Environment simulation device for testing mobility performance of robot

Abstract

The invention discloses an environment simulation device for testing mobility performance of a robot, which comprises a pavement simulation unit, a channel unit, a stacking and lifting unit and a control unit, the stacking and lifting unit comprises a support frame and a lifting mechanism, and the pavement simulation unit comprises a plurality of pavement environment simulation layers which are vertically distributed; each pavement environment simulation layer is suspended above the support frame through the lifting mechanism, each pavement environment simulation layer forms different simulation pavement forms, the lifting mechanism can drive each pavement environment simulation layer to independently and vertically lift, and the pavement environment simulation layers are stacked on the support frame layer by layer. The road surface environment simulation layer can be lifted and separated layer by layer, the channel unit can be in butt joint with the road surface environment simulation layer stacked on the supporting frame, a channel is formed between the road surface environment simulation layer and the robot, the space occupancy rate is reduced, a test sample is rapidly replaced, and the test efficiency is effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot performance testing, and particularly relates to an environment simulation device for robot moving performance testing. BACKGROUND

[0002] Wheel robots, quadruped robots, tracked robots, humanoid robots and other robots that need to travel on the road surface are directly affected by the chassis posture stability and the traveling ability of the robot in different road surface state environments. The task execution reliability of the robot. Conventional service robots, inspection robots and other robots need to travel on different road surface forms such as cement road surface, ceramic tile road surface, asphalt concrete road surface, uphill, downhill, up and down steps, and various emergency rescue robots or field operation robots even need to travel on sandy road surface, soil road surface or soft soil road surface with shrubs when working. Therefore, testing the moving performance of the robot in different road surface environments, evaluating the dynamic response ability, stability control precision and traveling ability of the robot in different road surface forms, has an important role in improving the adaptability of the robot to complex terrain and optimizing its scene application.

[0003] In the prior art, the laboratory is usually divided into multiple areas, and different types of road surface environments are laid in each area for robot testing. However, the existing testing scheme has a large space occupancy rate. The more types of road surfaces to be tested, the larger the required laboratory area. At the same time, after the robot tests one type of road surface, manual operation or autonomous navigation to another area is required to test the next type of road surface, which is time-consuming and labor-intensive, and cannot achieve rapid and continuous testing.

[0004] Therefore, how to provide a testing environment for robots in a limited space with multiple types of road surfaces, reduce the space occupancy rate and improve the testing efficiency has become a problem to be solved in the field. SUMMARY

[0005] In view of the defects of the prior art, the purpose of the present application is to provide an environment simulation device for robot moving performance testing with low space occupancy rate and high testing efficiency.

[0006] In order to achieve the above purpose, the environment simulation device for robot moving performance testing provided by the present application is a robot moving performance testing environment simulation device, which comprises a road surface simulation unit, a channel unit, a stacking lifting unit and a control unit,

[0007] The stacking lifting unit comprises a support frame and a lifting mechanism, the road surface simulation unit comprises a plurality of vertically distributed road surface environment simulation layers, each road surface environment simulation layer is suspended above the support frame by the lifting mechanism, each road surface environment simulation layer forms a different form of simulated road surface state, the lifting mechanism can drive each road surface environment simulation layer to vertically lift or fall alone, and the road surface environment simulation layers are stacked or separated layer by layer on the support frame, the channel unit can be docked with the road surface environment simulation layers stacked on the support frame, and a channel is formed between the road surface environment simulation layers and the robot, and the control unit can control the working states of the road surface simulation unit, the channel unit and the stacking lifting unit.

[0008] Further, the lifting mechanism comprises vertical support rods, a rack, a driving gear and a driving motor, the vertical support rods are arranged at the four corners of the support frame respectively, the rack is distributed along the height direction of the vertical support rods, the driving gears are arranged at the four corners of the road surface environment simulation layers respectively and engaged with the rack, and the driving motor is connected with the driving gears.

[0009] Further, the channel unit comprises a ramp plate, a moving mechanism and a jacking mechanism, the moving mechanism and the jacking mechanism are arranged in an L shape, the first end of the ramp plate is connected with the moving mechanism, and the second end region is connected with the jacking mechanism, the jacking mechanism can adjust the slope of the ramp plate, and the moving mechanism can drive the ramp plate to move.

