A performance testing device for inspection robots

Abstract

This invention discloses a performance testing device for an inspection robot, comprising: a frame; a guardrail support member fixed to the frame; a test bracket for mounting the inspection robot under test or the walking mechanism of the inspection robot under test on the side opposite to the guardrail support member; a horizontally arranged tilting rod, the tilting rod including a force-receiving end and an action end, the action end being fixed to at least one position on the back side of the test bracket; and a first force-applying mechanism vertically mounted to the frame, the first force-applying mechanism including a vertically arranged guide rail, a sliding seat slidable along the guide rail, and a drive mechanism, the sliding seat being operatively connected to the force-receiving end of the tilting rod via a linkage, and the drive mechanism of the first force-applying mechanism being configured to drive the sliding seat to displace vertically along the guide rail, applying a tilting torque to the inspection robot under test or the walking mechanism of the inspection robot under test through the force-receiving end. The performance testing device of this invention can perform comprehensive performance tests on guardrail inspection robots.

Description

Technical Field

[0001] This invention relates to the field of inspection robots, and more specifically to a performance testing device for inspection robots. Background Technology

[0002] With technological advancements, inspection robots are increasingly being used in high-risk inspection scenarios such as construction roads and bridges. In these scenarios, inspection robots often operate on non-horizontal working surfaces and in complex conditions. Therefore, it is necessary to conduct performance tests on inspection robots to ensure their reliability and stability in complex working environments.

[0003] CN116533265A discloses a highway inspection robot, which is installed and guided by a limiting device to move along the highway guardrail in a predetermined direction.

[0004] CN219132328U discloses a magnetic guardrail inspection robot, which is installed on the guardrail by magnetic wheels and moves on the guardrail to complete the inspection work of highway.

[0005] However, there is currently no performance testing device for road guardrail inspection robots, which makes it difficult to meet the current demand for comprehensive testing of various performance indicators of road guardrail inspection robots.

[0006] The background description is provided for the purpose of understanding the relevant technologies in this field and is not intended as an admission of prior art. Summary of the Invention

[0007] Therefore, the objective of this invention is to provide a performance testing device capable of conducting multi-condition tests on a road guardrail inspection robot, thereby comprehensively evaluating the operational performance and stability of the road guardrail inspection robot.

[0008] In an embodiment of the present invention, a performance testing device for an inspection robot is provided, characterized in that it includes:

[0009] frame;

[0010] Guardrail support components fixed to the frame are used to fix and support the guardrail sections;

[0011] A test bracket for mounting the test inspection robot or the walking mechanism of the test inspection robot on the side away from the guardrail support member;

[0012] A horizontally arranged tilting rod includes a force-bearing end and an action end, the action end being configured to be fixed to at least one position on the back side of the test support;

[0013] A first force-applying mechanism is vertically installed on the frame. The first force-applying mechanism includes a vertically arranged guide rail, a sliding seat that can slide along the guide rail, and a driving mechanism. The sliding seat is connected to the force-receiving end of the tilting rod via a linkage. The driving mechanism of the first force-applying mechanism is configured to drive the sliding seat to displace vertically along the guide rail, thereby applying a tilting torque to the tested inspection robot or the traveling mechanism of the tested inspection robot through the force-receiving end.

[0014] Optionally, the performance testing apparatus further includes:

[0015] An obstacle-crossing rod is arranged parallel to the travel direction of the tested inspection robot or the traveling mechanism of the tested inspection robot;

[0016] A second force-applying mechanism is horizontally mounted to the frame. The second force-applying mechanism includes a horizontally arranged guide rail, a sliding seat that can slide along the guide rail, and a drive mechanism. The first end of the obstacle-crossing rod is connected to the sliding seat, and the second end of the obstacle-crossing rod is connected to the test bracket. The drive mechanism of the second force-applying mechanism is configured to apply obstacle-crossing resistance in the opposite direction to the travel direction to the tested inspection robot or the walking mechanism of the tested inspection robot through the sliding seat.

[0017] Optionally, the performance testing apparatus further includes: a vertical column disposed at the top of the frame; a wind resistance rod extending vertically from the top of the test support; and a third force-applying mechanism installed transversely to the vertical column, the third force-applying mechanism including a guide rail, a sliding seat slidable along the guide rail, and a driving mechanism, wherein the sliding seat of the third force-applying mechanism is configured to operate at at least one working height of the wind resistance rod, and the driving mechanism of the third force-applying mechanism is configured to apply a horizontal wind resistance force at the at least one working height of the wind resistance rod via the sliding seat.

[0018] Optionally, the third force-applying mechanism is configured to be adjustablely mounted to the vertical column, such that the drive mechanism of the third force-applying mechanism is configured to apply horizontal wind resistance force to the wind resistance rod at multiple operating heights.

[0019] Optionally, the performance testing apparatus further includes: an adjusting bracket configured to be horizontally adjustable and mounted to the frame, the adjusting bracket having a vertical mounting hole, and the second force application mechanism configured to be vertically adjustable and mounted to the adjusting bracket through the vertical mounting hole.

[0020] Optionally, the performance testing device further includes: a spacing sensing unit, which is used to sense in real time the spacing or spacing change between the tested inspection robot or the walking mechanism of the tested inspection robot and the guardrail surface.

[0021] Optionally, the performance testing device further includes a displacement sensing unit, which is used to measure the distance between the tested inspection robot or the traveling mechanism of the tested inspection robot and the frame in real time at at least one height position, thereby determining the horizontal displacement of the tested inspection robot or the traveling mechanism of the tested inspection robot.

[0022] Optionally, the performance testing device further includes: a first force measuring mechanism, the first force measuring mechanism including a force gauge body and a measuring connection end, wherein the force gauge body is fixedly installed to the sliding seat, and the measuring connection end is configured to connect to the force-bearing end of the overturning rod.

[0023] Optionally, the performance testing device further includes a second force measuring mechanism, which includes a force gauge body and a measuring connection end, wherein the force gauge body is fixedly installed on the sliding seat, and the measuring connection end is configured to connect to the first end of the obstacle-crossing rod.

[0024] Optionally, the performance testing device further includes a third force measuring mechanism, which includes a force gauge body and a measuring connection end, wherein the force gauge body is fixedly installed to the sliding seat, and the measuring connection end is configured to be connected to at least one working height of the wind resistance rod.

[0025] The performance testing device of this invention can conduct various performance tests on multiple road guardrail scenarios specific to road guardrail inspection robots, thereby effectively solving the problem of insufficient performance testing methods for road guardrail inspection robots. In particular, since road guardrails require support posts and there are connection points between the guardrails and posts, current proposals include bottom-clamping road inspection robots and single-sided magnetic inspection robots. These avoid interference between their own component structures and the posts or post connections. However, the bottom-clamping and single-sided magnetic inspection robots face greater challenges in stable operation, and their stable operation boundaries are more difficult to determine. The performance testing device of this invention innovatively proposes a technical solution for simulating and measuring the extreme operating conditions of this type of support inspection robot under overturning moment, obstacle-crossing resistance, and wind load, solving the technical problem of the difficulty in determining the stable operation boundaries of road inspection robots, especially the aforementioned special support inspection robots. For example, the performance testing device provided in this embodiment of the invention can simulate the actual working environment of the inspection robot on the road guardrail by setting guardrail support components on the frame to support the guardrail section. Through the cooperation of the first force application mechanism and the side-tipping rod, it can specifically simulate the special working conditions of the inspection robot when walking on the road guardrail, especially the side-tipping risk caused by the inspection robot by bottom side clamping or single-sided magnetic support.

