Programmable robot testing and debugging system
By designing rotating clamping and testing components to simulate the robot car's road surface, and combining this with data collection from monitoring components, the problems of large testing and debugging space requirements and low efficiency for robot cars were solved, achieving efficient performance tuning and data support.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- HAINAN YILIN INTELLIGENT TECH CO LTD
- Filing Date
- 2023-12-05
- Publication Date
- 2026-04-14
AI Technical Summary
In the existing technology, the testing and debugging of robot vehicles need to be carried out in a large area, which makes the testing process time-consuming and labor-intensive, and there is a lack of efficient testing systems that can simulate real-world scenarios.
A programmable robot testing and debugging system was designed, including a rotating clamping component and a rotating testing component, to simulate the turning and forward and backward movement of a robot car on the road surface. The system is combined with a monitoring component to collect data to evaluate the performance of the robot car.
It greatly reduces the area required for testing, enables rapid tuning of robot vehicle performance, and provides real-world test data to support the tuning process.
Smart Images
Figure CN121848438A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of robot testing technology, specifically to a programmable robot testing and debugging system. Background Technology
[0002] A robot is an intelligent machine capable of semi-autonomous or fully autonomous operation. Robots can perform tasks such as operations or movement through programming and automatic control. In the industrial field, robotics technology is widely used in robotic vehicles, the most representative of which is the AGV (Automated Guided Vehicle). AGVs are transport vehicles equipped with electromagnetic or optical automatic navigation devices, capable of traveling along a predetermined navigation path, and possessing safety protection and various transfer functions. AGVs are mainly used as material handling vehicles in industry, and their travel path and movements are generally controlled by a computer.
[0003] In the current technology, testing and debugging of robot cars requires setting up identification codes and routes in a large area. This approach is obviously time-consuming and labor-intensive during the research and development phase of robot cars. When modifying and testing the functions of robot cars, a physical-level testing system platform that can simulate real-world scenarios is needed. Summary of the Invention
[0004] The purpose of this invention is to provide a programmable robot testing and debugging system. By rotating the clamping assembly and the testing assembly, the system can simulate road conditions for the robot car to turn, move forward, and move backward, greatly reducing the area required. The monitoring assembly can collect data on the robot car's set braking time, moving speed, and turning accuracy, as well as the actual speed, braking time, moving speed, and turning accuracy. This allows developers to quickly fine-tune the robot car's performance and provides experimental data for the fine-tuning process, thereby solving the problems in the background technology.
[0005] To achieve the above objectives, the present invention provides the following technical solution:
[0006] A programmable robot testing and debugging system includes a base plate, a rotating clamping assembly, a rotating testing assembly, a monitoring assembly, and a controller. Ball supports are installed at the four bottom corners of the base plate, and hydraulic telescopic rods are connected to the bottom of the ball supports. The hydraulic telescopic rods are fixedly installed on the working base. The rotating testing assembly is installed on the base plate, and a test robot car is placed on the rotating testing assembly. The rotating testing assembly is used to simulate the road surface on which the robot car travels. The rotating clamping assembly is installed at the bottom of the base plate. The rotating clamping assembly is used to obtain the angle of the robot car's travel direction after turning and to correct the robot car's deviation relative to the rotating testing assembly. The monitoring assembly is installed at the top of the base plate. The monitoring assembly is used to monitor the signal data of the robot car's position information on the rotating testing assembly and send the data to the controller. A vertical plate is installed on one side of the base plate. An LED display screen is installed on the side of the vertical plate closest to the rotating testing assembly. The LED display screen is used to display the QR code information recognized by the robot car. The controller is installed on the side of the vertical plate away from the LED display screen.
[0007] Furthermore, the rotation test assembly includes a fixed plate, an anti-slip belt, a support roller, a second motor, and a damper. Two pairs of fixed plates are installed on both sides of the base plate, and a guide sleeve is rotatably installed between the two fixed plates. The two guide sleeves are connected by an anti-slip belt that is pre-tightened during connection. Several sets of support rollers are installed between the two guide sleeves to support the anti-slip belt. One end of one guide sleeve is connected to the second motor, which is fixedly installed on the base plate. A damper is connected to the shaft of the guide sleeve at the end of the base plate away from the second motor, and the damper is fixedly installed on the base plate.
