Mobile robot obstacle crossing comprehensive test device

Abstract

The invention provides an obstacle crossing comprehensive test device for a mobile robot, and belongs to the technical field of intelligent traveler intelligent testing, and the obstacle crossing comprehensive test device is characterized in that the robot is driven into the test device from a driving-in platform, and is driven / stopped on the inclined driving-in platform, so as to simulate a slope climbing / slope holding test; the robot drives into the composite roadblock test unit, and through lifting cooperation of a plurality of roadblock modules, a convex / concave terrain is simulated, so that the performance of the robot for crossing a trench and crossing a composite barrier is verified; through lifting cooperation of a plurality of terrain modules, a multi-step type obstacle is simulated to verify the performance of the robot going down the steps or climbing the steps through reverse movement. The robot can complete the whole-process test of climbing, obstacle crossing, transition and complex terrain adaptation in sequence on the same test device, the obstacle sequence possibly encountered in a real working environment is simulated, the crossing from a single test to a systematized and scenarized test is also realized, and the test efficiency and the field utilization rate are improved.

Description

Technical Field

[0001] This application belongs to the field of intelligent testing technology for intelligent moving bodies, specifically relating to a comprehensive obstacle-crossing test device for mobile robots. Background Technology

[0002] Mobile robots are now widely used in various industrial sectors, serving as crucial vehicles for inspection, operations, and emergency response. Their mobility is a key indicator of their environmental accessibility, especially for mobile robots used in special environments, such as the nuclear industry's specialized intelligent mobile robots. These are intelligent mobile systems designed for nuclear facility maintenance or emergency applications, capable of moving in unstructured environments to inspect equipment or personnel and assist in maintenance operations. Highly accessible and reliable intelligent mobile robots can effectively replace manual labor in harsh or high-risk environments, reducing resource input, minimizing casualties, and improving operational efficiency. They enable minimal or even unattended operation, significantly contributing to the development of a smart nuclear industry. In the nuclear industry, where safety is paramount, rigorously testing the mobility and obstacle-crossing capabilities of intelligent mobile robots before formal deployment, fully verifying their adaptability to diverse terrain conditions, and ensuring high safety and reliability are crucial for personnel and equipment.

[0003] Currently, there are no unified specifications or standards for testing specialized mobile intelligent vehicles, making it difficult to effectively verify their overall performance and system reliability. When conducting obstacle-crossing tests on intelligent vehicles, temporary test environments are often constructed by piling up materials such as wood and bricks, or by digging trenches and slopes of varying degrees in the soil, or by creating mechanical fixtures to construct test conditions to simulate the effects of different obstacles. Existing terrain testing systems are relatively limited in their test items, and the adjustment process is cumbersome and time-consuming, resulting in significant resource and cost investments. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0005] In view of this, according to an embodiment of this application, a comprehensive obstacle-crossing test device for mobile robots is proposed, comprising: The ramp test unit includes a driving platform, which is arranged at an angle to the ground. The composite obstacle test unit is connected to the rear end of the ramp test unit. The composite obstacle test unit includes several obstacle modules, which simulate protruding or recessed obstacles by raising and lowering the obstacle modules. The buffer unit is connected to the rear end of the composite obstacle test unit. The buffer unit includes a buffer platform, which is arranged parallel to the ground. The dynamic terrain test unit is connected to the back end of the buffer unit. The dynamic terrain test unit includes several terrain modules, which simulate step-like obstacles by raising and lowering the terrain modules.

[0006] In one feasible implementation, the ramp test unit further includes: The first support is set on the ground and is located at the rear end of the approach platform; The elevation platform is arranged parallel to the ground, and its front end is rotatably connected to the rear end of the driving platform. The first lifting mechanism is mounted on the first support and is connected to the height adjustment platform to support the height adjustment platform. The first drive mechanism is mounted on the first bracket. The fixed end of the first drive mechanism is connected to the first bracket, and the drive end of the first drive mechanism is connected to the first lifting mechanism so as to drive the first lifting mechanism to perform lifting and lowering movements.

[0007] In one feasible implementation, the ramp test unit further includes: The second support is mounted on the approach platform; The second drive mechanism is mounted on the second bracket. The fixed end of the second drive mechanism is connected to the second bracket. The drive end of the second drive mechanism passes vertically through the driving platform and extends towards the ground. The distance between the front end of the driving platform and the ground can be adjusted by extending and retracting the second drive mechanism. The roller is rotatably connected to the drive end of the second drive mechanism, and the roller makes rolling contact with the ground.

[0008] In one feasible implementation, the mobile robot obstacle-crossing integrated test device further includes: A rotary table is embedded in the driving platform and is set parallel to the driving platform. The rotary table and the driving platform are rotatably connected. A rotary drive mechanism is located on the bottom surface of the driving platform. The fixed end of the rotary drive mechanism is connected to the driving platform, and the driving end of the rotary drive mechanism is connected to the rotary table. The rotary drive mechanism drives the rotary table to rotate inside the driving platform.