[0026] Furthermore, the inventors have also noted that road guardrail inspection robots are widely customized to perform different inspection configurations and / or inspection mechanisms for different actual working conditions. As a result, road guardrail inspection robots may have several key factors affecting stability, such as changes in weight distribution (e.g., component installation at different locations) and changes in center of gravity height (e.g., adjustable camera position). The performance testing device of this invention provides a quantitative assessment of stable operation for inspection robots with different inspection configurations and / or using different inspection mechanisms through an adjustable testing mechanism that simulates rollover moment, obstacle crossing resistance, and wind load.

[0027] Furthermore, the inventors have also noted that road guardrail inspection robots face unique stability challenges in actual working conditions, namely, the obstacle-crossing process at guardrail joints and rivet points. The performance testing device of this invention, by setting an adjustable second force application mechanism and an obstacle-crossing rod, can accurately simulate the obstacle-crossing process of the inspection robot when passing through guardrail joints, and perform quantitative stability evaluations of the obstacle-crossing process under different inspection configurations (such as different drive wheel specifications (e.g., size, driving force, friction, etc.) and / or magnetic wheel specifications (e.g., size, magnetic force, shape, etc.)).

[0028] Furthermore, the inventors have noted that the image acquisition components of the road guardrail inspection robot have diverse configuration requirements, including different installation heights, cantilever lengths, and component weights. These variations significantly affect the robot's wind load characteristics. The performance testing device of this embodiment, through the sliding adjustment of the second force-applying mechanism and the length adjustment of the action rod, can quantitatively evaluate the stability boundary of the inspection robot under wind load under different camera component configurations.

[0029] Through the above technical solutions, the performance testing device provided by the embodiments of the present invention can comprehensively simulate various working conditions that the inspection robot may encounter in the actual working environment, and systematically test its performance, effectively improving the reliability and practicality of the inspection robot; and making it possible to customize the configuration of the road guardrail inspection robot to "a thousand roads, a thousand configurations".

[0030] Other optional features and technical effects of the embodiments of the present invention are partly described below and partly apparent from reading this document. Attached Figure Description

[0031] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The elements shown are not limited to the scale shown in the drawings, and the same or similar reference numerals in the drawings denote the same or similar elements, wherein:

[0032] Figure 1 One of the structural schematic diagrams of a performance testing apparatus according to an embodiment of the present invention is shown;

[0033] Figure 2 A second schematic diagram of the performance testing apparatus according to an embodiment of the present invention is shown;

[0034] Figure 3 A third schematic diagram of the performance testing apparatus according to an embodiment of the present invention is shown;

[0035] In this invention, the same or similar reference numerals are used to denote the same or similar features or components.

[0036] List of reference numerals in the attached diagram:

[0037] R - The inspection robot under test;

[0038] 1-Performance testing apparatus;

[0039] 10-Frame; 11-Vertical column;

[0040] 20 - Guardrail support component; 21 - Guardrail section; 211 - Guardrail surface; 212 - Upper wave structure; 213 - Lower wave structure;

[0041] 30 - Test stand;

[0042] 41-Tilting rod; 411-Force-receiving end; 412-Action end; 42-First force-applying mechanism; 421-Guide rail; 422-Sliding seat; 4221-Connecting rod; 423-Drive mechanism; 4231-Adjusting handwheel; 43-First force-measuring mechanism; 431-Force gauge body; 432-Measuring connection end;

[0043] 51-Obstacle-crossing rod; 511-First end; 512-Second end; 513-Pivot joint; 52-Second force-applying mechanism; 521-Guide rail; 522-Sliding seat; 523-Drive mechanism; 5231-Adjusting handwheel; 53-Second force-measuring mechanism; 531-Force gauge body; 532-Measuring connection end; 54-Adjusting bracket; 541-Vertical mounting hole;

[0044] 61-Wind resistance rod; 62-Third force application mechanism; 621-Guide rail; 622-Sliding seat; 623-Drive mechanism; 6231-Adjusting handwheel; 63-Third force measuring mechanism; 631-Force gauge body; 632-Measuring connection end. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings. Here, the illustrative embodiments and descriptions of this invention are used to explain the invention, but are not intended to limit the invention.

[0046] The term "comprising" and its variations as used herein signify open inclusion, i.e., "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "at least partially based on". The terms "one example embodiment" and "one embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first", "second", etc., may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0047] The present invention will be further described below with reference to embodiments and accompanying drawings. It should be understood that the specific embodiments are only used to further illustrate the present invention in detail and do not limit the scope of protection of the claims of the present invention.

[0048] In several embodiments of the present invention, a performance testing device for a road guardrail inspection robot is provided. In some embodiments of the present invention, the road guardrail inspection robot particularly includes a bottom-clamping road inspection robot and a single-sided magnetic suction inspection robot.

[0049] In some embodiments of the present invention, the performance testing apparatus of the present invention can be used, for example, to perform performance testing on a (single-sided) magnetic road barrier inspection robot. As an example, the magnetic road barrier inspection robot under test may include a wave-shaped guide wheel mechanism, a drive wheel mechanism, and a housing. The wave-shaped guide wheel mechanism is mounted to the housing and includes at least two sets of wave-shaped guide magnetic wheels, each set configured to roll along a wave structure of the wave barrier, and each wave-shaped guide magnetic wheel having a wave profile matching the wave structure of the wave barrier. More specifically, the wave-shaped guide wheel mechanism includes two sets of wave-shaped guide magnetic wheels (two sets of wave-shaped guide magnetic wheels), wherein the first set of wave-shaped guide magnetic wheels matches the upper wave structure of the wave barrier, and the second set of wave-shaped guide magnetic wheels matches the lower wave structure of the wave barrier. The drive wheel mechanism can be installed on the housing. The drive wheel mechanism may include multiple lower support wheels configured as walking drive wheels. The lower support wheels only contact the front rolling surface of the lower edge of the corrugated guardrail. Therefore, the lower support wheels do not have clamping or holding capabilities. The magnetic road guardrail inspection robot is held on the corrugated guardrail only by the magnetic holding capability of the corrugated guide wheel mechanism. That is, the magnetic road guardrail inspection robot is installed on one side and does not extend to the back side of the guardrail.

[0050] In some embodiments of the present invention, the performance testing apparatus of the present invention can be used, for example, to conduct performance tests on a bottom-supported road guardrail inspection robot. As an example, the bottom-supported road guardrail inspection robot under test may include a wave-shaped guide wheel mechanism, a drive wheel mechanism, and a housing. The wave-shaped guide wheel mechanism is mounted to the housing and includes at least one set of wave-shaped guide wheels, each set configured to roll along a wave structure of the wave guardrail. Each wave-shaped guide wheel has a wave profile that matches the wave structure of the wave guardrail. More specifically, the wave-shaped guide wheel mechanism includes three sets of wave-shaped guide wheels (three sets of wave-shaped guide wheels), wherein the first set of wave-shaped guide wheels matches the upper wave structure of the wave guardrail, the second set matches the middle wave structure of the wave guardrail, and the third set matches the lower wave structure of the wave guardrail. The drive wheel mechanism is mounted to the housing and includes multiple first lower support wheels, multiple second lower support wheels, and multiple third lower support wheels. The first lower support wheels contact the front rolling surface of the lower edge of the corrugated guardrail, the second lower support wheels contact the back rolling surface of the lower edge of the corrugated guardrail, and the third lower support wheels contact the side rolling line of the lower edge of the corrugated guardrail. Therefore, the inspection robot is not supported on the corrugated guardrail by any ground support, but only by the aforementioned drive wheel mechanism. Specifically, the inspection robot is held at the bottom of the corrugated guardrail by the clamping holding capability of the three-sided support structure including the first, second, and third lower support wheels.

[0051] In the following embodiments of the present invention, the performance testing device of the present invention will be described using a (single-sided) magnetic road guardrail inspection robot as an example.