[0008] Furthermore, the rotating clamping assembly includes a first motor, a U-shaped plate, an electric telescopic rod, and a pressure plate. The output end of the first motor is fixedly installed at the geometric center of the U-shaped plate. The first motor is also fixedly installed at the bottom of the base plate. A pair of electric telescopic rods are installed on the top of the inner walls on both sides of the U-shaped plate. The output end of the electric telescopic rod is equipped with a pressure plate. The bottom surface of the pressure plate is located above the anti-slip strip in the vertical direction. A pair of symmetrical columns about the first motor are installed above the bottom surface of the U-shaped plate. Arc-shaped guide grooves are provided on both sides of the base plate. The columns slide with the guide grooves. A limiting disc is installed on the top of the columns. The limiting disc slides with the base plate. A pair of pressure signal sensors are installed on the end of the pressure plate away from the electric telescopic rod. The pressure signal sensors are used to collect the pressure signal between the pressure plate and the robot car and send the signal to the controller. A pair of indicator lights are installed on the top two sides of the pressure plate.
[0009] Furthermore, a distance signal sensor is installed at the bottom of the hydraulic telescopic rod. The distance signal sensor is used to collect the distance signal between the ball support and the bottom of the hydraulic telescopic rod and send the signal to the controller.
[0010] Furthermore, the monitoring components include support rods, a top plate, and an image acquisition sensor. Support rods are installed at the four corners of the base plate, and a top plate is installed on the top of the support rods. An image acquisition sensor is installed at the geometric center of the bottom of the top plate. The image acquisition sensor is used to acquire the position signal of the robot car on the anti-slip strip and send the signal to the controller. The image acquisition sensor is also used to acquire the position signal of the indicator light on the pressure plate on the anti-slip strip and send the signal to the controller.
[0011] Furthermore, the controller includes a serial port receiving module, a Bluetooth module, a microcontroller, a serial port transmitting module, and a power supply module. The serial port receiving module receives data signals from the distance signal sensor, image acquisition sensor, and indicator lights and transmits these signals to the microcontroller. The microcontroller processes the signal data and sends control commands to the serial port transmitting module. The serial port transmitting module is connected to the control terminals of the first motor, the second motor, the damper, the hydraulic telescopic rod, the electric telescopic rod, and the LED display screen. The power supply module provides power to the electrical equipment such as the first motor, the second motor, the damper, the hydraulic telescopic rod, the electric telescopic rod, and the LED display screen. The Bluetooth module is connected to the pins of the microcontroller and transmits the signal data received by the microcontroller and the control commands sent by the microcontroller to the control terminal. The Bluetooth module is also used to update the microcontroller with the command signals from the control terminal and the new version of the processing program.
[0012] Compared with the prior art, the beneficial effects of the present invention are as follows:
[0013] This invention provides a programmable robot testing and debugging system. By rotating the clamping component and the testing component, the system can simulate the road surface for the robot car to turn, move forward and backward, greatly reducing the area required. The monitoring component can collect data on the robot car's set braking time, moving speed and turning accuracy, as well as the actual speed, braking time, moving speed and turning accuracy. This facilitates developers to quickly adjust the robot car's performance and provides actual test data for the adjustment process. Attached Figure Description
[0014] Figure 1 This is a schematic diagram of the overall structure of the present invention;
[0015] Figure 2 This is a schematic diagram of the monitoring component structure of the present invention;
[0016] Figure 3 This is a schematic diagram of the rotating clamping assembly structure of the present invention.