[0010] Further, the first end of the ramp plate is provided with a docking mechanism, and the road surface environment simulation layer is provided with a guide mechanism for connecting the docking mechanism.

[0011] Further, the road surface environment simulation layer comprises a mounting groove, and the mounting groove contains a road surface simulation body.

[0012] Further, the road surface simulation body comprises one or more of asphalt concrete pavement, asphalt macadam pavement, lime stabilized soil pavement, cement stabilized soil pavement, stone pavement, sandstone pavement, clay pavement, cement pavement, shrub soft soil pavement, slope pavement and steps.

[0013] Further, at least one road surface environment simulation layer is provided with a road surface simulation body circulating conveyor belt, the road surface simulation body circulating conveyor belt comprises rollers arranged in the two sides of the road surface environment simulation layer respectively and a road surface environment simulation belt sleeved on the rollers, and the road surface environment simulation belt is distributed with a plurality of road surface simulation bodies.

[0014] Further, the road surface simulation body circulating conveyor belt is arranged in an inclined manner.

[0015] The robot mobile performance test environment simulation device provided by the application can effectively reduce the space required for laying multiple road surfaces, compress multiple simulation road surfaces into the area of one road surface environment simulation layer, effectively reduce the space occupancy, and through the separate control of each road surface environment simulation layer by the stacking lifting unit, the road surface environment simulation layer can be placed on the support frame layer by layer, so that the simulation road surface formed by each road surface environment simulation layer can be used for the mobile performance test of the robot, and the test efficiency is effectively improved. BRIEF DESCRIPTION OF DRAWINGS

[0016] The application will be further described below in combination with the drawings and specific embodiments.

[0017] Figure 1 FIG. 1 is a side view of the robot mobile performance test environment simulation device in the application;

[0018] Figure 2 FIG. 2 is a top view of the robot mobile performance test environment simulation device in the application;

[0019] Figure 3 FIG. 3 is a working state diagram of the robot mobile performance test environment simulation device in the application;

[0020] Figure 4 And Figure 5 FIG. 6 is a structure diagram of the road surface simulation body circulating conveying belt in the application;

[0021] Figure 6 FIG. 7 is an adjustment state diagram of the road surface simulation body circulating conveying belt in the application;

[0022] Figure 7 FIG. 8 is a cooperation structure diagram of the docking mechanism and the guide structure in the application.

[0023] Reference signs:

[0024] 1. road surface simulation unit; 101. first road surface environment simulation layer; 102. second road surface environment simulation layer; 11. road surface environment simulation layer; 111. installation groove; 112. road surface simulation body; 12. road surface simulation body circulating conveying belt; 121. roller; 122. road surface environment simulation belt; 123. roller shaft; 124. telescopic rod; 13. guide mechanism; 131. guide sleeve; 132. installation cavity; 133. second permanent magnet;

[0025] 2. channel unit; 21. ramp plate; 22. moving mechanism; 23. jacking mechanism; 24. docking mechanism; 241. conical guide column; 242. first permanent magnet;

[0026] 3. Stacking lifting unit; 31. Support frame; 32. Lifting mechanism; 321. Vertical support rod; 322. Rack; 323. Driving gear; 324. Rotation shaft. DETAILED DESCRIPTION

[0027] In order to make the technical means, creative features, purposes and effects of the present application easy to understand, the present application is further described below in combination with specific drawings.

[0028] Referring to Figures 1 to 2 , which shows an example of the environment simulation device for testing the mobile performance of a robot provided by the present application.

[0029] As shown in the figure, the environment simulation device for testing the mobile performance of a robot of the present example mainly comprises a road surface simulation unit 1, a passage unit 2, a stacking lifting unit 3 and a control unit.