[0052] Several embodiments of the present invention will now be described in conjunction with the accompanying drawings.

[0053] Reference Figures 1 to 3 The present invention illustrates a performance testing device 1 for a road guardrail inspection robot according to an embodiment of the present invention. The performance testing device 1 includes at least a frame 10, a guardrail support member 20 fixed to the frame 10, a test bracket 30, and one or more performance testing components described below.

[0054] In this embodiment of the invention, the guardrail support member 20 can be used to fix and support the guardrail section 21 on one side of the frame 10. The guardrail section 21 can be used to install the walking mechanism of the tested inspection robot R and support the tested inspection robot R to run on the guardrail section 21. In this embodiment of the invention, the specific size and length of the frame 10 can be reasonably adjusted according to the length of the guardrail section 21 to be supported and the size of the tested inspection robot R, and the invention does not limit this. In this embodiment of the invention, the guardrail section 21 includes a wave-shaped guardrail section, such as a two-wave or three-wave road guardrail section. Reference Figures 1 to 3 The guardrail section 21 is a three-wave guardrail. The guardrail surface 211 of the guardrail section 21 is constructed with three waveform structures, specifically including an upper waveform structure 212, a middle waveform structure and a lower waveform structure 213. The performance test device 1 of the present invention will be described below using the three-wave guardrail section as an example.

[0055] Rollover resistance test kit .

[0056] refer to Figure 1 The present invention illustrates a performance testing apparatus 1 according to some embodiments thereof. The performance testing apparatus 1 includes a rollover resistance testing component 40, which includes a horizontally arranged rollover action rod 41 and a first force application mechanism 42 vertically installed to a frame 10.

[0057] Continue to refer to Figure 1 The side-tilting lever 41 includes a force-receiving end 411 and an action end 412. The action end 412 is configured to be fixed to at least one (action) position on the back side of the test support 30 (i.e., the side opposite to the inspection robot R mounted on the test support), for example... Figure 1 The test bracket 30 shown is located at the middle of its back side. However, it is understood that in some embodiments of the present invention, the actuating end 412 may also be directly fixed to the side of the inspection robot's walking mechanism facing away from the guardrail surface. (Continue to refer to...) Figure 1The first force-applying mechanism 42 may include a vertically arranged guide rail 421, a sliding seat 422 slidable along the guide rail 421, and a drive mechanism 423. The sliding seat 422 is operatively connected to the force-receiving end 411 of the tilting rod 41 via a connecting rod 4221. The drive mechanism 423 of the first force-applying mechanism 42 is configured to drive the sliding seat 422 to displace vertically along the guide rail 421, for example, vertically downward, thereby applying a tilting torque (simulated tilting torque) to the traveling mechanism of the tested inspection robot R in contact with the guardrail section 21. Specifically, the drive mechanism 423 applies a vertical force to the force-receiving end 411 of the tilting rod 41 via the sliding seat 422. This vertical force is then transmitted to the action end 412 via the horizontally arranged tilting rod 41, and finally, a simulated tilting torque is applied to the traveling mechanism of the tested inspection robot R through the action end 412. Here, the application of the simulated rollover moment causes the walking mechanism of the tested inspection robot R to tend to detach from the guardrail surface of the road and tilt towards the ground, such as the road.

[0058] In this embodiment of the invention, the performance testing device 1 is particularly used for the rollover performance test of road guardrail inspection robots without ground support mechanisms, such as for the rollover performance test of the aforementioned magnetic suction inspection robot or under-support inspection robot. This type of inspection robot is installed on the road guardrail by magnetic suction alone or by magnetic suction and under-support wheel structure. Such road guardrail inspection robots are different from conventional ground walking inspection robots. Due to the lack of ground support structure, they have a higher risk of rollover, and the boundary of their stable operation without rollover is difficult to determine. Therefore, it is necessary to conduct targeted tests to quantitatively evaluate the anti-rollover capability required for stable operation.

[0059] In a further embodiment of the present invention, the performance testing device 1, such as the anti-rollover performance testing component 40, may include multiple rollover action rods 41 and multiple first force application mechanisms 42. The action ends of the multiple rollover action rods 41 are configured to be fixed to multiple different (action) positions on the back side of the test bracket 30, and cooperate with the multiple first force application mechanisms 42 to apply different magnitudes of (simulated) rollover torques to the multiple different (action) positions. The performance testing device of the present invention can take into account the characteristic that road guardrail inspection robots may mount different monitoring devices at various positions, such as installing camera mechanisms of different heights on the top, installing vehicle speed monitoring devices at different positions on the back side, and installing different air monitoring devices on both sides. By applying different magnitudes of (simulated) rollover torques at different positions on the back side of the test bracket, the performance testing device of the present invention can simulate the anti-rollover performance when monitoring devices of different weights are mounted at different positions on the inspection robot, thereby providing a reference for customizing multiple mounted monitoring devices for the inspection robot.

[0060] In some embodiments of the present invention, the driving mechanism 423 is driven by a motor.

[0061] In some embodiments of the present invention, the drive mechanism 423 is configured to apply a rollover torque to the tested inspection robot according to a preset drive force curve. Here, the preset drive force curve is, for example, the curve of the vertical drive force applied by the drive mechanism 423 to the sliding seat, or the curve may be, for example, the motor drive force curve of the drive mechanism 423.

[0062] In a further embodiment of the invention, the performance testing device 1, for example, its control unit, is configured to generate a curve relating the (simulated) rollover torque to time when the drive mechanism 423 applies the (simulated) rollover torque, and to determine the (simulated) rollover torque corresponding to the abrupt change point in the curve. In this embodiment, the (simulated) rollover torque can be calculated from the motor driving force of the drive mechanism 423 or directly measured by a measuring element. Thus, the maximum rollover torque that the tested inspection robot can withstand can be determined based on the abrupt change point in the curve. In this embodiment, the curve is preferably a curve with time (t, in seconds) on the horizontal axis and rollover torque (M, in N·m) on the vertical axis. The abrupt change point, especially the abrupt change point of the rollover torque in the curve, such as (t1, M1), is specifically the point where the value of the rollover torque changes from an upward trend to a sharp decrease. This indicates that the magnetic force of the magnetic wheel of the walking mechanism of the road guardrail inspection robot, especially the magnetically attached road guardrail inspection robot, can no longer hold the inspection robot on the guardrail. Here, the control unit is further configured to determine the value of the rollover moment corresponding to the abrupt change point as the maximum rollover moment that the tested inspection robot can withstand. Thus, the rollover resistance of the tested road guardrail inspection robot can be accurately quantified and evaluated.

[0063] In other embodiments of the invention, the drive mechanism 423 is configured to apply a constant, preset vertical force to the slide seat 422 to apply a preset rollover force to the tested inspection robot. In this embodiment, the magnitude of the preset vertical force is determined, for example, based on the maximum rollover moment that the tested inspection robot is expected to withstand in a model simulation working environment.

[0064] In some embodiments of the present invention, the performance testing device 1, such as the anti-rollover performance testing component 40, may further include a spacing sensing unit (not shown), which is used to sense in real time the spacing and / or spacing change between the walking mechanism of the tested inspection robot R and the guardrail surface 211 at at least one height position. In this embodiment, the spacing sensing unit may, for example, measure and record the spacing value and / or spacing value change data between the walking mechanism and the guardrail surface 211 in real time. Furthermore, the spacing sensing unit according to embodiments of the present invention can also be reused in the obstacle crossing performance testing component according to embodiments of the present invention described below, which will be described in detail below.