[0009] In one feasible implementation, the mobile robot obstacle-crossing integrated test device further includes: Electric slide rails are installed on both sides of the driving platform along its length. A baffle extends along the width of the feed platform and is rotatably connected to a slider on an electric slide rail. An electric rod is provided, with its fixed end connected to the slider of an electric slide rail and its driving end connected to a baffle plate, so that the baffle plate can be rotated by the electric rod. The enclosure is arranged parallel to the electric slide rail and is set on the outside of the electric slide rail. The enclosure is fixedly connected to the driving platform. Each baffle corresponds to a motorized slide rail.

[0010] In one feasible implementation, the mobile robot obstacle-crossing integrated test device further includes: The suspension bracket is mounted above the approach platform; The fall arrestor is mounted on a suspension bracket and includes a telescopic cable with its free end detachably connected to the robot.

[0011] In one feasible implementation, the composite obstacle test unit further includes: The third support is set on the ground and is located at the rear end of the ramp test unit. The third drive mechanism is mounted on the third bracket and includes two coaxially arranged drive ends. The commutator has its output end perpendicular to its input end. The input end of the commutator is connected to one of the drive ends of the third drive mechanism. The output end of the commutator is arranged perpendicular to the roadblock module. The lead screw passes vertically through the end of the roadblock module and is threaded into the roadblock module. The lead screw is connected to the output end of the commutator so that the commutator can drive the lead screw to rotate. The third drive mechanism corresponds one-to-one with the roadblock module; each end of the roadblock module is equipped with a commutator and a lead screw, with the lead screw corresponding one-to-one with the commutator.

[0012] In one feasible implementation, the buffer unit further includes: The fourth support is set on the ground and arranged around the buffer unit; The second lifting mechanism is mounted on the fourth support and is connected to the buffer platform to support the buffer platform. The fourth drive mechanism is mounted on the fourth bracket. The fixed end of the fourth drive mechanism is connected to the fourth bracket, and the drive end of the fourth drive mechanism is connected to the second lifting mechanism so as to drive the second lifting mechanism to move up and down.

[0013] In one feasible implementation, the dynamic terrain test unit further includes: The fifth support is set on the ground and is located at the rear end of the buffer platform; The support plate is set on the fifth bracket, and is arranged parallel to the ground and located below the terrain module. The fifth drive mechanism is arranged perpendicular to the ground. The fixed end of the fifth drive mechanism is connected to the fifth bracket, and the drive end of the fifth drive mechanism is connected to the terrain module so as to drive the terrain module to rise and fall through the fifth drive mechanism. The platform extends outwards, with its front end connected to the rear end of the support plate. The rear end of the platform extends to the ground, and the platform is arranged at an angle to the ground. The fifth drive mechanism corresponds one-to-one with the terrain module.

[0014] In one feasible implementation, the mobile robot obstacle-crossing integrated test device further includes: An angle sensor is located at the rear end of the driving platform and detects the tilt angle of the driving platform. The roadblock module displacement sensor is located below the roadblock module and detects the height of the roadblock module. A buffer platform displacement sensor is installed below the buffer platform to detect the height of the buffer platform. The terrain module displacement sensor is located below the terrain module and detects the height of the terrain module. The control unit is connected to the angle sensor, the ramp test unit, the obstacle module displacement sensor, the composite obstacle test unit, the buffer platform displacement sensor, the buffer unit, the terrain module displacement sensor, and the dynamic terrain test unit. Among them, the displacement sensor of the roadblock module corresponds one-to-one with the roadblock module; the displacement sensor of the terrain module corresponds one-to-one with the terrain module.

[0015] The mobile robot obstacle-crossing comprehensive test device of this application has the following advantages compared with the prior art: The mobile robot obstacle-crossing comprehensive testing device provided in this application includes a modular sequential layout of a ramp testing unit, a composite obstacle testing unit, a buffer unit, and a dynamic terrain testing unit, forming an integrated evaluation system capable of continuously testing the robot's obstacle-crossing performance. The robot enters the testing device from the driving platform and drives / stops on the inclined driving platform to simulate slope climbing / slope holding tests. The robot enters the composite obstacle testing unit, where the lifting and lowering of multiple obstacle modules simulates raised / depressed terrain to verify the robot's performance in crossing ditches and traversing composite obstacles. After the composite obstacle test, the robot enters the buffer unit to prevent the robot from accelerating and rushing out of the testing device boundary when crossing obstacles. At the same time, the buffer platform also serves as a transitional area for the robot to carry out the next stage of dynamic terrain testing, which helps to improve the stability of the robot's movement. Through the lifting and lowering of multiple terrain modules, multi-level stair-type obstacles are simulated to verify the robot's performance in descending stairs or climbing stairs in the opposite direction. Each test unit is structurally connected and functionally complementary, enabling the robot to complete the entire process of climbing, obstacle crossing, transition, and adaptation to complex terrain on the same test device. It can also customize test parameters for different scenarios, simulating not only the sequence of obstacles that may be encountered in real working environments, but also achieving a leap from single-item testing to systematic, scenario-based, and diversified testing. This avoids the high time, space, and manpower costs caused by setting up multiple independent test systems in a decentralized manner, and improves testing efficiency and site utilization. Attached Figure Description