[0030] The stacking lifting unit 3 comprises a support frame 31 and a lifting mechanism 32, and the road surface simulation unit 1 comprises a plurality of layers of vertically distributed road surface environment simulation layers 11. Each layer of road surface environment simulation layer 11 is suspended above the support frame 31 by the lifting mechanism 32, and each layer of road surface environment simulation layer 11 forms a different form of simulated road surface form. The lifting mechanism 32 can drive each layer of road surface environment simulation layer 11 to vertically lift individually, and can make the road surface environment simulation layer 11 fall layer by layer on the support frame 31, and can also lift and separate the road surface environment simulation layer 11 layer by layer. The passage unit 2 can be connected to the road surface environment simulation layer 11 stacked on the support frame 31, and a passage is formed between the road surface environment simulation layer 11 and the robot. The control unit can control the working state of the road surface simulation unit 1, the passage unit 2 and the stacking lifting unit 3, which can effectively reduce the space required for laying multiple road surfaces, compress multiple simulated road surfaces into the floor area of one layer of road surface environment simulation layer, reduce the space occupancy rate, and support the quick replacement of test samples during the test process, and improve the test efficiency.

[0031] Among them, the lifting mechanism 32 in the stacking lifting unit 3 is arranged on the support frame 31, which can drive the road surface simulation unit 1 to move vertically along the height direction, and make the road surface environment simulation layer 11 fall on the support frame 31, thereby providing a simulated test environment with corresponding road surface form for the robot.

[0032] In combination with Figure 1 and Figure 2 , specifically, the lifting mechanism 32 comprises a vertical support rod 321, a rack 322, a driving gear 323 and a driving motor. Four vertical support rods 321 are arranged at the four corners of the support frame 31 respectively, the rack 322 is arranged inside the vertical support rod 321 and is distributed along the height direction of the vertical support rod 321.

[0033] The driving gear 323 is arranged at the four corners of each road surface environment simulation layer 11, and the road surface environment simulation layer 11 is distributed between the four vertical support rods 321. The two end regions of the two end surfaces of the road surface environment simulation layer 11 are connected to the driving gear 323 through the rotating shaft 324, and each driving gear 323 is engaged with the rack 322 on the corresponding vertical support rod 321. Each driving gear 323 is independently connected to a driving motor, thereby forming an independent driving unit on each road surface environment simulation layer 11. When the driving motor drives the four driving gears 323 of each road surface environment simulation layer 11 to rotate synchronously, the driving gears 323 move vertically along the rack 322, thereby driving the entire road surface environment simulation layer 11 to move vertically along the vertical support rod 321.

[0034] In this way, the road surface environment simulation layers 11 are vertically distributed, and each road surface environment simulation layer 11 is connected to the vertical support rod 321 through an independent driving unit, thereby achieving independent lifting control of each road surface environment simulation layer 11. The lifting mechanism 32 can lower each road surface environment simulation layer 11 layer by layer and stack it on the support frame 31, so that each road surface environment simulation layer 11 can be used for mobile performance testing of the robot in different road surface environments, and the simulated road surface form can be quickly changed.

[0035] In combination with Figure 1 and Figure 3 , as an example, the lifting mechanism 32 lowers the first road surface environment simulation layer 101 at the bottom to the support frame 31, and the simulated road surface form composed of the first road surface environment simulation layer 101 is used for mobile performance testing of the robot. Then, the lifting mechanism 32 lowers the second road surface environment simulation layer 102 vertically distributed above the first road surface environment simulation layer 101 and stacks it on the first road surface environment simulation layer 101, and the simulated road surface form composed of the second road surface environment simulation layer 102 is used for mobile performance testing of the robot. In this way, each road surface environment simulation layer 11 is stacked layer by layer to quickly change the simulated road surface form and improve testing efficiency.

[0036] Correspondingly, the lifting mechanism 32 can also lift each road surface environment simulation layer 11 from the support frame 31 layer by layer to change the simulated road surface form.

[0037] Here, when any layer of road surface environment simulation layer 11 is stacked on the support frame 31 for mobile performance testing of the robot, it is necessary to ensure that the height space between the road surface environment simulation layer 11 and the road surface environment simulation layer 11 above it can meet the movement of the robot, so as to ensure the safety of the testing process.

[0038] Further, since the four vertical support rods 321 are respectively arranged at the four corners of the support frame 31, the road surface environment simulation layer 11 is suspended and distributed in the open area between the four vertical support rods 321, so that the road surface environment simulation layer 11 has no obstruction around the area, thereby ensuring the movement space of the robot and the visibility of the test process, and facilitating the staff to clearly observe the movement state of the robot from multiple angles.

