Vertical temperature excursion testing device

Abstract

The utility model discloses a vertical temperature excursion testing device. Comprising a case, a case door arranged on one side of the case, a temperature and humidity simulation case with the bottom fixedly installed in the case, an adjusting mechanism arranged in the temperature and humidity simulation case and used for fixing a camera, a joint modular robot arranged on the inner side of the top of the case, and a collimator arranged on the joint modular robot. The top of the temperature and humidity simulation box is provided with a high-perspective glass window, and the position of the collimator relative to the to-be-detected camera is controlled through the joint modular robot. The problems that an existing device is large in size due to transverse distribution and the collimator is poor in adjustment flexibility are solved, the structure is simple, and adjustment is easy and convenient.

Description

Technical Field

[0001] The utility model relates to the technical field of camera testing devices, in particular to a vertical temperature drift testing device. Background Art

[0002] With the support of artificial intelligence, machine vision, AI recognition and algorithms, cars have gradually acquired the capabilities of assisted driving and automatic driving. As the main part of the vehicle-mounted assistance system, the camera includes front-view, surround-view, rear-view, side-view and built-in cameras according to different functional requirements and installation positions. Cameras in different positions have different functions and are an indispensable component for realizing automatic driving.

[0003] As one of the core sensors of ADAS, with the implementation of higher-level autonomous driving functions, the proportion of cameras involved in driving control is increasing. The quality of the cameras directly or indirectly affects the safety of public transportation. Therefore, the imaging performance evaluation of vehicle-mounted cameras before installation is an indispensable part. Among them, the drift of camera imaging performance caused by complex temperature environment is particularly obvious. Therefore, the temperature drift test of vehicle-mounted cameras will be an extremely important link to provide reliable temperature drift test data of camera imaging quality for the autonomous driving algorithm, so as to realize a safe, stable and reliable autonomous driving system.

[0004] The main components of the vehicle-mounted camera include optical lenses, CMOS, filters, chips, adhesive materials, etc. The material properties of these materials will have different performances in different temperature environments. If it is necessary to achieve the level of accurate driving assistance and automatic driving in various types of complex environments, the prerequisite is to accurately evaluate the performance characteristics of each component of the imaging performance at different temperatures, and combine it with the computer machine vision algorithm to correct the camera imaging performance drift caused by temperature and humidity environment differences, so as to accurately judge obstacles, accurately judge distances, accurately identify various traffic signs, pedestrians, vehicles, etc. under various complex environmental conditions, and make corresponding precise control of the vehicle's driving posture, speed, and direction. When testing the camera to be tested, the imaging performance data is generally collected and the collected data is transmitted to the analysis system in real time for imaging data analysis. However, the existing test devices have the following problems:

[0005] Existing test devices generally adopt a horizontal structure, which results in a large overall size of the device and occupies a large space;

[0006] The temperature and humidity controller used to form temperature and humidity changes and the temperature and humidity simulation box used to install the camera are generally integrated structures. The integrated temperature box has box vibration caused by the operation of the compressor and the fan, which leads to slight vibration problems. It has no effect on ordinary product testing, but the camera is very sensitive to vibration. Slight vibration will make the edge of the image taken by the camera blurred, reducing the accuracy of the clarity analysis;

[0007] The transmittance of the perspective window glass of the temperature and humidity simulation box is low, and it is easy to frost and fog, which affects the clarity test results of the camera. In addition, dust is easily accumulated when the window glass is not placed horizontally, resulting in high-transmittance glass being prone to perspective effects if dust is not cleaned in time, thus affecting the test results.