[0016] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 A schematic structural diagram of a mobile robot obstacle-crossing integrated test device according to an embodiment of this application; Figure 2 A schematic structural diagram of the ramp test unit of a mobile robot obstacle crossing integrated test device according to an embodiment of this application; Figure 3 A schematic structural diagram of a composite obstacle test unit of a mobile robot obstacle crossing integrated test device according to an embodiment of this application; Figure 4 A schematic structural diagram of a buffer unit of a mobile robot obstacle crossing integrated test device according to an embodiment of this application; Figure 5 A schematic structural diagram of the dynamic terrain test unit of a mobile robot obstacle crossing integrated test device according to an embodiment of this application; in, Figures 1 to 5The correspondence between the reference numerals and component names in the attached drawings is as follows: 12. Ramp test unit; 14. Composite obstacle test unit; 16. Buffer unit; 18. Dynamic terrain test unit; 20. Rotary table; 22. Baffle; 24. Electric pole; 26. Electric slide rail; 28. Enclosure; 30. Suspension bracket; 32. Fall arrestor; 34. Angle sensor; 36. Roadblock module displacement sensor; 38. Buffer platform displacement sensor; 40. Terrain module displacement sensor; 42. Control unit; 44. Height adjustment platform displacement sensor; 121. Driving platform; 122. First support; 123. Height adjustment platform; 124. First lifting mechanism; 125. First drive mechanism; 126. Second support; 127. Second drive mechanism; 128. Roller; 141. Roadblock module; 142. Third support; 143. Third drive mechanism; 144. Commutator; 145. Lead screw; 161. Buffer platform; 162. Fourth support; 163. Second lifting mechanism; 164. Fourth drive mechanism; 181. Terrain module; 182. Fifth support; 183. Support plate; 184. Fifth drive mechanism; 185. Exit platform. Detailed Implementation

[0017] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0018] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0019] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0020] The preferred embodiments of this application are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit this application.

[0021] like Figures 1 to 5 As shown in the embodiment of this application, a comprehensive obstacle-crossing test device for mobile robots is proposed, comprising: a ramp test unit 12, a composite obstacle test unit 14, a buffer unit 16, and a dynamic terrain test unit 18; the ramp test unit 12 includes a driving platform 121, which is arranged at an angle to the ground; the composite obstacle test unit 14 is connected to the rear end of the ramp test unit 12, and includes several obstacle modules 141, which are raised and lowered to simulate protruding or recessed obstacles; the buffer unit 16 is connected to the rear end of the composite obstacle test unit 14, and includes a buffer platform 161, which is arranged parallel to the ground; the dynamic terrain test unit 18 is connected to the rear end of the buffer unit 16, and includes several terrain modules 181, which are raised and lowered to simulate stepped obstacles.

[0022] The mobile robot obstacle-crossing comprehensive test device provided in this application embodiment includes a modular sequential layout of a ramp test unit 12, a composite obstacle test unit 14, a buffer unit 16, and a dynamic terrain test unit 18, forming an integrated evaluation system for continuously testing the robot's obstacle-crossing performance. The robot enters the test device from the driving platform 121 and drives / stops on the inclined driving platform 121 to simulate slope climbing / slope holding tests. The robot enters the composite obstacle test unit 14, and through the lifting and lowering coordination of multiple obstacle modules 141, simulates raised / depressed terrain to verify the robot's performance in crossing ditches and overcoming composite obstacles. After the composite obstacle test, the robot enters the buffer unit 16 to prevent the robot from accelerating and rushing out of the test device boundary when crossing obstacles. At the same time, the buffer platform 161 also serves as a transitional area for the robot to carry out the next stage of dynamic terrain tests, which helps to improve the stability of the robot's movement. Through the lifting and lowering coordination of multiple terrain modules 181, multi-level stair-type obstacles are simulated to verify the robot's performance in descending stairs or climbing stairs in reverse. Each test unit is structurally connected and functionally complementary, enabling the robot to complete the entire process of climbing, obstacle crossing, transition, and adaptation to complex terrain on the same test device. It can also customize test parameters for different scenarios, simulating not only the sequence of obstacles that may be encountered in real working environments, but also achieving a leap from single-item testing to systematic, scenario-based, and diversified testing. This avoids the high time, space, and manpower costs caused by setting up multiple independent test systems in a decentralized manner, and improves testing efficiency and site utilization.