[0039] The stacking lifting unit 3 thus formed enables the vertically distributed road surface environment simulation layers 11 to be respectively suspended above the support frame 31 by the lifting mechanism 32, which can effectively reduce the space required for laying multiple road surfaces, compress the various simulated road surface forms into the floor area of one road surface environment simulation layer, and effectively reduce the space occupancy.

[0040] Meanwhile, the lifting mechanism 32 thus formed can flexibly increase or reduce the number of road surface environment simulation layers 11 in the height direction, and by increasing or reducing the number of layers of road surface environment simulation layers 11, the types of simulated road surface forms can be quickly expanded or adjusted, thereby providing the robot with various forms of simulated road surface forms to improve the accuracy of test results without increasing the floor space occupancy.

[0041] Further, each layer of road surface environment simulation layer 11 respectively constitutes a different form of simulated road surface form, so that each layer of road surface environment simulation layer 11 stacked on the support frame 31 can provide different test samples for the robot.

[0042] In combination with Figure 1 and Figure 2 , specifically, the road surface environment simulation layer 11 includes a placement groove 111, and the placement groove 111 contains a plurality of road surface simulation bodies 112.

[0043] Here, the specific road surface simulation body 112 is not limited and can be set according to the test requirements. As an example, the road surface simulation body 112 includes one or more simulation bodies of asphalt concrete pavement, asphalt macadam pavement, lime stabilized soil pavement, cement stabilized soil pavement, stone pavement, gravel pavement, soil pavement, cement pavement, shrub soft soil pavement, uphill / downhill pavement of different angles / materials, and steps of different step lengths / heights / inclinations / materials. By matching and arranging the various road surface simulation bodies 112, different forms of simulated road surface forms can be constructed for each layer of road surface environment simulation layer 11.

[0044] In combination with Figure 4 and Figure 5, in order to improve the test sample diversity and test result accuracy, at least one layer of the road surface environment simulation layer 11 is provided with a road surface simulation body circulating conveying belt 12, so that the road surface simulation body circulating conveying belt 12 forms a dynamic simulated road surface form, so as to simulate the scene of the robot moving in the dynamic road surface environment, so as to test the dynamic response ability, stability control precision and marching ability of the robot in the dynamic road surface form.

[0045] Preferably, the first road surface environment simulation layer 101 at the bottom is provided with a road surface simulation body circulating conveying belt 12 to ensure the safety of the road surface simulation unit 1 and the stacking lifting unit 3.

[0046] In combination Figure 4 And Figure 5 , specifically, the road surface simulation body circulating conveying belt 12 includes a roller 121 and a road surface environment simulation belt 122, two groups of rollers 121 are respectively built-in on both sides of the first road surface environment simulation layer 101 through roller shafts 123, the road surface environment simulation belt 122 is sleeved on the two groups of rollers 121, and the roller 121 is also connected to a driving motor, so that the driving motor drives the roller 121 to rotate, which can drive the road surface environment simulation belt 122 to move in a cycle around the roller 121, thereby forming a dynamic simulated road surface form.

[0047] Further, the outer side surface of the road surface environment simulation belt 122 is distributed with a plurality of road surface simulation bodies 112 such as sand and soft soil, and the road surface simulation bodies 112 are fixedly arranged on the road surface environment simulation belt 122 and can move in a cycle synchronously with the road surface environment simulation belt 122, thereby improving the complexity of the dynamic simulated road surface form to constitute a new simulated road surface form, thereby improving the test result accuracy.

[0048] In addition, the road surface simulation body circulating conveying belt 12 can also be distributed in an inclined manner to form a dynamic inclined road surface to test the moving performance of the robot on the slope.

[0049] In combination Figure 5 And Figure 6 , specifically, the roller 121 corresponding to the roller shaft 123 at the bottom of the two ends of the roller shaft 123 away from the robot is provided with an extension rod 124, for example, a hydraulic extension rod, so that the extension rod 124 is elongated to drive the roller 121 to rise synchronously to adjust the distribution angle of the road surface simulation body circulating conveying belt 12, thereby forming a dynamic inclined road surface.

[0050] The road surface simulation unit 1 thus formed can form various forms of simulated road surface forms to improve the test sample diversity and test result accuracy.