[0008] The collimator position adjustment structure of the existing test device has poor flexibility, and it is not easy to quickly adjust the light source position to any position;

[0009] Due to the existence of the above problems, the existing devices cannot accurately and effectively test the imaging performance of the vehicle-mounted camera in different high and low temperature environments. Therefore, a device that can accurately test the imaging performance of the vehicle-mounted camera in different high and low temperature environments is needed. Summary of the invention

[0010] In order to solve one or some technical problems existing in the prior art, the purpose of this application is to provide a vertical temperature drift testing device, which solves the problems of large size and poor adjustment flexibility of parallel light tubes caused by the lateral distribution of the existing devices, and can quantitatively analyze the imaging performance of vehicle-mounted cameras in complex temperature and humidity environments, so as to accurately analyze the data of temperature drift of imaging performance of the vehicle-mounted camera system in different temperature and humidity environments, thereby providing the original data basis of visual information for the autonomous driving algorithm.

[0011] In order to solve the above existing technical problems, this application adopts the following technical solutions:

[0012] A vertical temperature drift testing device comprises a chassis, a door arranged on one side of the chassis, a temperature and humidity simulation box with a bottom fixedly installed in the chassis, an adjustment mechanism arranged in the temperature and humidity simulation box for fixing a camera, an articulated modular robot arranged on the inner side of the top of the chassis, and a collimator arranged on the articulated modular robot, wherein a high-perspective glass window is arranged on the top of the temperature and humidity simulation box, and the position of the collimator relative to the camera to be tested is controlled by the articulated modular robot.

[0013] Preferably, the articulated modular robot includes a teaching pendant arranged on the outside of the chassis, a control cabinet arranged in the chassis, and a robot body with one end arranged on the inner side of the top of the chassis. The robot body is composed of 6 rotating joints, each joint represents a degree of freedom, and the human arm is simulated by the joints of the robot body. The robot body is arranged above the temperature and humidity simulation box, and the control cabinet controls the articulated modular robot to move the position of the parallel light tube.

[0014] Preferably, the temperature and humidity simulation box is provided with a demisting device.

[0015] Preferably, the defogger device includes an air outlet arranged on the outside of the high-perspective glass window, a cold air controller integrated in the control cabinet, and a ventilation duct arranged between the cold air controller and the air outlet. The air blown out by the cold air controller is blown toward the high-perspective glass window through the air outlet and condenses to defog.

[0016] Preferably, the adjustment mechanism includes a coarse adjustment fixing seat arranged at the bottom of the temperature and humidity simulation box, a lifting platform arranged on the coarse adjustment fixing seat, a displacement adjustment seat arranged on the lifting platform, an angle table arranged on the displacement adjustment seat, a rotating table arranged on the angle table, and a camera fixing device arranged on the rotating table; the height of the camera fixing device is adjusted by the coarse adjustment fixing seat and the lifting platform, the camera fixing device is fine-tuned by moving forward and backward and left and right through the displacement adjustment seat, the camera fixing device is rotated through the rotating table, and the camera fixing device is fine-tuned by the angle table for the tilt angle.

[0017] Preferably, the coarse adjustment fixing seat includes a support plate, four support screws arranged between the support plate and the temperature and humidity simulation box, the lifting platform is fixed on the support plate, and the height of the camera fixing device is roughly adjusted and fixed by the four support screws, and then the camera fixing device is fine-tuned by the lifting platform.

[0018] Preferably, the displacement adjustment seat comprises a first manual displacement platform and a second manual displacement platform stacked up and down, and the camera fixing device is fine-tuned in different directions through the first manual displacement platform and the second manual displacement platform respectively.

[0019] Preferably, the angle platform includes a first angle adjuster and a second angle adjuster arranged in an upper and lower pair, and the camera fixing device adjusts the tilt angles in different directions through the first angle adjuster and the second angle adjuster respectively.

[0020] Preferably, the camera fixing device includes a support rod with a bottom disposed on the rotating table, a clamping driver disposed on the support rod, and two clamping blocks disposed on the clamping driver, and the clamping blocks clamp and release the camera to be inspected through the clamping driver.

