Debugging site for standardized labyrinth robot

Abstract

The utility model relates to maze robot corollary equipment, in particular to a standard maze robot debugging site, which comprises a site, a standard maze robot and a standard maze robot. An image acquisition device is arranged above the middle of the bottom plate; the top surface of the bottom plate is also provided with an adjustment auxiliary line, and the adjustment auxiliary line is used for the rapid adjustment of the sensor of the maze robot. According to the utility model, the image acquisition device is arranged, the camera is used for acquiring the vehicle body posture of the labyrinth robot, the observation angle is fixed, the debugging error caused by different observation angles can be avoided, the debugging auxiliary line is arranged, the left front test frame, the right front test frame, the right rear test frame and the left rear test frame can be used for debugging the sensor, and the debugging precision is improved. The linear driving test line and the positioning frame can be used for carrying out line patrol test on the robot in a non-adjustment state and after adjustment, the right-angle turning test of the robot can be carried out through the right-angle turning test frame, the test functions are complete, the position of the baffle does not need to be adjusted, and the test time is shortened.

Description

Technical Field

[0001] The utility model relates to supporting equipment for a maze robot, in particular to a debugging site for a standardized maze robot. Background Art

[0002] The maze robot competition is developed from the game of intelligent mice walking through a maze. The maze robot traverses and searches in an unknown maze environment, calculates and evaluates the optimal path through intelligent control algorithms, and sprints from the starting point to the end point at the fastest speed. Maze robots generally rely on infrared sensors to distinguish channels, walls, and forks, and use the different reflection intensities of infrared rays from walls, bottom surfaces, and forks to identify them. It is necessary to adjust the infrared sensor before the competition to determine its accuracy.

[0003] In the prior art, the debugging of the sensor of a maze robot is generally to place the maze robot on a matching maze site, place the maze robot close to a baffle, set the signal strength and parameters of the sensor by adjusting the distance from the maze robot to the baffle, and then test the maze robot's posture of walking in a straight line and at right angles, and then adjust the sensor. During the whole process, due to the limitation of the observation angle, there are errors, and multiple debugging is required, which takes a long time. In addition, the baffle position needs to be changed during debugging to meet the debugging requirements, and debugging is more troublesome. Utility Model Content

[0004] The main purpose of the utility model is to provide a debugging site for a standardized maze robot to solve the problems in the related art that the debugging error is large, multiple debugging is required, and the debugging takes a long time.

[0005] In order to achieve the above object, according to one aspect of the utility model, a debugging site for a standardized maze robot is provided, comprising:

[0006] A site, the site comprises a bottom plate, a plurality of columns are evenly arranged on the top surface of the bottom plate, baffles are arranged between the column brackets, and the baffles can be plugged in and out at will;

[0007] An image acquisition device is provided in the middle and upper part of the bottom plate, and the image acquisition device includes a camera, and the camera can be quickly disassembled and assembled through a quick-release device, and the image acquisition device is used to collect image information of the body posture of the maze robot;

[0008] The top surface of the bottom plate is also provided with adjustment auxiliary lines, and the adjustment auxiliary lines are used for rapid adjustment of the sensors of the maze robot.

[0009] Furthermore, a plurality of sockets are evenly arranged on the top surface of the base plate, and the center distance between two adjacent sockets in the horizontal and vertical directions is 180 mm. The column is connected to the socket through a plug, and a positioning hole is arranged at the edge of the top surface of the base plate, and the quick release device is connected to the positioning hole.

[0010] Furthermore, the column is a rectangular parallelepiped as a whole, the top surface of the column is a square, slots are provided on the four sides of the column, and plug-in blocks are provided at the left and right ends of the baffle, and the plug-in blocks are adapted to the slots.

[0011] Furthermore, the quick-release device includes a camera bracket, a mounting base is provided at the bottom end of the camera bracket, a positioning pin is provided on the mounting base, and the positioning pin penetrates the mounting base and is inserted into the positioning hole.

[0012] Furthermore, the adjustment auxiliary line includes two straight driving test lines, the two straight driving test lines are parallel, a positioning frame is provided at the left end of each straight driving test line, the two positioning frames overlap by 1 / 3 and are red and orange in color respectively.

[0013] Furthermore, a left front test frame, a right front test frame, a right rear test frame and a left rear test frame are respectively provided on the lower side and upper side edge of the bottom plate top surface, and the left front test frame and the right front test frame mostly overlap and are yellow and green in color respectively.

[0014] Furthermore, there are two right rear test frames and two left rear test frames, the right rear test frames and the left rear test frames do not overlap each other and are green in color.

[0015] Furthermore, three right-angle turn test frames are provided in the middle of the top surface of the bottom plate, the middle right-angle turn test frame is perpendicular to the right-angle turn test frames on both sides, and the right-angle turn test frames are all blue.