[0017] In the diagram: 1. Base plate; 11. Ball bearing; 12. Hydraulic telescopic rod; 13. Distance signal sensor; 14. Support rod; 15. Top plate; 16. Image acquisition sensor; 17. Fixing plate; 18. Anti-slip strip; 19. Support roller; 2. First motor; 21. U-shaped plate; 22. Column; 23. Limiting disc; 24. Electric telescopic rod; 25. Pressure plate; 26. Pressure signal sensor; 27. Indicator light; 28. Vertical plate; 29. LED display screen; 3. Second motor; 4. Damper; 5. Controller. Detailed Implementation
[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0019] like Figures 1 to 3As shown, a programmable robot testing and debugging system includes a base plate 1, a rotating clamping assembly, a rotating testing assembly, a monitoring assembly, and a controller 5. Ball supports 11 are installed at the four corners of the bottom of the base plate 1. Hydraulic telescopic rods 12 are connected to the bottom of each ball support 11 and are fixedly installed on the working base. The tilt angle of the base plate 1 can be adjusted by adjusting the height of the hydraulic telescopic rods 12. A rotating testing assembly is installed on the base plate 1, and a test robot car is placed on the rotating testing assembly. The rotating testing assembly simulates the road surface on which the robot car travels. The relative movement of the robot car and the rotating testing assembly allows for testing the speed of the robot car and the deviation between the set rotation speed and the actual rotation speed. A rotating clamping assembly is installed at the bottom of the base plate 1. The rotating clamping assembly is used to obtain the angle of the robot car's direction of travel after turning and to correct the robot car's deviation relative to the rotating testing assembly. Correcting the robot car after turning using the rotating clamping assembly simulates the robot car's rotation... The robot car's turning, forward movement, and backward movement can be simulated by rotating the clamping assembly and the rotating test assembly. The robot car's turning angle, forward and backward speed, and time are used to simulate and test its travel route data. A monitoring assembly is installed on the top of the base plate 1 to monitor the robot car's position on the rotating test assembly and send the data to the controller 5. A vertical plate 28 is installed on one side of the base plate 1. An LED display screen 29 is installed on the side of the vertical plate 28 closest to the rotating test assembly. The LED display screen 29 displays the QR code information recognized by the robot car. After the robot car obtains the QR code information displayed on the LED display screen 29, its braking time and braking distance can be tested. The controller 5 is installed on the side of the vertical plate 28 away from the LED display screen 29. The controller 5 sends the data signals of the test and debugging system to the control terminal for comparison with the robot car's data information, enabling multi-directional movement testing and signal recognition testing of the robot car.
[0020] The rotation test assembly includes a fixed plate 17, an anti-slip strip 18, a support roller 19, a second motor 3, and a damper 4. Two pairs of fixed plates 17 are installed on both sides of the base plate 1. A guide sleeve is rotatably installed between the two fixed plates 17. The two guide sleeves are connected by an anti-slip strip 18. The anti-slip strip 18 is pre-tightened during connection to prevent sliding friction between the guide sleeve and the anti-slip strip 18. Several sets of support rollers 19 are installed between the two guide sleeves to support the anti-slip strip 18 and prevent the robot from slipping on the anti-slip strip 18. When the robot moves, the anti-slip strip 18 bends. One end of the guide sleeve is connected to the second motor 3, which is fixedly installed on the base plate 1. The guide sleeve can be rotated by the second motor 3 to achieve forward and reverse rotation of the anti-slip strip 18 and adjustment of different rotation speeds. A damper 4 is connected to the shaft of the guide sleeve on the end of the base plate 1 away from the second motor 3. The damper 4 is fixedly installed on the base plate 1. The damper 4 can brake the rotation of the guide sleeve and the anti-slip strip 18, which can simulate the ground when the robot car executes the stationary command.
[0021] The rotating clamping assembly includes a first motor 2, a U-shaped plate 21, an electric telescopic rod 24, and a pressure plate 25. The output end of the first motor 2 is fixedly installed at the geometric center of the U-shaped plate 21. The first motor 2 is also fixedly installed at the bottom of the base plate 1. A pair of electric telescopic rods 24 are installed on the top of the inner walls on both sides of the U-shaped plate 21. The pressure plate 25 is installed at the output end of the electric telescopic rod 24. The bottom surface of the pressure plate 25 is located above the anti-slip strip 18 in the vertical direction. The extension and retraction of the electric telescopic rods 24 can achieve the alignment of the two pressure plates 25 with the machine. The robot car is gripped, and the rotation of the first motor 2 can correct and adjust the deflection angle of the robot car on the anti-slip strip 18. A pair of symmetrical columns 22 about the first motor 2 are installed above the bottom surface of the U-shaped plate 21. Arc-shaped guide grooves are provided on both sides of the base plate 1. The columns 22 slide with the guide grooves. A limiting disk 23 is installed on the top of the columns 22. The limiting disk 23 slides with the base plate 1. Through the sliding engagement of the columns 22 and the guide grooves, the rotation of the U-shaped plate 21 driven by the first motor 2 can be achieved. The pressure plate 25 is guided by a pair of pressure signal sensors 26 installed at the end away from the electric telescopic rod 24. The pressure signal sensors 26 are used to collect the pressure signal between the pressure plate 25 and the robot car and send the signal to the controller 5. When the pressure signal sensors 26 on the same pressure plate 25 have the same pressure, it indicates that the pressure plate 25 is completely in contact with the side of the robot car. When the pressure signal sensors 26 on the same pressure plate 25 have different pressures, the first motor 2 drives the U-shaped plate 21 to rotate and adjust the clamping angle of the pressure plate 25 relative to the robot car. The deflection angle of the pressure plate 25 is the deflection angle of the robot car on the anti-slip strip 18. A pair of indicator lights 27 are installed on the top two sides of the pressure plate 25. The deflection angle of the indicator lights 27 on the same pressure plate 25 on the anti-slip strip 18 can also be obtained by the monitoring component. The deflection angle of the robot car on the anti-slip strip 18 can be accurately obtained by the rotation angle of the U-shaped plate 21 driven by the first motor 2 and the deflection angle obtained by the indicator lights 27 and the monitoring component.