[0021] Preferably, the clamping driver includes two guide rods arranged parallel to the support rod, a driving screw arranged between the two guide rods, and a horseshoe buckle arranged at one end of the driving screw. The bottoms of the two clamping blocks are respectively slidably mounted on the guide rods extending on both sides of the support rod. The driving screw and the two clamping blocks are connected by a reverse thread, and the two clamping blocks are driven to move relative to each other by the rotation of the driving screw.

[0022] Preferably, a display with a control system and a control mouse are provided on one side of the chassis, and the camera to be detected is connected to the host of the display via a signal line.

[0023] Preferably, a temperature and humidity control machine is provided on the outside of the chassis, and the temperature and humidity control machine is connected to the temperature and humidity simulation box through a flexible ventilation duct. The temperature and humidity changes in the temperature and humidity simulation box are controlled by the temperature and humidity control machine, so as to simulate the influence of different environments on the imaging effect of the camera.

[0024] Compared with the prior art, the beneficial effects of the present invention are:

[0025] The entire test device is designed in a vertical structure, which can make the test system smaller in size and occupy a smaller space area, effectively solving the problem that the installation area required by existing test devices is too large, and has a higher degree of integration.

[0026] The joint modular robot can quickly move the relative spatial position of the collimator, so that the camera to be tested can collect imaging performance data on the collimator at different positions through the high-perspective glass window, and transmit the collected data to the analysis system in real time for imaging data analysis, so as to accurately analyze the imaging performance temperature drift data of the camera system to be tested in different temperature and humidity environments, thereby providing the original data basis of visual information for the autonomous driving algorithm.

[0027] The effective test of the imaging performance of existing vehicle-mounted cameras in different high and low temperature environments is realized. The test device can realize the clarity temperature drift test, depth of field temperature drift test, and dispersion test of all categories of vehicle-mounted cameras. The test process can be started by one-click through the software for multiple camera modules, automatically performing precise environmental simulation and monitoring, precise image shooting position calibration and testing of imaging devices, and automatic analysis and output of reports. Test multiple types of image parameters, including clarity, defocus curve, dispersion, distortion, eccentricity, FOV, color reproduction, signal-to-noise ratio, and dynamic range. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic diagram of the overall structure of the temperature and humidity simulation box without a box cover and a box door in the utility model;

[0029] Figure 2 It is a schematic diagram of the structure of the components installed inside the chassis of the utility model, showing the structure and relative position relationship of the temperature and humidity simulation box, the control cabinet, the demisting device and the robot body;

[0030] Figure 3 It is a structural schematic diagram of the adjustment mechanism in the utility model;

[0031] Figure 4 This is a schematic diagram of the overall structure of the temperature and humidity simulation box without a cover and a door installed in the utility model, showing the combined structure of the temperature and humidity controller and the display and the box;

[0032] In the figure: 1. Temperature and humidity simulation box; 2. Control cabinet; 3. Defogging device; 4. High-perspective glass window; 5. Teaching pendant; 6. Robot body; 7. Joint modular robot; 8. Collimator; 9. Adjustment mechanism; 10. Box door; 11. Chassis; 12. Cold air controller; 13. Ventilation duct; 14. Air outlet; 15. Coarse adjustment fixing seat; 16. Lifting platform; 17. First manual displacement platform; 18. Second manual displacement platform; 19. Angle platform; 20. Driving screw; 21. Camera fixing device; 22. Clamping block; 23. Guide rod; 24. Clamping driver; 25. Horseshoe buckle; 26. Support rod; 27. Rotating platform; 28. Second angle adjuster; 29. ​​First angle adjuster; 30. Displacement adjustment seat; 31. Support plate; 32. Four supporting screws; 33. Display; 34. Control mouse; 35. Temperature and humidity control machine; 100. Camera to be tested. DETAILED DESCRIPTION

[0033] Below, the present application is further described in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of no conflict, the various embodiments or technical features described below can be arbitrarily combined to form a new embodiment.

[0034] In the description of the present application, it should be understood that the terms "up", "down", "left", "right", etc., indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present application.