[0023] Furthermore, the entry platform 121 is equipped with marking areas located at the four corners of the entry platform 121, so as to indicate the route of the robot when conducting ramp tests.

[0024] In some examples, the test units are detachably connected, and each test unit can be quickly reassembled according to test requirements. The test parameters for various types of obstacles in each test unit can be set in a personalized manner through the control terminal, enabling flexible testing for different objects and needs. This improves the versatility of the entire device and further saves resources such as site, manpower and time.

[0025] like Figure 2As shown, in one feasible embodiment, the ramp test unit 12 further includes: a first support 122, a height adjustment platform 123, a first lifting mechanism 124, and a first drive mechanism 125; the first support 122 is disposed on the ground and arranged at the rear end of the driving platform 121; the height adjustment platform 123 is arranged parallel to the ground, and the front end of the height adjustment platform 123 is rotatably connected to the rear end of the driving platform 121; the first lifting mechanism 124 is disposed on the first support 122 and connected to the height adjustment platform 123 to support the height adjustment platform 123; the first drive mechanism 125 is disposed on the first support 122, the fixed end of the first drive mechanism 125 is connected to the first support 122, and the driving end of the first drive mechanism 125 is connected to the first lifting mechanism 124 to drive the first lifting mechanism 124 to perform lifting movements.

[0026] In this technical solution, a height adjustment platform 123 is also arranged at the rear end of the driving platform 121. The first lifting mechanism 124 is moved by the extension and retraction of the drive end of the first driving mechanism 125, thereby adjusting the height of the height adjustment platform 123. The rear end of the driving platform 121 is rotatably connected to the height adjustment platform 123. When the height adjustment platform 123 is raised or lowered, it drives the rear end of the driving platform 121 to be raised or lowered, thereby adjusting the tilt angle of the driving platform 121. This allows for flexible simulation of different slope conditions, meeting the full range of climbing ability testing requirements from gentle slopes to steep slopes, improving the flexibility and repeatability of test parameters, supporting comparative evaluation of the performance of the same robot under different slopes, and enhancing the scientific and systematic nature of the test device.

[0027] Specifically, the first drive mechanism 125 is a linear telescopic device.

[0028] like Figure 2 As shown, in one feasible embodiment, the ramp test unit 12 further includes: a second support 126, a second drive mechanism 127, and a roller 128; the second support 126 is mounted on the driving platform 121; the second drive mechanism 127 is mounted on the second support 126, the fixed end of the second drive mechanism 127 is connected to the second support 126, the drive end of the second drive mechanism 127 passes vertically through the driving platform 121, and the drive end of the second drive mechanism 127 extends towards the ground, and the distance between the front end of the driving platform 121 and the ground is adjusted by the extension and retraction of the second drive mechanism 127; the roller 128 is rotatably connected to the drive end of the second drive mechanism 127, and the roller 128 rolls in contact with the ground.

[0029] In this technical solution, the second drive mechanism 127 is located at the front end of the driving platform 121, and the second bracket 126 is used to fix the second drive mechanism 127. The height of the front end of the driving platform 121 can be adjusted by extending or retracting the drive end of the second drive mechanism 127 in the opposite direction. That is, the second drive mechanism 127 is used to independently adjust the height of the front end of the driving platform 121 off the ground to simulate the situation of the robot climbing the ground at different heights. It simulates the difference in the starting point of climbing in the actual environment, such as starting from potholes, steps or the edge of the platform, so that the test is closer to the real working conditions and improves the scene coverage and practicality of the test device. By keeping the roller 128 in contact with the ground, the setting of the roller 128 not only ensures the smooth movement of the front end of the driving platform 121 during the adjustment process, but also reduces the damage caused by friction between the driving platform 121 and the ground, and extends the service life of the test device.

[0030] Specifically, the second drive mechanism 127 is a linear telescopic device.

[0031] like Figure 2 As shown, in one feasible embodiment, the mobile robot obstacle crossing integrated test device further includes: a rotary table 20 and a rotary drive mechanism; the rotary table 20 is embedded in the driving platform 121, the rotary table 20 is arranged parallel to the driving platform 121, and the rotary table 20 is rotatably connected to the driving platform 121; the rotary drive mechanism is arranged on the bottom surface of the driving platform 121, the fixed end of the rotary drive mechanism is connected to the driving platform 121, and the driving end of the rotary drive mechanism is connected to the rotary table 20, and the rotary drive mechanism drives the rotary table 20 to rotate within the driving platform 121.

