is placed on the test base 11. The device also 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 located on one side of the test base 11. The collision testing components 4 are respectively located at the front and rear ends of the test base 11. The three-axis electrical parameter module 5 is located on the test base 11. The button testing component 3 is used to test whether the button of the lawnmower robot 2 can be started normally. The collision testing components 4 are used to test the collision function of the lawnmower robot 2. The three-axis electrical parameter module 5 is used to test the wheel assembly and blade information of the lawnmower robot 2.

[0029] Preferably, the button testing assembly 3 includes a robotic arm support 31, a support rod 32, a rotary cylinder 33, and a buffer 34. The robotic arm support 31 is provided with an installation space 311, 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 a buffer 34 is provided at the starting and ending positions of the rotation of the support rod 32.

[0030] Preferably, the button testing assembly 3 further includes several mini cylinders 35 that act on the upper button of the lawnmower 2 and a pressing cylinder 36 that presses down to fix the lawnmower 2. The mini cylinders 35 and the pressing cylinder 36 are both located at the front end of the support rod 32, and the driving shaft of the pressing cylinder 36 is provided with a pressure head 361.

[0031] Specifically, the rotary cylinder 33 in the above structure can drive the support rod 32 to rotate to the left or right to achieve a maximum rotation 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 test assembly 3 is working, the rotating cylinder 33 first drives the support rod 32 to rotate, so that the mini cylinder 35 and the pressing cylinder 36 on the support rod 32 are located at the upper end of the lawn mower robot 2. Then, the pressing cylinder 36 presses down to fix the lawn mower robot 2. Then, the mini cylinder 35 performs button tests on the lawn mower robot 2 in sequence. After the test is completed, the rotating cylinder 33 drives the support rod 32 to return to its position.

[0033] like Figure 4 As shown, the triaxial electrical parameter module 5 includes a PCB main control board 51 and a self-resetting wheel speed measuring module 52. The test base 11 has a cutter head clearance area 111. The PCB main control board 51 is installed in the cutter head clearance area 111. The self-resetting wheel speed measuring module 52 is provided on both sides of the test 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 and the three axes of the blade motor of the lawnmower 2, so as to calculate the corresponding rotation speed and rotation direction of the lawnmower 2.

[0035] Furthermore, placing the PCB main control board 51 in the cutter head clearance area 111 can effectively improve the waterproof and moisture-proof effect 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 measuring module 52 includes a transmission wheel 521, a rotary encoder 522, and a reset spring 523. The rotary encoder 522 is located at the rear end of the test base 11. The transmission wheel 521 is connected to the rotary encoder 522 and cooperates with the wheel assembly of the lawnmower robot 2. A mounting base 112 is located near the rear end of the test base 11. A connecting rod 1121 is provided on the mounting base 112. The connecting rod 1121 is located between the rotary encoder 522 and the transmission wheel 521. The reset spring 523 is located on the mounting base 112, and the upper end of the reset spring 523 cooperates with the connecting rod 1121, while the lower end of the reset spring 523 cooperates with the mounting base 112.

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

[0038] Furthermore, the return spring 523 can ensure stable and continuous transmission between the transmission wheel 521 and the left and right wheels of the lawnmower robot 2.

[0039] Preferably, the triaxial electrical parameter module 5 further includes a simulated battery pack 53 and at least two photoelectric sensors 54. The rear end of the test base 11 has a battery pack mounting area 113. The simulated battery pack 53 is installed in the battery pack mounting area 113, and the photoelectric sensors 54 are installed in the cutter head clearance area 111.

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

[0041] More specifically, during testing, the three-axis electrical parameter module 5 uses a rotary encoder 522 to collect the rotation speed and rotation direction data of the left and right wheels of the lawnmower robot 2, while two photoelectric sensors 54 simultaneously emit photoelectric signals to detect blade signals or non-blade signals. The collected rotation speed and rotation direction data of the left and right wheels, as well as the blade signals or non-blade signals, are all transmitted to the PCB main control board 51.

[0042] like Figure 5 , Figure 6 As shown, the collision test assembly 4 includes an up-and-down movement cylinder 41 and a front-and-back movement cylinder 42, with the front-and-back movement cylinder 42 disposed on the drive end of the up-and-down movement cylinder 41.

[0043] Specifically, during the test, the collision test component 4 first moves the up and down movement cylinder 41 to drive the front and rear movement cylinder 42 upwards. Then, the front and rear movement cylinder 42 outputs towards the lawn mower robot 2 to test the anti-collision function of the front and rear ends of the lawn mower robot 2.

[0044] like Figure 7 , Figure 8 As shown, it also includes a first fulcrum 6 and a second fulcrum 7. Fixed seats 13 are respectively provided at the lower ends of both sides of the worktable 1. The first fulcrum 6 and the second fulcrum 7 are connected by a rotating spindle 8. A drive motor 9 is also provided near the first fulcrum 6 or the second fulcrum 7. The drive end of the drive motor 9 is connected to the rotating spindle 8.

[0045] Specifically, the drive motor 9 in the above structure drives the rotating spindle 8 to rotate, thereby the first fulcrum 6 and the second fulcrum 7 drive the lawnmower robot 2 to rotate, so as to detect whether the lawnmower robot 2 can stop working when it tilts or overturns.