[0065] In this embodiment, the performance testing device 1, for example, its control unit, is configured to determine the rollover test state of the tested inspection robot or the traveling mechanism of the tested inspection robot based on a comparison of the distance with a preset distance threshold and / or a comparison of the distance change data with a preset change threshold when the drive mechanism applies the preset rollover torque. Here, the distance change data is, for example, the distance change rate. In this embodiment, the rollover test state includes, for example, compliance and non-compliance. The control unit is further configured to determine that the rollover test state is compliance when the distance is less than or equal to the preset distance threshold, and non-compliance otherwise. The control unit is also configured to determine that the rollover test state is compliance when the distance change data is less than or equal to the preset change threshold, and non-compliance otherwise.

[0066] In another embodiment of the present invention, when the drive mechanism 423 applies a rollover torque to the tested inspection robot according to a preset drive force curve, the maximum rollover torque can be further determined by combining the spacing sensing unit. In this embodiment, the control unit is configured to determine the rollover torque value corresponding to the moment when the spacing is detected to be greater than a preset spacing threshold or the spacing change data is greater than a preset change threshold as the maximum rollover torque.

[0067] In some embodiments of the present invention, optionally, the spacing sensing unit is positioned at a height aligned with the height of the upper waveform structure 212. In embodiments of the present invention, when the tested inspection robot R, especially a magnetic inspection robot, is running on a road guardrail, and is subjected to a lateral overturning moment, the highest point of contact between the walking mechanism of the tested road guardrail inspection robot and the guardrail surface (e.g., Figure 1 The magnetic wheel of the traveling structure that contacts the upper waveform structure 212 will detach from the guardrail surface 211 before other parts of the traveling structure. In this embodiment of the invention, by setting a spacing sensing unit at the height position of the upper waveform structure 212, the timing when the tested inspection robot R begins to roll over can be determined, thereby more accurately evaluating the anti-rollover capability of the inspection robot.

[0068] In a further embodiment of the present invention, the road guardrail inspection robot is configured to travel along the extension direction of the guardrail surface 211. The performance testing device 1, for example, its first force-applying mechanism 42, is configured to be horizontally adjustable and mounted on the frame 10. The first force-applying mechanism 42 causes the road guardrail inspection robot to move synchronously with the inspection robot along its travel direction, thereby applying a rollover moment to the traveling road guardrail inspection robot. In this embodiment of the present invention, applying a rollover moment synchronously to the traveling road guardrail inspection robot enables testing of the anti-rollover performance of the moving road guardrail inspection robot when its center of gravity changes and its inertia changes.

[0069] In some embodiments of the present invention, the driving mechanism 423 may be driven manually.

[0070] In this embodiment, the performance testing device 1 may further include a first force measuring mechanism 43, which includes a force gauge body 431 and a measuring connection end 432. The force gauge body 431 is fixedly installed to the sliding seat 422, and the measuring connection end 432 is configured to connect to the force-receiving end 411 of the side-tilting rod 41.

[0071] In this embodiment, the drive mechanism 423 includes an adjusting handwheel 4231 mounted below the guide rail 421 and a transmission component. The adjusting handwheel 4231 is configured to connect to the sliding seat 422 via the transmission component, thereby driving the sliding seat 422 to vertically displace on the guide rail 421 by rotating the adjusting handwheel 4231, thus applying a vertical force to the force-bearing end 411 of the tilting rod 41. In some embodiments of the present invention, such as Figure 1 As shown, the adjusting handwheel 4231 includes a rod body, one end of which is fixedly connected to the transmission component, and the other end of which has three levers arranged radially. In this embodiment, the transmission component is a transmission gear (not shown), and the bottom of the sliding seat 422 is provided with a gear rail (not shown) that meshes with the transmission gear. The adjusting handwheel 4231 can drive the transmission gear to rotate, thereby driving the sliding seat 422 to move vertically on the guide rail 421.

[0072] In this embodiment, the force gauge body 431 of the first force measuring mechanism 43 is configured to be connected to the connecting rod 4221, thereby applying a vertical force to the force-receiving end 411 of the tilting rod 41 through the connecting rod 4221, and then applying a tilting torque to the tested inspection robot R through the action end 411 of the tilting rod 41.

[0073] In some embodiments of the present invention, optionally, the force-receiving end 411 of the rollover action rod 41 is constructed as a pivot joint, such as a universal joint. In this embodiment, the connecting rod 4221 is connected to the force-receiving end 411 of the rollover action rod 41 via the pivot joint and applies a vertical force to the force-receiving end 411. For illustrative purposes and not as a limitation, the pivot joint allows the connecting rod 4221 to always remain vertical, thereby ensuring that the direction of the force applied to the force-receiving end 411 of the rollover action rod 41 is always vertical.

[0074] In some embodiments of the present invention, as the adjusting handwheel 4231 rotates continuously, the vertical displacement of the sliding seat 422 gradually increases. Consequently, the vertical force applied to the force-bearing end 411 of the tilting rod 41 via the connecting rod 4221 increases, and the tilting torque applied to the tested inspection robot R also increases. At this time, as the tilting torque increases, the walking mechanism of the tested inspection robot R tends to detach from the guardrail surface 211 until it completely detaches. Based on the maximum vertical force data measured by the force gauge body 431, combined with the relevant dimensional parameters (such as length) of the tilting rod 41, the maximum tilting torque that the tested inspection robot R can withstand can be calculated, thereby evaluating the anti-tilting capability of the tested inspection robot R. In this embodiment, the aforementioned spacing sensing unit can also be used to more accurately determine the timing of the tested inspection robot R's walking mechanism detaching from the guardrail surface 211, thereby more accurately determining the aforementioned maximum tilting torque.

[0075] The performance testing device of this invention, through the combined use of a rollover action rod, a first force application mechanism, and a drive mechanism, can conduct rollover resistance tests on road guardrail inspection robots, especially magnetic or under-supported road guardrail inspection robots without ground support. Furthermore, it can simulate the rollover effects caused by different monitoring devices installed at different positions on the road guardrail inspection robot, addressing the need for the robot to mount various monitoring devices. This provides a reference for the parameter design of road guardrail inspection robots when mounting monitoring devices, such as magnetic force design.

[0076] In the embodiments of the present invention, it should be understood that the performance testing device 1 in the above embodiments, while including the rollover resistance performance testing component 40, can also be combined in a non-contradictory manner with one or more other performance testing components described in the following embodiments of the present invention, such as the obstacle crossing performance testing component and the wind resistance performance testing component, which will be described in the following embodiments.

[0077] Obstacle crossing performance test components .

[0078] refer to Figure 2 The present invention illustrates a performance testing apparatus 1 according to some embodiments thereof. The performance testing apparatus 1 includes an obstacle crossing performance testing component 50. The obstacle crossing performance testing component 50 may include at least one obstacle crossing action rod 51 arranged parallel to the travel direction of the tested inspection robot R or the travel mechanism of the tested inspection robot R, and a second force application mechanism 52 horizontally mounted to the frame 10.

[0079] Continue to refer to Figure 2 The obstacle-crossing rod 51 includes a first end 511 and a second end 512, the second end 512 being connected to at least one (operating) position on the side of the test support 30, for example... Figure 2 The test stand 30 shown is located at the middle left side. (Continue to refer to...) Figure 2 The second force-applying mechanism 52 may include a horizontally arranged guide rail 521, a sliding seat 522 slidable along the guide rail 521, and a drive mechanism 523, wherein the first end 511 of the obstacle-crossing rod is connected to the sliding seat 522, and the drive mechanism 523 of the second force-applying mechanism 52 is configured to apply obstacle-crossing resistance in the opposite direction to the travel direction to the tested inspection robot R or the traveling mechanism of the tested inspection robot R.

[0080] In some embodiments of the present invention, the performance testing device 1 may further include a displacement sensing unit (not shown), which can be used to measure in real time the distance between the walking mechanism of the tested inspection robot R and the frame 10 at at least one height position, thereby determining the horizontal displacement of the walking mechanism of the tested inspection robot R relative to the frame or test support in the traveling direction along the guardrail surface 211. In some embodiments of the present invention, the displacement sensing unit may be disposed on the frame 10 or the test support 30, or it is conceivable to reasonably place the displacement sensing unit in other positions.