[0051] In combination Figure 1 And Figure 2, in order to ensure that the robot can move stably to the road surface environment simulation layer 11, the device further comprises a passage unit 2, which can be docked with the road surface environment simulation layer 11 stacked on the support frame 31 for testing, forming a passage between the road surface environment simulation layer 11 and the robot, so that the robot can move to the road surface environment simulation layer 11 from the ground through the passage unit 2.

[0052] Specifically, the passage unit 2 comprises a ramp plate 21, a moving mechanism 22 and a jacking mechanism 23, the moving mechanism 22 and the jacking mechanism 23 are arranged in an L-shaped distribution, the first end of the ramp plate 21 is connected with the moving mechanism 22, and the second end region is connected with the jacking mechanism 23.

[0053] Further, the jacking mechanism 23 is preferably composed of a hydraulic rod, the slope of the ramp plate 21 can be adjusted by the extension and retraction of the hydraulic rod, and the moving mechanism 22 can drive the ramp plate 21 to move, so that the jacking mechanism 23 cooperates with the moving mechanism 22 to ensure that the ramp plate 21 can be raised or lowered and moved to be docked with the road surface environment simulation layer 11 stacked on the support frame 31.

[0054] In combination Figure 1 , for example, if the first road surface environment simulation layer 101 is lowered and placed on the support frame 31, the simulation road surface form constituted by the first road surface environment simulation layer 101 is used for the movement performance test of the robot, the jacking mechanism 23 adjusts the slope of the ramp plate 21 to adapt to the height of the first road surface environment simulation layer 101, and the moving mechanism 22 drives the ramp plate 21 to move, so that the end of the ramp plate 21 is accurately docked with the first road surface environment simulation layer 101, and the robot can move to the first road surface environment simulation layer 101 through the ramp plate 21.

[0055] In combination Figure 3 , further, if the second road surface environment simulation layer 102 is lowered and stacked on the first road surface environment simulation layer 101, the simulation road surface form constituted by the second road surface environment simulation layer 102 is used for the movement performance test of the robot, the jacking mechanism 23 adjusts the slope of the ramp plate 21 to adapt to the height of the second road surface environment simulation layer 102, and the moving mechanism 22 drives the ramp plate 21 to move, so that the end of the ramp plate 21 is accurately docked with the second road surface environment simulation layer 102, and the robot can move to the second road surface environment simulation layer 102 through the ramp plate 21.

[0056] In order to improve the docking accuracy and efficiency of the road surface environment simulation layer 11 and the ramp plate 21, the first end of the ramp plate 21 is provided with a docking mechanism 24, and the road surface environment simulation layer 11 is provided with a guide mechanism 13 for connecting the docking mechanism 24, so that the guide mechanism 13 can cooperate with the docking mechanism 24 to guide the ramp plate 21 to dock with the environment simulation layer 11 quickly.

[0057] In combination Figure 7Specifically, the docking mechanism 24 comprises a tapered guide column 241 arranged at the end of the ramp plate 21, and the surface of the tapered guide column 241 is further provided with a first permanent magnet 242; the guiding mechanism 13 comprises a guide sleeve 131 arranged at the end of the road surface environment simulation layer 11 corresponding to the docking mechanism 24, and the guide sleeve 131 is internally formed with a mounting cavity 132 adapted to the tapered guide column 241, and the inner surface of the mounting cavity 132 is provided with a second permanent magnet 133 which is attracted to the first permanent magnet 242.

[0058] In this way, the jacking mechanism 23 cooperates with the moving mechanism 22 to adjust the slope of the ramp plate 21, and when the ramp plate 21 is moved close to the road surface environment simulation layer 11 for docking, the second permanent magnet 133 of the guiding mechanism 13 will generate an attractive force on the first permanent magnet 242 of the docking mechanism 24, so that the tapered guide column 241 can be inserted into the guide sleeve 131, and at the same time, the tapered guide column 241 can tolerate a larger horizontal error, correct the position through the inclined surface guidance, and accurately insert into the mounting cavity 132 of the guide sleeve 131 to realize blind insertion, thereby providing docking accuracy and efficiency.