[0032] In this technical solution, the rotary table 20 is embedded in the driving platform 121, and the rotation drive mechanism controls the rotation angle of the rotary table 20 to add a lateral rotation test function to the ramp test unit 12. When the robot is on the driving platform 121, the rotary table 20 actively rotates to test the robot's anti-slip, anti-tipping, and attitude maintenance capabilities under different slopes. With the width of the test device remaining unchanged, the robot can quickly turn and turn around, which facilitates motion tests of the robot in directions other than longitudinal motion. This provides test conditions for evaluating the robot's all-round motion safety in complex terrain and expands the testable range of the test device.

[0033] In some examples, the rotary drive mechanism is a motor, with a first gear on the output shaft of the motor and a second gear coaxially mounted on the bottom of the rotary table 20. The second gear meshes with the first gear to drive the rotary table 20 to rotate.

[0034] like Figure 1 and Figure 2As shown, in one feasible embodiment, the mobile robot obstacle-crossing integrated test device further includes: an electric slide rail 26, a baffle 22, an electric rod 24, and a surrounding plate 28; the electric slide rail 26 is arranged on both sides of the driving platform 121 along the length direction of the driving platform 121; the baffle 22 extends along the width direction of the driving platform 121 and is rotatably connected to the slider of the electric slide rail 26; the fixed end of the electric rod 24 is connected to the slider of the electric slide rail 26, and the driving end of the electric rod 24 is connected to the baffle 22 to drive the baffle 22 to rotate; the surrounding plate 28 is arranged parallel to the electric slide rail 26, and is located on the outside of the electric slide rail 26, and is fixedly connected to the driving platform 121; wherein, the baffle 22 corresponds one-to-one with the electric slide rail 26.

[0035] In this technical solution, the enclosure 28 and the two baffles 22 constitute a safety protection system. The electric rod 24 controls the baffles 22 to open before the robot enters the driving platform 121 and to close after the robot has fully entered the driving platform 121, preventing the robot from sliding backward and rushing out. The baffles 22 can move along the electric slide rail 26 to follow the robot, forming a rear barrier for the robot, thereby providing non-interference protection for the robot during the test and reducing the risk of equipment damage and personnel safety caused by the robot losing control, slipping or overturning.

[0036] like Figure 1 As shown, in one feasible embodiment, the mobile robot obstacle crossing integrated test device further includes: a suspension bracket 30 and a fall arrestor 32; the suspension bracket 30 is straddling above the driving platform 121; the fall arrestor 32 is installed on the suspension bracket 30, and the fall arrestor 32 includes a telescopic cable, the free end of which is detachably connected to the robot.

[0037] In this technical solution, during the test, the free end of the telescopic cable is connected to the robot. During the test, the telescopic cable can maintain an adaptive connection with the robot by automatically extending and retracting according to the robot's height and position, avoiding restraint on the robot's normal movement, not affecting the robot's autonomous movement and obstacle-crossing behavior, and locking instantly in case of accidental fall, preventing the robot from failing the test or tipping over in case of accident, thus improving the safety of the test.

[0038] like Figure 3As shown, in one feasible embodiment, the composite obstacle test unit 14 further includes: a third support 142, a third drive mechanism 143, a commutator 144, and a lead screw 145; the third support 142 is mounted on the ground and is located at the rear end of the ramp test unit 12; the third drive mechanism 143 is mounted on the third support 142 and includes two coaxially arranged drive ends; the output end of the commutator 144 is perpendicular to the input end of the commutator 144, and the input end of the commutator 144 is connected to one drive end of the third drive mechanism 143. The commutator 144 is arranged perpendicular to the roadblock module 141. The lead screw 145 passes perpendicularly through the end of the roadblock module 141 and is threadedly engaged with the roadblock module 141. The lead screw 145 is connected to the output end of the commutator 144 so as to drive the lead screw 145 to rotate through the commutator 144. The third drive mechanism 143 corresponds one-to-one with the roadblock module 141. Each end of the roadblock module 141 is provided with a commutator 144 and a lead screw 145, with each lead screw 145 corresponding to the commutator 144.

[0039] In this technical solution, each roadblock module 141 is connected to two lead screws 145. The two drive ends of the third drive mechanism 143 rotate synchronously, thereby driving the input ends of the two commutators 144 to rotate synchronously. This ensures that the two lead screws 145 threadedly connected to the same roadblock module 141 rotate synchronously, thus enabling the two ends of the roadblock module 141 to rise and fall synchronously. The dual-axis third drive mechanism 143 drives the lead screws 145 at both ends of the corresponding roadblock module 141 to rotate synchronously, avoiding roadblock module 141 jamming or tilting due to asynchronous rotation of the lead screws 145 at both ends. This ensures the smoothness of the roadblock module 141's lifting process and the consistency of the height at both ends. By independently controlling the height of each roadblock module 141, and utilizing the cooperation of multiple roadblock modules 141, various obstacle modes such as continuous protrusions, discrete ditches, and alternating high and low terrains can be simulated flexibly and quickly.