[0081] In some embodiments of the present invention, the performance testing device 1 may include a plurality of displacement sensing units, which are configured to measure in real time the distance between the walking mechanism of the tested inspection robot R and the frame 10 at multiple different height positions. In some embodiments, the plurality of displacement sensing units includes a first displacement sensing unit and a second displacement sensing unit. In some embodiments, the first displacement sensing unit is mounted at a vertical height aligned with the upper waveform structure 212, and the second displacement sensing unit is mounted at a vertical height aligned with the lower waveform structure 213. In embodiments of the present invention, the multiple displacement sensing units can monitor whether the different guide wheels and / or walking drive wheels of the road guardrail inspection robot R's walking mechanism, corresponding to different waveform structures of the guardrail, can successfully cross obstacles.

[0082] In a further embodiment of the present invention, reference is made to... Figure 2 The performance testing device 1 may also include an adjusting bracket 54, which is configured to be horizontally adjustable and mounted to the frame 10.

[0083] In some embodiments of the present invention, the adjusting bracket 54 has a plurality of vertical mounting holes 541, and the second force-applying mechanism 52 is configured to be vertically adjustable to the adjusting bracket 54 through the vertical mounting holes 541, thereby allowing the second force-applying mechanism 52 to be adjusted at multiple different vertical heights through the vertical mounting holes 541, thereby applying simulated obstacle-crossing resistance to the walking mechanism of the tested inspection robot at different vertical heights. In this embodiment, the performance testing device 1 can simulate the road guardrail inspection robot facing different positions of the road guardrail, for example... Figure 2 The obstacle-crossing performance is shown when encountering obstacles on different waveform structures.

[0084] In a further embodiment of the present invention, the performance testing device 1 may include a plurality of obstacle crossing performance testing components 50 or at least a plurality of second force application mechanisms 52. The plurality of obstacle crossing performance testing components 50 or the plurality of second force application mechanisms 52 are respectively fixed on a plurality of vertical mounting holes 541 and thereby mounted to a plurality of vertical heights, for example, to simulate obstacle crossing resistance of different magnitudes to the walking mechanism of the tested inspection robot at a plurality of vertical heights.

[0085] In a further embodiment of the present invention, the performance testing device 1 may include a first obstacle crossing performance testing component corresponding to the waveform guide wheel and a second obstacle crossing performance testing component corresponding to the walking drive wheel and / or the lower support wheel.

[0086] In some embodiments of the present invention, the first obstacle crossing performance test component may be configured as a single component or as multiple components based on the number of rows of wave guide wheels, such as two or three. In some embodiments, one first obstacle crossing performance test component or its second force application mechanism is mounted at a vertical height aligned with the upper wave structure 212, and another first obstacle crossing performance test component or its second force application mechanism 52 is mounted at a vertical height aligned with the lower wave structure 213.

[0087] In some embodiments of the present invention, reference is made to Figure 2 For road guardrail inspection robots, especially the aforementioned magnetic or under-supported road guardrail inspection robots, the performance testing device 1 can simulate the overall obstacle-crossing resistance caused by the overall stepped overlap surface formed by the overlap (joint) of two guardrail segments in a waveform structure at the joint of guardrail segments in reality. In this embodiment, at least two first obstacle-crossing performance testing components of the performance testing device 1 are configured to provide equal simulated obstacle-crossing resistance. However, it is conceivable that in an alternative embodiment, only one first obstacle-crossing performance testing component can be set to simulate the aforementioned obstacle-crossing resistance. In this embodiment, the first obstacle-crossing performance testing component can optionally be configured to align with the vertical height of the aforementioned intermediate waveform structure.

[0088] In some embodiments of the present invention, the performance testing device 1 according to the embodiments of the present invention can simulate the obstacle crossing performance of the walking mechanism of the road guardrail inspection robot when facing obstacle crossing resistance at different vertical heights on the road guardrail, such as obstacle crossing resistance on the wave structure at different heights of the wave guardrail.

[0089] In some embodiments, the performance testing device 1 can also simulate different obstacle-crossing resistances caused by varying degrees of deformation of the upper waveform structure 212 and lower waveform structure 213 of the guardrail in reality. In this embodiment, for the guardrail section 21 in the form of a waveform guardrail, the upper waveform structure 212 and lower waveform structure 213 of the waveform guardrail may have deformations, protrusions, or obstacles of different heights. In this case, the portion of the traveling mechanism that travels along the upper waveform structure 212 (e.g., one of the magnetic wheel sets) and the portion that travels along the lower waveform structure 213 (e.g., the second magnetic wheel set) will experience different obstacle-crossing resistances. In this embodiment, at least one of the plurality of first obstacle-crossing performance testing components of the performance testing device 1 is configured to provide simulated obstacle-crossing resistances different from those of the other first obstacle-crossing performance testing components.

[0090] In some embodiments, the second obstacle crossing performance testing component may be configured as a single component or, based on the configuration of the driving wheel and / or the underside support wheel, may be configured as multiple components, such as two. In some embodiments, a second obstacle crossing performance testing component or its second force application mechanism is mounted at a vertical height aligned with the driving wheel and / or the underside support wheel.

[0091] In some embodiments of the present invention, the first obstacle crossing performance test component and the second obstacle crossing performance test component or their second force application mechanism 52, such as the drive mechanism 523, are further configured to provide different simulated obstacle crossing resistances to each other, thereby transmitting different obstacle crossing resistances to multiple sets of waveform guide magnetic wheels and / or lower drive wheels of the traveling mechanism.

[0092] In some examples, for road guardrail inspection robots, especially the aforementioned under-supported road guardrail inspection robot, the performance testing device 1 can also be used at the upper part of the guardrail, for example... Figure 2 The lower waveform structure shown is positioned to apply greater obstacle-crossing resistance, thereby simulating the additional obstacle-crossing resistance caused by the stepped overlap surface formed at the overall joint of the guardrail and / or the rivets at the joint on the guardrail surface (the side facing the road guardrail inspection robot) to the multiple sets of waveform guide magnetic wheels in contact with the guardrail surface. In this embodiment, the first obstacle-crossing performance test component is configured to apply greater obstacle-crossing resistance than the second obstacle-crossing performance test component.

[0093] In other examples, for road guardrail inspection robots, especially the aforementioned under-supported road guardrail inspection robot, the performance testing device 1 can also be used at the lower part of the guardrail, for example... Figure 2 The lower waveform structure 213 shown is positioned to apply a greater obstacle-crossing resistance, thereby further simulating the additional obstacle-crossing resistance experienced by the drive wheel that contacts the back rolling surface of the lower edge of the waveform guardrail and the lower support wheel that contacts the side rolling line of the lower edge of the waveform guardrail at the warping of the stepped overlap surface formed at the bottom side of the guardrail and the back side of the guardrail (the side away from the road guardrail inspection robot). In this embodiment, the second obstacle-crossing performance test component is configured to apply a greater obstacle-crossing resistance than the first obstacle-crossing performance test component.

[0094] In some embodiments of the present invention, the drive mechanism 523 may be motor-driven.

[0095] In some embodiments of the invention, the drive mechanism 523 is configured to apply a constant, preset level obstacle-crossing resistance to the walking mechanism of the tested inspection robot. In this embodiment, the magnitude of the preset obstacle-crossing resistance is determined, for example, based on the maximum obstacle-crossing resistance that the tested inspection robot is expected to overcome in a simulated working environment.