[0059] The channel unit 2 thus formed can quickly and accurately dock with the road surface environment simulation layer 11 stacked on the support frame 31, forming a channel between the road surface environment simulation layer 11 and the robot, so that the robot can pass through the channel unit 2 from the ground to move to the road surface environment simulation layer 11 to provide test result accuracy.

[0060] Further, the device further comprises a control unit which can control the working state of the driving motor and the hydraulic rod, thereby adjusting the working state of the road surface simulation unit 1, the channel unit 2 and the stacking lifting unit 3.

[0061] Here, the control unit can be composed of an existing PLC.

[0062] The road surface environment simulation device for robot moving performance test provided by the present application can effectively reduce the space required for laying multiple road surfaces, compress multiple simulation road surfaces into the floor area of one road surface environment simulation layer 11, and effectively reduce the space occupancy rate. Meanwhile, the stacking lifting unit 2 can control each road surface environment simulation layer 11 individually, and can sequentially lower and stack the road surface environment simulation layers 11 on the support frame 31, so as to quickly replace the test sample, so that the simulation road surface form constituted by each road surface environment simulation layer can be used for robot moving performance test, thereby effectively improving the test efficiency.

[0063] The above shows and describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the present application is not limited to the above-mentioned embodiments, and the above-mentioned embodiments and descriptions in the specification are only to illustrate the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. An environmental simulation device for testing the mobility performance of a robot, characterized in that, It includes a road surface simulation unit, a channel unit, a stacking and lifting unit, and a control unit. The stacking and lifting unit includes a support frame and a lifting mechanism. The road surface simulation unit includes several vertically distributed road surface environment simulation layers. Each road surface environment simulation layer is suspended above the support frame by the lifting mechanism. Each road surface environment simulation layer constitutes a different form of simulated road surface. The lifting mechanism can drive each road surface environment simulation layer to rise and fall vertically on its own, stacking the road surface environment simulation layers one by one onto the support frame. It can also lift and separate the road surface environment simulation layers one by one. The channel unit can dock with the road surface environment simulation layers stacked on the support frame, forming a channel between the road surface environment simulation layers and the robot. The control unit can control the working status of the road surface simulation unit, the channel unit, and the stacking and lifting unit.

2. The environmental simulation device for testing robot mobility performance according to claim 1, characterized in that, The lifting mechanism includes vertical support rods, racks, drive gears, and a drive motor. The vertical support rods are respectively located at the four corners of the support frame. The racks are distributed along the height direction of the vertical support rods. The drive gears are respectively located at the four corners of the road environment simulation layer and mesh with the racks. The drive motor is connected to the drive gears.

3. The environmental simulation device for testing robot mobility performance according to claim 1, characterized in that, The channel unit includes a ramp, a moving mechanism, and a lifting mechanism. The moving mechanism and the lifting mechanism are configured in an L-shape. The first end of the ramp is connected to the moving mechanism, and the second end is connected to the lifting mechanism. The lifting mechanism can adjust the slope of the ramp, and the moving mechanism can drive the ramp to move.

4. The environmental simulation device for testing robot mobility performance according to claim 3, characterized in that, The first end of the ramp slab is provided with a docking mechanism, and the road surface environment simulation layer is provided with a guide mechanism for connecting the docking mechanism.

5. The environmental simulation device for testing robot mobility performance according to claim 1, characterized in that, The road surface environment simulation layer includes a placement groove, in which a road surface simulation object is contained.

6. The environmental simulation device for testing robot mobility performance according to claim 5, characterized in that, The road surface simulation includes one or more of the following: asphalt concrete road surface, asphalt macadam road surface, lime stabilized soil road surface, cement stabilized soil road surface, stone slab road surface, gravel road surface, soil road surface, cement road surface, shrub-covered soft soil road surface, sloping road surface, and steps.

7. The environmental simulation device for testing robot mobility performance according to claim 5, characterized in that, At least one road surface environment simulation layer is provided with a road surface simulation body circulation conveyor belt. The road surface simulation body circulation conveyor belt includes rollers respectively built into both sides of the road surface environment simulation layer and a road surface environment simulation belt sleeved on the rollers. A number of road surface simulation bodies are distributed on the road surface environment simulation belt.

8. The environmental simulation device for testing robot mobility performance according to claim 7, characterized in that, The road surface simulation conveyor belt is distributed at an angle.

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