[0040] Specifically, the third drive mechanism 143 is a dual-axis motor.

[0041] In some examples, the obstacle modules 141 extend along the width of the test setup and are arranged in a strip matrix. By individually controlling the height of each obstacle module 141, three obstacle modes can be simulated: the first is to set up a continuous plane with a certain width that is higher than other lifting modules, and control the robot to move forward and overcome obstacles to verify the robot's single-level obstacle-crossing performance; the second is to set up a continuous plane with a certain width that is lower than other lifting modules, and control the robot to move forward and cross trenches to verify the robot's ability to cross trenches of a certain depth and width; the third is to set up a continuous plane in the middle with a certain width that is lower than the lifting modules at the front and rear ends, and the heights of the lifting modules at the front and rear ends are different, and control the robot to move forward to verify the robot's combined performance of crossing trenches and overcoming obstacles at the same time.

[0042] like Figure 4 As shown, in one feasible embodiment, the buffer unit 16 further includes: a fourth support 162, a second lifting mechanism 163, and a fourth drive mechanism 164; the fourth support 162 is disposed on the ground and arranged around the buffer unit 16; the second lifting mechanism 163 is disposed on the fourth support 162 and connected to the buffer platform 161 to support the buffer platform 161; the fourth drive mechanism 164 is disposed on the fourth support 162, the fixed end of the fourth drive mechanism 164 is connected to the fourth support 162, and the driving end of the fourth drive mechanism 164 is connected to the second lifting mechanism 163 to drive the second lifting mechanism 163 to rise and fall.

[0043] In this technical solution, the drive end of the fourth drive mechanism 164 extends and retracts to drive the second lifting mechanism 163 to move. The second lifting mechanism 163 then adjusts the height of the buffer platform 161 so that the height of the buffer platform 161 can always be aligned with the end obstacle module 141. This allows for a smooth transition between the buffer unit 16 and the composite obstacle test unit 14. Consequently, the buffer platform 161 can serve as a deceleration and stabilization area after the robot overcomes obstacles at high speed, preventing the robot from rushing out of the test device due to inertia. It can also serve as a preparatory platform for entering the next test stage, improving the continuity of the test process and the safety of equipment use.

[0044] Specifically, the fourth drive mechanism 164 is a linear telescopic device.

[0045] like Figure 5As shown, in one feasible embodiment, the dynamic terrain test unit 18 further includes: a fifth support 182, a support plate 183, a fifth drive mechanism 184, and a departure platform 185; the fifth support 182 is set on the ground and is arranged at the rear end of the buffer platform 161; the support plate 183 is set on the fifth support 182, the support plate 183 is arranged parallel to the ground, and the support plate 183 is located below the terrain module 181; the fifth drive mechanism 184 is arranged perpendicular to the ground, the fixed end of the fifth drive mechanism 184 is connected to the fifth support 182, and the drive end of the fifth drive mechanism 184 is connected to the terrain module 181, so as to drive the terrain module 181 to rise and fall through the fifth drive mechanism 184; the front end of the departure platform 185 is connected to the rear end of the support plate 183, the rear end of the departure platform 185 extends to the ground, and the departure platform 185 is arranged at an angle to the ground; wherein, the fifth drive mechanism 184 corresponds one-to-one with the terrain module 181.

[0046] In this technical solution, the terrain module 181 is supported and adjusted by the fifth drive mechanism 184. The height of the corresponding terrain module 181 is adjusted by extending and retracting the drive end of the fifth drive mechanism 184, and the exit platform 185 provides a smooth exit path for the robot, enabling the robot to safely return to the ground after testing. By controlling the height of each terrain module 181, various landforms such as steps, waves, hills, and pits can be simulated, thereby dynamically constructing highly discrete complex three-dimensional terrain, further expanding the terrain simulation capability of the test device, and thus systematically evaluating key performance aspects such as robot descent control, uneven ground traversal, and adaptability to continuous undulating terrain.

[0047] In some examples, the terrain modules 181 are arranged in a block matrix. By setting the height of each terrain module 181, dynamic terrains of different shapes can be constructed. For example, every three adjacent rows of terrain modules 181 can be set as a staircase with an arithmetic progression of height to simulate multi-level staircase obstacles and verify the robot's performance in descending stairs or climbing stairs in reverse.

[0048] Specifically, the fifth drive mechanism 184 is a linear telescopic device.