[0096] In some embodiments of the present invention, the performance testing device 1, for example, its control unit, is configured to determine the obstacle-crossing test state of the tested inspection robot based on the horizontal displacement relative to the guardrail surface in the direction of travel when the preset horizontal obstacle-crossing resistance is applied by the drive mechanism 523. Specifically, in this embodiment, the control unit is configured to calculate in real time the motion acceleration of the tested inspection robot moving at a certain speed relative to the guardrail surface in the direction of travel based on the horizontal displacement. In some embodiments, when the travel direction of the inspection robot is away from the drive mechanism 523, the control unit is configured to determine that the obstacle-crossing performance of the tested inspection robot meets the requirements when the running acceleration of the tested inspection robot under the action of the preset obstacle-crossing resistance is greater than or equal to zero; otherwise, it determines that the obstacle-crossing performance does not meet the requirements.

[0097] In some embodiments of the present invention, the performance testing device 1 may further include an attitude sensing unit (not shown), which is used to sense in real time the angle and / or angle change data between the walking mechanism of the tested inspection robot R and the direction of travel. In this embodiment of the present invention, the walking mechanism of the tested inspection robot R is approximately horizontal along the direction of travel of the guardrail. When the walking mechanism encounters an obstacle on the guardrail at a certain speed, especially when it encounters multiple obstacle-crossing resistances of different heights and resistances at the guardrail joints as described above, the tested inspection robot R may experience up-and-down shaking. If the amplitude of the up-and-down shaking is too large, it may cause the walking mechanism of the inspection robot, for example, its magnetic wheel to deviate from the waveform structure, thus affecting the operation of the inspection robot.

[0098] In some embodiments of the present invention, the performance testing device 1, for example its control unit, is configured to determine the obstacle-crossing test state of the tested inspection robot or the walking mechanism of the tested inspection robot by comparing the included angle with a preset included angle threshold when the drive mechanism 523 applies the preset horizontal obstacle-crossing resistance. In some embodiments, the control unit is configured to determine that the obstacle-crossing performance of the tested inspection robot meets the requirements if the included angle is less than or equal to the preset included angle threshold, otherwise determine that the obstacle-crossing performance does not meet the requirements.

[0099] In an alternative embodiment of the present invention, the performance testing device 1, for example, its control unit, is configured to determine the obstacle-crossing test state of the tested inspection robot or the walking mechanism of the tested inspection robot by comparing the distance difference between multiple distances measured in real time by the plurality of displacement sensing units with a preset distance difference threshold when the drive mechanism 523 applies the preset horizontal obstacle-crossing resistance. In some embodiments, the control unit is configured to determine that the obstacle-crossing performance of the tested inspection robot meets the requirements when the distance difference is less than or equal to the preset distance difference; otherwise, it determines that the obstacle-crossing performance does not meet the requirements.

[0100] In this embodiment of the invention, when the tested inspection robot R runs on the guardrail section 21, its walking mechanism needs to maintain continuous and reliable contact with the guardrail surface of the guardrail section 21 to ensure the stability of its installation and operation. However, this requirement also indirectly increases the impact of obstacles on the guardrail surface on the inspection robot's walking mechanism. These obstacles include, but are not limited to, the joints between guardrail sections, rivet structures at the joints, local deformation of the guardrail surface, attachments, and damaged parts.

[0101] The performance testing device of this invention, through the use of an obstacle-crossing lever and a second force-applying mechanism, can evaluate the obstacle-crossing performance of road guardrail inspection robots, especially magnetic and under-supported road guardrail inspection robots. Furthermore, the performance testing device of a further embodiment of this invention can also test the obstacle-crossing ability of road guardrail inspection robots, especially magnetic road guardrail inspection robots, against multiple obstacles created by the magnetic wheels of wave-shaped guardrails at different vertical heights. In particular, it can test the obstacle-crossing ability of road guardrail inspection robots, such as under-supported road guardrail inspection robots, against additional obstacles created by the underside support wheels or underside drive wheels at the guardrail joint.

[0102] In another embodiment of the present invention, the driving mechanism 523 may be driven manually.

[0103] In another embodiment of the present invention, the performance testing device 1 may include a second force measuring mechanism 53, the second force measuring mechanism 53 including a force measuring body 531 and a measuring connection end 532, wherein the force measuring body 531 is fixedly installed to the sliding seat 522, and the measuring connection end 532 is configured to connect to the first end 511 of the obstacle crossing rod 51.

[0104] In another embodiment of the invention, the guardrail segment 21 may include a first guardrail segment, a second guardrail segment, and a connecting portion (not shown). The guardrail support portion is configured to fix and support the first guardrail segment and the second guardrail segment on the frame 10 with an adjustable height difference at the connecting portion. In this embodiment, the guardrail support member 20 may optionally include a first support portion for fixing and supporting the first guardrail segment and a second support portion for fixing and supporting the second guardrail segment, wherein the first guardrail segment and the second guardrail segment are partially overlapped at the connecting portion, thereby forming a stepped structure. In an optional embodiment, a protruding structure is also provided at the connecting portion, which can be used to simulate an actual rivet structure. In some embodiments, the inspection robot under test or the walking mechanism of the inspection robot under test may be mounted to the guardrail segment 21, wherein the wave guide wheel mechanism and / or drive wheel mechanism of the inspection robot under test contacts the connecting portion. In this embodiment, when the inspection robot is able to cross the connecting part along the direction of travel, it is determined that the obstacle crossing performance of the tested inspection robot meets the requirements; otherwise, it is determined that the obstacle crossing performance does not meet the requirements.

[0105] In other embodiments, the drive mechanism 523 is configured to apply obstacle-crossing resistance along the direction of travel to the walking mechanism of the inspection robot R, which is stationary against the docking point.

[0106] In some embodiments of the present invention, the drive mechanism 523 includes an adjustment handwheel 5231 mounted below the guide rail 521 and a transmission component. The adjustment handwheel 5231 is configured to connect to the sliding seat 522 via the transmission component, thereby driving the sliding seat 522 to move horizontally on the guide rail 521 by rotating the adjustment handwheel 5231, thereby applying an obstacle-crossing force along the travel direction of the tested inspection robot R to the first end 511 of the obstacle-crossing rod 51. In some embodiments of the present invention, such as Figure 2 As shown, the adjusting handwheel 5231 includes a rod body. The first end of the rod body is fixedly connected to the transmission component, and the second end of the rod body has three levers arranged radially. In this embodiment, the transmission component is a transmission gear (not shown), and the bottom of the sliding seat 522 is provided with a gear rail (not shown) that meshes with the transmission gear. The adjusting handwheel 5231 can drive the transmission gear to rotate, thereby driving the sliding seat 522 to move horizontally on the guide rail 521.

[0107] In a further embodiment of the invention, a displacement sensing unit can be used to measure in real time the distance between the walking mechanism of the inspection robot R at the docking point and the frame, thereby determining the horizontal displacement of the tested inspection robot or its walking mechanism relative to the guardrail surface. In some embodiments, the control unit is further configured to determine whether the tested inspection robot has crossed the docking point based on the change in horizontal displacement. Specifically, the control unit is configured to determine that the obstacle-crossing performance of the tested inspection robot meets the requirements when the detected change in horizontal displacement is greater than a displacement threshold. In other embodiments, the control unit is further configured to determine the minimum obstacle-crossing force required for the tested inspection robot to cross the docking point based on the change in horizontal displacement. Specifically, the control unit is configured to determine the obstacle-crossing force value corresponding to the moment when the detected change in horizontal displacement is greater than a displacement threshold as the minimum obstacle-crossing force.