[0016] Compared with the prior art, the utility model has the following beneficial effects:

[0017] The utility model sets an image acquisition device and uses a camera to collect the body posture of the maze robot. The observation angle is fixed, so as to avoid debugging errors caused by different observation angles. By setting adjustment auxiliary lines, the left front test frame, the right front test frame, the right rear test frame and the left rear test frame can be used to debug the sensor. The straight-line driving test line and the positioning frame can be used to perform line patrol tests on the robot in an unadjusted state and after adjustment. The right-angle turn test frame can be used to perform a right-angle turn test on the robot. The test functions are complete, there is no need to adjust the baffle position, and the test time is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0019] Figure 2 This is a schematic diagram of the bottom plate structure of the utility model;

[0020] Figure 3 This is a schematic diagram of the column and baffle structure of the utility model;

[0021] Figure 4 This is a schematic diagram of the structure of the image acquisition device of the utility model;

[0022] Figure 5 It is a schematic diagram of the structure of the adjustment auxiliary line of the utility model.

[0023] Illustration Description:

[0024] 1. Site; 11. Bottom plate; 12. Socket; 13. Column; 14. Slot; 15. Plug; 16. Baffle; 17. Fast plug-in;

[0025] 2. Image acquisition device; 21. Camera; 22. Camera bracket; 23. Mounting base; 24. Positioning pin;

[0026] 3. Adjustment auxiliary line; 31. Straight driving test line; 32. Positioning frame; 33. Left front test frame; 34. Right front test frame; 35. Right rear test frame; 36. Left rear test frame; 37. Right-angle turn test frame. DETAILED DESCRIPTION

[0027] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined purpose of the utility model, the specific implementation method, structure, characteristics and effects of the present invention are described in detail below in combination with the accompanying drawings and preferred embodiments.

[0028] See also Figures 1 to 5 , this embodiment provides a debugging site for a standardized maze robot, including:

[0029] The venue 1 comprises a bottom plate 11, a plurality of columns 13 are evenly arranged on the top surface of the bottom plate 11, baffles 16 are arranged between the brackets of the columns 13, and the baffles 16 can be plugged in and out at will.

[0030] The bottom plate 11, the column 13 and the baffle 16 are all made of PVC material, without using metal material, so as to reduce the impact of environmental factors on the sensor.

[0031] The plurality of columns 13 divide the top surface of the bottom plate 11 into 36 areas, that is, a 6*6 area.

[0032] A plurality of jacks 12 are evenly arranged on the top surface of the bottom plate 11, and the center distance between two adjacent jacks 12 in the horizontal and vertical directions is 180 mm. The column 13 is connected to the jack 12 through a plug 15. A positioning hole is arranged at the edge of the top surface of the bottom plate 11, and the quick release device is connected to the positioning hole.

[0033] The plug 15 is located at the bottom of the column 13 , the axis of the plug 15 is colinear with the axis of the column 13 , the plug 15 is cylindrical, and the outer diameter of the plug 15 is slightly larger than the inner diameter of the jack 12 .

[0034] The column 13 is a rectangular parallelepiped as a whole, and the top surface of the column 13 is a square. Slots 14 are provided on four sides of the column 13 . Insertion blocks 17 are provided at left and right ends of the baffle 16 , and the insertion blocks 17 are adapted to the slots 14 .

[0035] The width of the slot 14 is 1 / 3 of the width of the side of the column 13 , the depth of the slot 14 is 1 / 4 of the thickness of the column 13 , and the length of the slot 14 is the same as the height of the baffle 16 .

[0036] The baffle 16 is connected with the slot 14 by the plug-in block 17. The baffle 16 is perpendicular to the side of the column 13. By adjusting the position and number of the baffle 16, the layout can be changed.

[0037] An image acquisition device 2 is disposed above the middle of the bottom plate 11. The image acquisition device 2 includes a camera 21. The camera 21 can be quickly disassembled and assembled through a quick-release device. The image acquisition device 2 is used to acquire image information of the body posture of the maze robot.

[0038] The camera 21 can be connected to a display device, and the display device can be a well-known notebook computer or a display, etc. The image captured by the camera 21 can be observed through the display device, thereby observing the posture of the vehicle body.

[0039] The quick-release device includes a camera bracket 22 , a mounting base 23 is disposed at the bottom end of the camera bracket 22 , a positioning pin 24 is disposed on the mounting base 23 , and the positioning pin 24 penetrates through the mounting base 23 and is inserted into the positioning hole.

[0040] The mounting base 23 can be supported by two angle irons welded vertically, the bottom end surface of the camera bracket 22 is welded to the top surface of the mounting base 23, and the camera 21 is fixedly mounted on the top of the camera bracket 22 by bolts. After the positioning pin 24 is engaged with the positioning hole, the mounting base 23 is in contact with the bottom plate 11 to fix the camera 21.

[0041] The top surface of the bottom plate 11 is also provided with a calibration auxiliary line 3, which is used for the rapid calibration of the sensor of the maze robot. The calibration auxiliary line 3 includes two straight driving test lines 31, which are parallel to each other, and each of the straight driving test lines 31 is provided with a positioning frame 32 at the left end, and the two positioning frames 32 overlap by 1 / 3 and are red and orange in color respectively.