[0049] like Figures 1 to 5As shown, in one feasible embodiment, the mobile robot obstacle-crossing integrated test device further includes: an angle sensor 34, an obstacle module displacement sensor 36, a buffer platform displacement sensor 38, a terrain module displacement sensor 40, and a control unit 42; the angle sensor 34 is disposed at the rear end of the driving platform 121, and the angle sensor 34 detects the tilt angle of the driving platform 121; the obstacle module displacement sensor 36 is disposed below the obstacle module 141, and the obstacle module displacement sensor 36 detects the height of the obstacle module 141; the buffer platform displacement sensor 38 is disposed below the buffer platform 161, and the buffer platform displacement sensor 38 detects the height of the buffer platform 161; the terrain module displacement sensor 40 is disposed on the terrain module displacement sensor 40. Below module 181, terrain module displacement sensor 40 detects the height of terrain module 181; control unit 42 is connected to angle sensor 34, control unit 42 is connected to ramp test unit 12; control unit 42 is connected to obstacle module displacement sensor 36, control unit 42 is connected to composite obstacle test unit 14; control unit 42 is connected to buffer platform displacement sensor 38, control unit 42 is connected to buffer unit 16; control unit 42 is connected to terrain module displacement sensor 40, control unit 42 is connected to dynamic terrain test unit 18; among them, obstacle module displacement sensor 36 corresponds one-to-one with obstacle module 141; terrain module displacement sensor 40 corresponds one-to-one with terrain module 181.

[0050] In this technical solution, an angle sensor 34, a road obstacle module displacement sensor 36, a buffer platform displacement sensor 38, and a terrain module displacement sensor 40 are integrated, and each sensor is linked with a control unit 42 to monitor the parameters of the entire test device in real time and perform closed-loop feedback control. The control unit 42 presets test scenario parameters and then controls each drive mechanism and sensor for real-time monitoring and feedback to ensure the accuracy and consistency of test conditions. This achieves automation, intelligence, and data-driven testing, reduces the introduction of human error, and makes the test results more accurate and reliable.

[0051] Furthermore, the mobile robot obstacle crossing comprehensive test device also includes a height adjustment platform displacement sensor 44, which is located below the height adjustment platform 123 to detect the height of the height adjustment platform 123, that is, the height of the rear end of the driving platform 121; an angle displacement sensor is located at the rear end of the driving platform 121 to detect the slope change of the driving platform 121. The conversion relationship between the height and slope of the driving platform 121 is established through trigonometric functions. During the test, the information feedback of the other parameter can be obtained by setting one parameter, which is convenient for controlling and adjusting the test parameters.

[0052] It will be readily understood by those skilled in the art that the above embodiments can be freely combined and superimposed without conflict.

[0053] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application. The above are merely preferred embodiments of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of this application, and these improvements and modifications should also be considered within the protection scope of this application.

Claims

1. A comprehensive obstacle-crossing test device for mobile robots, characterized in that, The mobile robot obstacle-crossing comprehensive test device includes: A ramp test unit, the ramp test unit including a driving platform, the driving platform being arranged at an angle to the ground; A composite obstacle test unit is connected to the rear end of the ramp test unit. The composite obstacle test unit includes several obstacle modules, which simulate protruding or recessed obstacles by raising and lowering the obstacle modules. A buffer unit is connected to the rear end of the composite obstacle test unit. The buffer unit includes a buffer platform that is arranged parallel to the ground. A dynamic terrain test unit is connected to the rear end of the buffer unit. The dynamic terrain test unit includes several terrain modules, which simulate step-like obstacles by raising and lowering the terrain modules.

2. The mobile robot obstacle-crossing comprehensive test device according to claim 1, characterized in that, The ramp test unit also includes: The first support is set on the ground and is arranged at the rear end of the driving platform; An elevation adjustment platform is arranged parallel to the ground, and the front end of the elevation adjustment platform is rotatably connected to the rear end of the driving platform. A first lifting mechanism is mounted on the first support and connected to the height adjustment platform to support the height adjustment platform. A first driving mechanism is mounted on the first support. The fixed end of the first driving mechanism is connected to the first support, and the driving end of the first driving mechanism is connected to the first lifting mechanism, so as to drive the first lifting mechanism to perform lifting and lowering movements.

3. The mobile robot obstacle-crossing comprehensive test device according to claim 1, characterized in that, The ramp test unit also includes: The second bracket is mounted on the driving platform; The second drive mechanism is mounted on the second bracket. The fixed end of the second drive mechanism is connected to the second bracket. The drive end of the second drive mechanism passes vertically through the driving platform and extends towards the ground. The distance between the front end of the driving platform and the ground can be adjusted by extending and retracting the second drive mechanism. The roller is rotatably connected to the drive end of the second drive mechanism and makes rolling contact with the ground.