[0022] A distance signal sensor 13 is installed at the bottom of the hydraulic telescopic rod 12. The distance signal sensor 13 is used to collect the distance signal between the ball support 11 and the bottom of the hydraulic telescopic rod 12 and send the signal to the controller 5. The deflection angle of the base plate 1 can be calculated by the extension length of each distance signal sensor 13 and the length and width of the base plate 1, which can simulate the movement of the robot car on a complex slope.
[0023] The monitoring component includes a support rod 14, a top plate 15, and an image acquisition sensor 16. The support rod 14 is installed at the four corner edges of the base plate 1, and the top plate 15 is installed on the top of the support rod 14. The image acquisition sensor 16 is installed at the geometric center of the bottom of the top plate 15. The image acquisition sensor 16 is used to acquire the position signal of the robot car on the anti-slip strip 18 and send the signal to the controller 5. The image acquisition sensor 16 is also used to acquire the position signal of the indicator light 27 on the pressure plate 25 on the anti-slip strip 18 and send the signal to the controller 5, thereby obtaining the deflection angle of the pressure plate 25 on the anti-slip strip 18.
[0024] The controller 5 includes a serial port receiving module, a Bluetooth module, a microcontroller, a serial port transmitting module, and a power supply module. The serial port receiving module receives data signals from the distance signal sensor 13, the image acquisition sensor 16, and the indicator light 27, and transmits these signals to the microcontroller. The microcontroller processes the signal data and sends control commands to the serial port transmitting module. The serial port transmitting module is connected to the control terminals of the first motor 2, the second motor 3, the damper 4, the hydraulic telescopic rod 12, the electric telescopic rod 24, and the LED display screen 29. It transmits commands to the first motor 2 and the second motor 3 via the serial port. The control terminals of the damper 4, hydraulic telescopic rod 12, electric telescopic rod 24, and LED display screen 29 can send control commands to realize the corresponding operation. The power supply module is used to provide power to electrical equipment such as the first motor 2, second motor 3, damper 4, hydraulic telescopic rod 12, electric telescopic rod 24, and LED display screen 29. The Bluetooth module is connected to the pins of the microcontroller. Through the Bluetooth module, the signal data received by the microcontroller and the control commands sent can be sent to the control terminal. Through the Bluetooth module, the command signals of the control terminal and the new version of the processing program can be updated to the microcontroller.
[0025] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.
[0026] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.
Claims
1. A programmable robot testing and debugging system, comprising a base plate (1), a rotating clamping assembly, a rotating testing assembly, a monitoring assembly, and a controller (5), characterized in that: Ball bearings (11) are installed at the four corners of the bottom of the base plate (1). A hydraulic telescopic rod (12) is connected to the bottom of the ball bearing (11). The hydraulic telescopic rod (12) is fixedly installed on the working base. A rotation test assembly is installed on the base plate (1). A test robot car is placed on the rotation test assembly. The rotation test assembly is used to simulate the road surface on which the robot car travels. A rotation clamping assembly is installed at the bottom of the base plate (1). The rotation clamping assembly is used to obtain the angle of the robot car's travel direction after the robot car turns and to measure the robot car's relative to the road surface. The rotation test assembly is used for correction. A monitoring assembly is installed on the top of the base plate (1). The monitoring assembly is used to monitor the signal data of the position information of the robot car on the rotation test assembly and send the data to the controller (5). A vertical plate (28) is installed on one side of the base plate (1). An LED display screen (29) is installed on the side of the vertical plate (28) near the rotation test assembly. The LED display screen (29) is used to display the QR code information recognized by the robot car. The controller (5) is installed on the side of the vertical plate (28) away from the LED display screen (29).