[0042] The distance between the straight-line driving test lines 31 is greater than the width of the robot and less than 180 mm. During the test, the column 13 and the baffle 16 are removed first, and the undebugged robot needs to drive from left to right between the two straight-line driving test lines 31 once. At this time, the driving posture of the vehicle body is recorded by the camera 21, and the deviation of the vehicle body is observed by observing the distance between the vehicle body and the straight-line driving test lines 31 on both sides.

[0043] After debugging, the robot is placed in two positioning frames 32, and moves from left to right once each. The driving posture of the vehicle body is recorded by the camera 21, and the deviation of the vehicle body after sensor debugging is observed. The two positioning frames 32 detect the debugging of the sensors on the left and right halves respectively.

[0044] The bottom side and upper side edge of the top surface of the bottom plate 11 are respectively provided with a left front test frame 33, a right front test frame 34, a right rear test frame 35 and a left rear test frame 36, wherein the left front test frame 33 and the right front test frame 34 are mostly overlapped and are yellow and green in color respectively. There are two right rear test frames 35 and two left rear test frames 36 respectively, wherein the right rear test frames 35 and the left rear test frames 36 do not overlap each other and are green in color.

[0045] The left front test frame 33, the right front test frame 34, the right rear test frame 35 and the left rear test frame 36 are used to detect the sensor strength of the left front, right front, right rear and left rear sides of the robot respectively, using different colors for distinction.

[0046] Three right-angle turn test frames 37 are provided in the middle of the top surface of the bottom plate 11 , the middle right-angle turn test frame 37 is perpendicular to the right-angle turn test frames 37 on both sides, and the right-angle turn test frames 37 are all blue.

[0047] During the test, the robot is placed in the middle right-angle turn test frame 37. The robot needs to make a right-angle turn from the middle right-angle turn test frame 37 to the right-angle turn test frames 37 on both sides, which can be used to solve the robot's 90° turn.

[0048] The above description is only a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as a preferred embodiment as above, it is not intended to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A debugging site for a standardized maze robot, characterized in that: include: A site (1), the site (1) comprising a bottom plate (11), a plurality of columns (13) being evenly arranged on the top surface of the bottom plate (11), baffles (16) being arranged between brackets of the columns (13), and the baffles (16) being pluggable and removable at will; An image acquisition device (2) is provided in the middle upper part of the bottom plate (11), the image acquisition device (2) comprising a camera (21), the camera (21) being capable of being quickly assembled and disassembled via a quick-detachment device, and the image acquisition device (2) being used to acquire image information of the body posture of the maze robot; The top surface of the bottom plate (11) is also provided with an auxiliary calibration line (3), and the auxiliary calibration line (3) is used for rapid calibration of the sensor of the maze robot.

2. The debugging site of the standardized maze robot according to claim 1, characterized in that: The top surface of the bottom plate (11) is evenly provided with a plurality of plug holes (12), and the center distance between two adjacent plug holes (12) in the transverse and longitudinal directions is 180 mm. The upright column (13) is connected to the plug hole (12) via a plug (15). A positioning hole is provided at the edge of the top surface of the bottom plate (11), and the quick-release device is connected to the positioning hole.

3. The debugging site of the standardized maze robot according to claim 2, characterized in that: The column (13) is a rectangular parallelepiped as a whole, the top surface of the column (13) is a square, four sides of the column (13) are all provided with slots (14), and the left and right ends of the baffle (16) are provided with plug-in blocks (17), and the plug-in blocks (17) are adapted to the slots (14).

4. The debugging site of the standardized maze robot according to claim 2, characterized in that: The quick-release device comprises a camera bracket (22), a mounting base (23) is provided at the bottom end of the camera bracket (22), a positioning pin (24) is provided on the mounting base (23), and the positioning pin (24) penetrates the mounting base (23) and is inserted into the positioning hole.

5. The debugging site of the standardized maze robot according to claim 1, characterized in that: The adjustment auxiliary line (3) comprises two straight driving test lines (31), the two straight driving test lines (31) are parallel, a positioning frame (32) is provided at the left end of each straight driving test line (31), the two positioning frames (32) overlap by 1 / 3 and are respectively red and orange in color.

6. The debugging site of the standardized maze robot according to claim 5, characterized in that: A left front test frame (33), a right front test frame (34), a right rear test frame (35) and a left rear test frame (36) are respectively provided on the lower side and upper side edge of the top surface of the bottom plate (11); the left front test frame (33) and the right front test frame (34) are mostly overlapped and are yellow and green in color respectively.

7. The debugging site of the standardized maze robot according to claim 6, characterized in that: There are two right rear test frames (35) and two left rear test frames (36), and the right rear test frames (35) and the left rear test frames (36) do not overlap each other and are green in color.

8. The debugging site of the standardized maze robot according to claim 7, characterized in that: Three right-angle turn test frames (37) are provided in the middle of the top surface of the bottom plate (11), the middle right-angle turn test frame (37) is perpendicular to the right-angle turn test frames (37) on both sides, and the right-angle turn test frames (37) are all blue.

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