[0046] A testing method for an intelligent lawnmower robot, applicable to the aforementioned intelligent lawnmower robot testing equipment, and comprising the following steps:

[0047] Step 1: Install the lawnmower robot 2 to be tested on the test base 11, then power it on and enter the test mode; Step 2: Activate the button test component 3 to simulate finger input commands to the lawnmower robot 2; Step 3: Activate the self-resetting wheel speed measuring module 52 in the three-axis electrical parameter module 5 to test the wheel speed and rotation direction data of the lawnmower robot 2; Step 4: Activate the PCB main control board 51 in the three-axis electrical parameter module 5 to detect the blade information of the lawnmower robot 2; Step 5: Activate the collision test component 4 to perform collision tests on the front and rear ends of the lawnmower robot 2 respectively; Step 6: Use the rotating spindle 8 of the first fulcrum 6 and the second fulcrum 7 to drive the workbench 1 to tilt, thereby performing tilting and overturning tests on the lawnmower robot 2; Step 7: Activate the button test component 3 and press the emergency stop button of the lawnmower robot 2 to test whether the lawnmower robot 2 can perform an emergency stop in any test state in steps 2 and 6; The order of steps 2 to 6 can be freely switched and combined, and other test items such as rain detection can also be added in steps 2 to 6.

[0048] In summary, the above description is only a preferred embodiment of the present invention. All equivalent changes and modifications made within the scope of the claims of the present invention should be included within the scope of the present invention.

Claims

1. A testing device for an intelligent lawn mowing robot, comprising a workbench (1), wherein a testing base (11) is provided on the workbench (1), and a lawn mowing robot (2) is placed on the testing base (11), characterized in that: It also includes a button test assembly (3), two sets of collision test assemblies (4), and a three-axis electrical parameter module (5). The button test assembly (3) is located on one side of the test base (11). The collision test assemblies (4) are located at the front and rear ends of the test base (11), respectively. The three-axis electrical parameter module (5) is located on the test base (11). The button test assembly (3) is used to test whether the button of the lawnmower robot (2) can be started normally. The collision test assembly (4) is used to test whether the button of the lawnmower robot (2) can be started normally. To test the collision function of the lawnmower robot (2), the three-axis electrical parameter module (5) is used to test the wheel assembly and blade information of the lawnmower robot (2). The three-axis electrical parameter module (5) includes a PCB main control board (51) and a self-resetting wheel speed measuring module (52). A blade clearance area (111) is provided on the test base (11). The PCB main control board (51) is installed in the blade clearance area (111). The self-resetting wheel speed measuring module (52) is provided on both sides of the test base (11). The triaxial electrical parameter module (5) further includes a simulated battery pack (53) and at least two photoelectric sensors (54). The test base (11) has a battery pack mounting area (113) at its rear end. The simulated battery pack (53) is installed in the battery pack mounting area (113). The photoelectric sensors (54) are installed in the cutter head clearance area (111). It also includes a first support point (6) and a second support point (7). The lower ends of both sides of the worktable (1) are respectively provided with fixed seats (13). The fulcrum (6) and the second fulcrum (7) are connected by a rotating spindle (8), and a drive motor (9) is provided near the first fulcrum (6) or the second fulcrum (7). The drive end of the drive motor (9) is connected to the rotating spindle (8). The drive motor (9) drives the rotating spindle (8) to rotate, so that the first fulcrum (6) and the second fulcrum (7) drive the mowing robot (2) to rotate, so as to detect whether the mowing robot (2) can stop working when it tilts or overturns.

2. The intelligent lawnmower robot testing device according to claim 1, characterized in that: The button testing assembly (3) includes a robotic arm bracket (31), a support rod (32), a rotary cylinder (33), and a buffer (34). The robotic arm bracket (31) is provided with an installation space (311). 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). Buffers (34) are provided at the starting and ending positions of the rotation of the support rod (32).

3. The intelligent lawnmower robot testing device according to claim 2, characterized in that: The button test assembly (3) also includes several mini cylinders (35) that act on the upper button of the lawnmower (2) and a pressing cylinder (36) that presses down to fix the lawnmower (2). The mini cylinders (35) and the pressing cylinder (36) are both located at the front end of the support rod (32). The pressing cylinder (36) has a pressure head (361) on its drive shaft.

4. The intelligent lawnmower robot testing device according to claim 1, characterized in that: The self-resetting wheel speed measuring module (52) includes a transmission wheel (521), a rotary encoder (522), and a reset spring (523). The rotary encoder (522) is located 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 lawnmower robot (2). A mounting seat (112) is located near the rear end of the test base (11). A connecting rod (1121) is provided on the mounting seat (112). The connecting rod (1121) is located between the rotary encoder (522) and the transmission wheel (521). The reset spring (523) is located on the mounting seat (112). 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).

5. The intelligent lawnmower robot testing device according to claim 1, characterized in that: The collision test assembly (4) includes an up-and-down movement cylinder (41) and a front-and-back movement cylinder (42), with the front-and-back movement cylinder (42) disposed on the drive end of the up-and-down movement cylinder (41).

6. A testing method for an intelligent lawnmower robot testing device according to any one of claims 1-5, characterized in that: Includes the following steps: Step 1: Install the lawnmower robot (2) to be tested on the test base (11), then power it on and enter the test mode; Step 2: Start the button test component (3) to simulate finger input commands to the lawnmower 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 speed and rotation direction data of the lawnmower robot (2); Step 4: Start the PCB main control board (51) in the three-axis electrical parameter module (5) to detect the blade information of the lawnmower robot (2); Step 5: Start the collision test. The test component (4) performs collision tests on the front and rear ends of the mowing robot (2) respectively; Step 6: The workbench (1) is tilted by the rotating spindle (8) of the first fulcrum (6) and the second fulcrum (7), thereby performing tilt and overturn tests on the mowing robot (2); Step 7: The button test component (3) is activated and the emergency stop button of the mowing robot (2) is pressed to detect whether the mowing robot (2) can be stopped in any test state in Step 2 and Step 6; The order of Step 2 to Step 6 can be freely switched and combined.

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