2. The programmable robot testing and debugging system according to claim 1, characterized in that: The rotation test assembly includes a fixed plate (17), an anti-slip belt (18), a support roller (19), a second motor (3), and a damper (4). Two pairs of fixed plates (17) are installed on both sides of the base plate (1). A guide sleeve is rotatably installed between the two fixed plates (17). The two guide sleeves are connected by an anti-slip belt (18) that is connected end to end. The anti-slip belt (18) is pre-tightened when connected. Several sets of support rollers (19) are installed between the two guide sleeves. The support rollers (19) are used to support the anti-slip belt (18). One end of one guide sleeve is connected to the second motor (3). The second motor (3) is fixedly installed on the base plate (1). A damper (4) is connected to the shaft of the guide sleeve at the end of the base plate (1) away from the second motor (3). The damper (4) is fixedly installed on the base plate (1).
3. The programmable robot testing and debugging system according to claim 2, characterized in that: The rotating clamping assembly includes a first motor (2), a U-shaped plate (21), an electric telescopic rod (24), and a pressure plate (25). The output end of the first motor (2) is fixedly installed at the geometric center of the U-shaped plate (21). The first motor (2) is fixedly installed at the bottom of the base plate (1). A pair of electric telescopic rods (24) are installed on the top of the inner walls on both sides of the U-shaped plate (21). The output end of the electric telescopic rod (24) is installed with a pressure plate (25). The bottom surface of the pressure plate (25) is located above the anti-slip strip (18) in the vertical direction. A pair of electric telescopic rods (24) are installed above the bottom surface of the U-shaped plate (21) related to the first motor (25). The machine (2) has symmetrical columns (22). The base plate (1) has arc-shaped guide grooves on both sides. The columns (22) slide with the guide grooves. The top of the columns (22) is equipped with a limiting disc (23). The limiting disc (23) slides with the base plate (1). A pair of pressure signal sensors (26) are installed on the end of the pressure plate (25) away from the electric telescopic rod (24). The pressure signal sensors (26) are used to collect the pressure signal between the pressure plate (25) and the robot car and send the signal to the controller (5). A pair of indicator lights (27) are installed on the top two sides of the pressure plate (25).
4. The programmable robot testing and debugging system according to claim 3, characterized in that: A distance signal sensor (13) is installed at the bottom of the hydraulic telescopic rod (12). The distance signal sensor (13) is used to collect the distance signal between the ball support (11) and the bottom of the hydraulic telescopic rod (12) and send the signal to the controller (5).
5. The programmable robot testing and debugging system according to claim 4, characterized in that: The monitoring component includes a support rod (14), a top plate (15), and an image acquisition sensor (16). The support rod (14) is installed at the four corner edges of the base plate (1), and the top plate (15) is installed on the top of the support rod (14). The image acquisition sensor (16) is installed at the geometric center of the bottom of the top plate (15). The image acquisition sensor (16) is used to collect the position signal of the robot car on the anti-slip strip (18) and send the signal to the controller (5). The image acquisition sensor (16) is also used to collect the position signal of the indicator light (27) on the pressure plate (25) on the anti-slip strip (18) and send the signal to the controller (5).
6. The programmable robot testing and debugging system according to claim 5, characterized in that: The controller (5) includes a serial port receiving module, a Bluetooth module, a microcontroller, a serial port sending module, and a power supply module. The serial port receiving module is used to receive data signals sent by the distance signal sensor (13), the image acquisition sensor (16), and the indicator light (27) and send the signals to the microcontroller. After processing the signal data, the microcontroller sends control commands to the serial port sending module. The serial port sending module is connected to the control terminals of the first motor (2), the second motor (3), the damper (4), the hydraulic telescopic rod (12), the electric telescopic rod (24), and the LED display screen (29). The power supply module is used to provide power to the electrical equipment such as the first motor (2), the second motor (3), the damper (4), the hydraulic telescopic rod (12), the electric telescopic rod (24), and the LED display screen (29). The Bluetooth module is connected to the pins of the microcontroller. The Bluetooth module is used to send the signal data received by the microcontroller and the control commands sent by the microcontroller to the control terminal. The Bluetooth module is also used to update the command signals of the control terminal and the new version of the processing program to the microcontroller.