[0108] In this embodiment of the invention, the traveling mechanism of the inspection robot is affected by the joints of the guardrail sections when running along the guardrail surface. As an explanation and not a limitation, since there is an unavoidable structural gap and / or height difference between the two guardrail sections that are joined together, when the inspection robot runs from the "lower" guardrail section to the "higher" guardrail section, the inspection robot needs to overcome the height difference at the joint without leaving the guardrail surface. However, the resistance caused by the joint is difficult to quantify. The performance testing device 1 of the above embodiment of the invention can be used to determine the minimum obstacle-crossing force required for the tested inspection robot to successfully overcome the height difference at the joint without leaving the guardrail surface by simulating the guardrail joint and adjusting the height difference at the guardrail joint. This provides guidance for the design of the power parameters of the road guardrail inspection robot.

[0109] In the embodiments of the present invention, it should be understood that the performance testing device 1 in the above embodiments, while including the obstacle crossing performance testing component, can also be combined in a non-contradictory manner with one or more other performance testing components described in the embodiments of the present invention, such as the anti-rollover performance testing component described in the above embodiments and the anti-wind resistance performance testing component described below.

[0110] Wind resistance performance test assembly .

[0111] refer to Figure 3This invention illustrates a performance testing apparatus 1 according to some embodiments of the present invention. The performance testing apparatus 1 includes a wind resistance performance testing component 60. The wind resistance performance testing component 60 may include one or more vertical columns 11 disposed on the top of a frame 10, a wind resistance action rod 61 extending vertically from the top of the test support 30, and a third force application mechanism 62 installed transversely to the vertical columns 11. In embodiments of the invention, the vertical columns 11 may be integrally formed with the frame 10 or may be detachable independent components separate from the frame 10. The invention does not limit the specific number of vertical columns 11 or their specific position on the top of the frame 10. In a specific example, such as... Figure 3 As shown, the top of the frame 10 has two vertical columns 11 arranged side by side on one side.

[0112] In some embodiments of the present invention, the performance testing device 1 includes a plurality of vertical columns 11 disposed at multiple locations on the top of the frame 10, and the third force application mechanism 62 can apply a horizontal wind resistance force to the wind resistance rod 61 in at least one horizontal direction by switching between the plurality of vertical columns 11.

[0113] Continue to refer to Figure 3 In some embodiments of the present invention, the third force-applying mechanism 62 includes a guide rail 621, a sliding seat 622 slidable along the guide rail 621, and a driving mechanism 623, wherein the sliding seat 622 of the third force-applying mechanism 62 is configured to operate at at least one operating height connected to the wind resistance rod 61, for example... Figure 3 The top of the wind resistance rod 61 shown.

[0114] In some embodiments of the present invention, the third force-applying mechanism 62 is configured to be vertically adjustable and mounted on the vertical column 11, such that the drive mechanism 623 of the third force-applying mechanism 62 is configured to apply a horizontal wind resistance force at at least one working height of the wind resistance rod 61 via a sliding seat 622. In a specific embodiment, a road guardrail inspection robot is designed to install monitoring equipment, such as an image acquisition device, at its top 1.3m. The third force-applying mechanism 62 can be specifically adjusted to extend the vertical column 11 beyond the top of the road guardrail inspection robot by 1.3m, and apply a horizontal wind resistance force to the wind resistance rod 61 at this height, thereby simulating the wind resistance performance test of the road guardrail inspection robot design, and guiding the design of the road guardrail inspection robot based on the test results.

[0115] In some embodiments of the present invention, the performance testing device 1 further includes a third force measuring mechanism 63, which includes a force gauge body 631 and a measuring connection end 632. The force gauge body 631 is fixedly installed to the sliding seat 622, and the measuring connection end 632 is configured to be connected to at least one working height of the wind resistance rod 61.

[0116] In some embodiments of the present invention, the drive mechanism 623 may be motor-driven.

[0117] In some embodiments of the present invention, the drive mechanism 623 is configured to apply a constant, preset horizontal force to the slide seat 622 to apply wind resistance to the tested inspection robot. In this embodiment, the magnitude of the preset horizontal force is determined, for example, based on the wind resistance that the tested inspection robot is expected to withstand in a simulated working environment.

[0118] In some embodiments of the present invention, the performance testing device 1 may also be combined with the aforementioned spacing monitoring unit to determine whether the walking mechanism of the tested inspection robot has detached from the guardrail surface under the action of the preset horizontal force.

[0119] In some embodiments of the present invention, the performance testing device 1, for example, its control unit, is configured to determine the wind resistance test state of the tested inspection robot or the traveling mechanism of the tested inspection robot based on a comparison of the spacing with a preset spacing threshold and / or a comparison of the spacing change data with a preset change threshold when the drive mechanism 623 applies the preset horizontal force. In this embodiment, the wind resistance test state includes, for example, compliance and non-compliance. The control unit is configured to determine that the wind resistance test state is compliant when the spacing is less than or equal to the preset spacing threshold, and non-compliant otherwise.

[0120] In some embodiments of the present invention, the drive mechanism 623 is configured to apply a gradually increasing simulated wind resistance to the tested inspection robot. In this embodiment, the performance testing device 1, for example, its control unit, is configured to determine the maximum wind resistance that the tested inspection robot can withstand based on the relationship curve between the wind resistance and the spacing when the drive mechanism 623 applies the simulated wind resistance. In this embodiment, the control unit is further configured to determine the simulated wind resistance at the moment when the spacing begins to increase as the maximum wind resistance in the rollover test state.

[0121] In some embodiments of the present invention, the performance testing device 1, such as its wind resistance performance testing component, may also be combined with the aforementioned attitude sensing unit. The attitude sensing unit is used to sense in real time the angle and / or angle change data between the entire walking mechanism of the tested inspection robot and the direction of travel. In this embodiment, when the road guardrail inspection robot is subjected to wind load, the walking mechanism of the road guardrail inspection robot may vibrate up and down. If the amplitude of the up and down vibration is too large, it may cause the walking mechanism of the inspection robot, for example, its magnetic wheel to deviate from the waveform structure, thus affecting the operation of the inspection robot. In some embodiments, the performance testing device 1, such as its control unit, is configured to determine the wind resistance test state of the tested inspection robot or the walking mechanism of the tested inspection robot by comparing the angle with a preset angle threshold when the simulated wind resistance is applied by the drive mechanism 623. In some embodiments, the control unit is configured to determine that the wind resistance performance of the tested inspection robot meets the requirements when the angle of the tested inspection robot is less than or equal to the preset angle threshold; otherwise, it is determined that the wind resistance performance does not meet the requirements.

[0122] The performance testing device 1 of this invention is particularly useful for simulating the need to install image acquisition devices or other monitoring devices at different heights on the top of a road guardrail inspection robot, such as the need to install image acquisition devices of different heights, cantilever lengths, and weights on the top of the road guardrail inspection robot. Through the performance testing device 1 of this invention, the stability boundary of the inspection robot under wind load can be quantitatively evaluated under different top image acquisition device configurations by adjusting the sliding adjustment of the third force application mechanism and the length adjustment of the action rod.

[0123] In some embodiments of the present invention, the driving mechanism 623 may be driven manually.

[0124] In some embodiments of the present invention, the drive mechanism 623 includes an adjusting handwheel 6231 mounted below the guide rail 621 and a transmission component. The adjusting handwheel 6231 is configured to connect to the sliding seat 622 via the transmission component, thereby driving the sliding seat 622 to move horizontally on the guide rail 621 by rotating the adjusting handwheel 6231, thereby applying a horizontal force (wind resistance) to at least one working height of the wind resistance rod 61. In some embodiments of the present invention, such as Figure 3As shown, the adjusting handwheel 6231 includes a rod body, one end of which is fixedly connected to the transmission component, and the other end of which has three levers arranged radially. In this embodiment, the transmission component is a transmission gear (not shown), and the bottom of the sliding seat 622 is provided with a gear rail (not shown) that meshes with the transmission gear. The adjusting handwheel 6231 can drive the transmission gear to rotate, thereby driving the sliding seat 622 to move horizontally on the guide rail 621.