4. The mobile robot obstacle-crossing integrated test device according to claim 1, characterized in that, The mobile robot obstacle-crossing integrated test device also includes: A rotating platform is embedded in the driving platform, the rotating platform is arranged parallel to the driving platform, and the rotating platform is rotatably connected to the driving platform; A rotary drive mechanism is disposed on the bottom surface of the driving platform. The fixed end of the rotary drive mechanism is connected to the driving platform, and the driving end of the rotary drive mechanism is connected to the rotary table. The rotary drive mechanism drives the rotary table to rotate within the driving platform.

5. The mobile robot obstacle-crossing comprehensive test device according to claim 1, characterized in that, The mobile robot obstacle-crossing integrated test device also includes: Electric slide rails are provided on both sides of the driving platform along the length of the driving platform; A baffle plate extends along the width of the driving platform and is rotatably connected to the slider of the electric slide rail. An electric rod, the fixed end of which is connected to the slider of the electric slide rail, and the driving end of which is connected to the baffle, so as to drive the baffle to rotate through the electric rod; A partition panel is arranged parallel to the electric slide rail, the partition panel is located on the outside of the electric slide rail, and the partition panel is fixedly connected to the driving platform; The baffle plate corresponds one-to-one with the electric slide rail.

6. The mobile robot obstacle-crossing comprehensive test device according to claim 5, characterized in that, The mobile robot obstacle-crossing integrated test device also includes: A suspension bracket, which is mounted above the driving platform; A fall arrestor is mounted on the suspension bracket and includes a telescopic cable with its free end detachably connected to the robot.

7. The mobile robot obstacle-crossing comprehensive test device according to claim 1, characterized in that, The composite obstacle test unit also includes: The third support is set on the ground and is arranged at the rear end of the ramp test unit; The third drive mechanism is mounted on the third bracket and includes two coaxially arranged drive ends. A commutator, wherein the output end of the commutator is perpendicular to the input end of the commutator, the input end of the commutator is connected to one drive end of the third drive mechanism, and the output end of the commutator is arranged perpendicular to the roadblock module; A lead screw passes vertically through the end of the roadblock module, the lead screw is threaded into the roadblock module, and the lead screw is connected to the output end of the commutator so as to drive the lead screw to rotate through the commutator; The third drive mechanism corresponds one-to-one with the roadblock module; each end of the roadblock module is provided with a commutator and each end of the roadblock module is provided with a lead screw, and the lead screw corresponds one-to-one with the commutator.

8. The mobile robot obstacle-crossing integrated test device according to claim 1, characterized in that, The buffer unit further includes: The fourth support is set on the ground and arranged around the buffer unit; The second lifting mechanism is mounted on the fourth support and is connected to the buffer platform to support the buffer platform. A fourth drive mechanism is provided, which is mounted on the fourth bracket. The fixed end of the fourth drive mechanism is connected to the fourth bracket, and the drive end of the fourth drive mechanism is connected to the second lifting mechanism, so as to drive the second lifting mechanism to move up and down through the fourth drive mechanism.

9. A comprehensive obstacle-crossing test device for mobile robots according to claim 1, characterized in that, The dynamic terrain test unit also includes: The fifth support is set on the ground and is arranged at the rear end of the buffer platform; A support plate is mounted on the fifth bracket, the support plate is arranged parallel to the ground, and the support plate is located below the terrain module; The fifth drive mechanism is arranged perpendicular to the ground. The fixed end of the fifth drive mechanism is connected to the fifth bracket, and the drive end of the fifth drive mechanism is connected to the terrain module so as to drive the terrain module to rise and fall through the fifth drive mechanism. The platform is set off from the ground, with its front end connected to the rear end of the support plate and its rear end extending to the ground. The platform is arranged at an angle to the ground. The fifth drive mechanism corresponds one-to-one with the terrain module.

10. A comprehensive obstacle-crossing test device for mobile robots according to any one of claims 1 to 9, characterized in that, The mobile robot obstacle-crossing integrated test device also includes: An angle sensor is disposed at the rear end of the driving platform, and the angle sensor detects the tilt angle of the driving platform; A roadblock module displacement sensor is provided, which is located below the roadblock module and detects the height of the roadblock module. A buffer platform displacement sensor is disposed below the buffer platform, and the buffer platform displacement sensor detects the height of the buffer platform; A terrain module displacement sensor is provided, which is located below the terrain module and detects the height of the terrain module. The control unit is connected to the angle sensor and the ramp test unit; the control unit is connected to the obstacle module displacement sensor and the composite obstacle test unit; the control unit is connected to the buffer platform displacement sensor and the buffer unit; the control unit is connected to the terrain module displacement sensor and the dynamic terrain test unit. The displacement sensors of the roadblock module correspond one-to-one with the roadblock module; the displacement sensors of the terrain module correspond one-to-one with the terrain module.

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