[0125] In some embodiments of the present invention, as the adjusting handwheel 6231 rotates continuously, the horizontal displacement of the sliding seat 622 gradually increases, and the wind resistance applied to at least one working height of the wind resistance rod 61 increases accordingly. At this time, as the wind resistance increases, when the wind resistance displayed by the force gauge body 631 reaches a preset wind resistance that meets the requirements, the wind resistance resistance capability of the tested inspection robot R is evaluated by observing whether it has still not detached from the guardrail surface. Specifically, if the tested inspection robot has not detached from the guardrail, it is determined that the wind resistance resistance performance of the tested inspection robot R meets the requirements; otherwise, it is determined that the wind resistance resistance performance does not meet the requirements. In this embodiment, the distance sensing unit described above can also be used to more accurately determine whether the tested inspection robot has detached from the guardrail, which will not be elaborated here.

[0126] In the embodiments of the present invention, it should be understood that the performance testing device 1 in the above embodiments, while including the wind resistance performance testing component 60, can also be combined in a non-contradictory manner with one or more other performance testing components described in the embodiments of the present invention, such as the rollover resistance performance testing component and the obstacle crossing performance testing component described in the above embodiments.

[0127] In embodiments of the present invention, the various components of the performance testing device 1 can be modularly configured. In other words, those skilled in the art can configure one or more performance testing components installed on the performance testing device 1 according to specific needs. In some embodiments of the present invention, the force application mechanism and force measuring mechanism in each performance testing component, such as the guide rail, sliding seat, and force gauge body, can be interchangeable and reused. In some embodiments of the present invention, the control unit can be configured to be used simultaneously for multiple performance testing devices. In some embodiments of the present invention, the spacing monitoring unit can be used simultaneously for both the rollover resistance testing device and the obstacle crossing performance testing device.

[0128] Although the present invention has been described in detail above with general descriptions and specific embodiments, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection claimed by the present invention. In this document, several embodiments of the present invention have been described, but for the sake of brevity, the descriptions of the embodiments are not exhaustive, and identical or similar features or parts between the embodiments may be omitted. In this document, "one embodiment," "some embodiments," "example," "specific example," or "some examples" refers to embodiments applicable to at least one embodiment or example according to the present invention, but not all embodiments. The above terms do not necessarily refer to the same embodiment or example. Without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification and the features of the different embodiments or examples.

[0129] The exemplary systems and methods of the present invention have been specifically shown and described with reference to the above embodiments, which are merely examples of the best mode for implementing the systems and methods. Those skilled in the art will understand that various changes can be made to the embodiments of the systems and methods described herein without departing from the spirit and scope of the invention as defined in the appended claims when implementing the systems and / or methods.

Claims

1. A performance testing device for an inspection robot, characterized in that, The performance test device comprises: a frame; a guardrail support member fixed to the frame for fixing and supporting a guardrail segment; a test support frame for mounting to a side of a test inspection robot or a test inspection robot running mechanism away from the guardrail support member; a horizontal rollover action lever comprising a force receiving end and an action end, the action end being configured to be fixed to at least one position on the back side of the test support frame; a first force applying mechanism vertically mounted to the frame, the first force applying mechanism comprising a vertical guide rail, a sliding seat slidable along the guide rail, and a driving mechanism, wherein the sliding seat is operatively connected to the force receiving end of the rollover action lever through a connecting rod, and the driving mechanism of the first force applying mechanism is configured to drive the sliding seat to displace along the guide rail in a vertical direction, so as to apply a rollover torque to the test inspection robot or the test inspection robot running mechanism through the force receiving end; the performance test device further comprises: an obstacle surmounting action lever arranged in parallel with the advancing direction of the test inspection robot or the test inspection robot running mechanism; a second force applying mechanism horizontally mounted to the frame, the second force applying mechanism comprising a horizontal guide rail, a sliding seat slidable along the guide rail, and a driving mechanism, wherein a first end of the obstacle surmounting action lever is connected to the sliding seat, a second end of the obstacle surmounting action lever is connected to the test support frame, and the driving mechanism of the second force applying mechanism is configured to apply an obstacle surmounting resistance in the opposite direction of the advancing direction to the test inspection robot or the test inspection robot running mechanism through the sliding seat; and / or a vertical column arranged on the top of the frame; a wind resistance action lever vertically extending from the top of the test support frame; and a third force applying mechanism transversely mounted to the vertical column, the third force applying mechanism comprising a guide rail, a sliding seat slidable along the guide rail, and a driving mechanism, wherein the sliding seat of the third force applying mechanism is configured to operatively connect to at least one action height of the wind resistance action lever, and the driving mechanism of the third force applying mechanism is configured to apply a horizontal wind resistance action force to the wind resistance action lever at the at least one action height.

2. The performance testing device of claim 1, wherein, the performance test device comprises a vertical column arranged on the top of the frame, a wind resistance action lever vertically extending from the top of the test support frame, and a third force applying mechanism transversely mounted to the vertical column; the third force applying mechanism is configured to be adjustably mounted to the vertical column, so that the driving mechanism of the third force applying mechanism is configured to apply a horizontal wind resistance action force to the wind resistance action lever at multiple action heights.

3. The performance testing device of claim 1, wherein, the performance test device comprises an obstacle surmounting action lever arranged in parallel with the advancing direction of the test inspection robot or the test inspection robot running mechanism, and a second force applying mechanism horizontally mounted to the frame; the performance test device further comprises: an adjustment support frame configured to be horizontally adjustably mounted to the frame, the adjustment support frame having a vertical mounting hole, and the second force applying mechanism is configured to be vertically adjustably mounted to the adjustment support frame through the vertical mounting hole.

4. The performance testing device of any one of claims 1 to 3, wherein, The performance test device further comprises a distance sensing unit for sensing the distance or distance change between the tested inspection robot or the tested inspection robot traveling mechanism and the guardrail surface in real time.

5. The performance testing device of claim 1, wherein, The performance test device comprises an obstacle surmounting action rod arranged in parallel with the advancing direction of the tested inspection robot or the tested inspection robot traveling mechanism, and a second force applying mechanism horizontally mounted to the frame. The performance test device further comprises a displacement sensing unit for measuring the distance between the tested inspection robot or the tested inspection robot traveling mechanism and the frame in at least one height position in real time, so as to determine the horizontal displacement of the tested inspection robot or the tested inspection robot traveling mechanism.

6. The performance testing device of any one of claims 1 to 3, wherein, The performance test device further comprises a first force measuring mechanism comprising a force gauge body and a measurement connecting end, wherein the force gauge body is fixedly mounted to the sliding seat, and the measurement connecting end is configured to connect the force receiving end of the rollover action rod.

7. The performance testing device of claim 1, wherein, The performance test device comprises an obstacle surmounting action rod arranged in parallel with the advancing direction of the tested inspection robot or the tested inspection robot traveling mechanism, and a second force applying mechanism horizontally mounted to the frame. The performance test device further comprises a second force measuring mechanism comprising a force gauge body and a measurement connecting end, wherein the force gauge body is fixedly mounted to the sliding seat, and the measurement connecting end is configured to connect the first end of the obstacle surmounting action rod.

8. The performance testing device of claim 1, wherein, The performance test device comprises a vertical column arranged at the top of the frame, a wind resistance action rod vertically extending from the top of the test support, and a third force applying mechanism mounted transversely to the vertical column; The performance test device further comprises a third force measuring mechanism comprising a force gauge body and a measurement connecting end, wherein the force gauge body is fixedly mounted to the sliding seat, and the measurement connecting end is configured to connect at least one action height of the wind resistance action rod.

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