[0035] The terms "first", "second", etc. in this application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0036] Embodiment 1:

[0037] like Figure 1 As shown, a vertical temperature drift testing device includes a chassis 11, a box door 10 arranged on one side of the chassis 11, a temperature and humidity simulation box 1 with a bottom fixedly installed in the chassis 11, an adjustment mechanism 9 arranged in the temperature and humidity simulation box 1 for fixing a camera, a joint modular robot 7 arranged on the inner side of the top of the chassis 11, and a collimator 8 arranged on the joint modular robot 7. A high-perspective glass window 4 is provided on the top of the temperature and humidity simulation box 1. The position of the collimator 8 relative to the camera 100 to be detected is controlled by the joint modular robot 7. The camera 100 to be detected collects imaging performance data on the collimator 8 through the high-perspective glass window 4 and transmits the collected data to the analysis system in real time for imaging data analysis.

[0038] In the actual assembly process, the temperature and humidity simulation box 1 and the joint modular robot 7 are both installed in the chassis 11, and the adjustment mechanism 9 for fixing the camera is installed in the temperature and humidity simulation box 1, the high perspective glass window 4 is opened on the top of the temperature and humidity simulation box 1, and the parallel light tube 8 is suspended above the temperature and humidity simulation box 1 through the joint modular robot 7, so that the entire test device is in a vertical structure during the test process, the volume of the entire test system can be smaller, and the occupied space area is smaller, which effectively solves the problem of the large installation area required by the existing test device, and the degree of integration is higher. When the drift test system tests the imaging quality of the camera, the camera is installed on the adjustment mechanism 9, and the camera is controlled to move to the specified position through the adjustment mechanism 9, and then the temperature and humidity simulation box 1 and the joint modular robot 7 are started, and the temperature and humidity simulation box 1 simulates the temperature and humidity changes in different environments, thereby simulating the influence of different environments on the imaging effect of the camera. The joint modular robot 7 can quickly move the relative spatial position of the collimator 8, so that the camera 100 to be tested can collect the imaging performance data on the collimator 8 at different positions through the high-perspective glass window 4, and transmit the collected data to the analysis system in real time for imaging data analysis, so as to accurately analyze the data of the imaging performance temperature drift of the camera system to be tested under different temperature and humidity environments, thereby providing the original data basis of visual information for the automatic driving algorithm. The effective test of the imaging performance of the existing vehicle-mounted camera in different high and low temperature environments is realized. The test device can realize the clarity temperature drift test, depth of field temperature drift test, and dispersion test of all categories of vehicle-mounted cameras. The test process can be started by one-click software for multiple camera modules, automatically performing accurate environmental simulation and monitoring, accurate image shooting position calibration and testing of the imaging device, and automatically analyzing and outputting the report. Test multiple types of image parameters, including clarity, defocus curve, dispersion, distortion, eccentricity, FOV, color reproduction, signal-to-noise ratio, and dynamic range.

[0039] Further improvement is as follows: Figure 2 As shown, the joint modular robot 7 includes a teaching pendant 5 arranged outside the chassis 11, a control cabinet 2 arranged inside the chassis 11, and a robot body 6 with one end arranged inside the top of the chassis 11. The robot body 6 is composed of 6 rotating joints, each joint represents a degree of freedom, and the human arm is simulated through each joint of the robot body 6. The robot body 6 is arranged above the temperature and humidity simulation box 1, and the joint modular robot 7 is controlled by the control cabinet 2 to move the position of the collimator 8.

[0040] The robot body 6 in the joint modular robot 7 imitates a human arm and has a total of 6 rotational joints, each of which represents a degree of freedom. Through the operating interface of the teach pendant 5 or drag teaching, the user can control the rotation of each joint to move the parallel light tube 8 at the end of the robot body 6 to different positions, thereby facilitating the collection of data by the camera 100 to be tested, and effectively solving the problem that the position adjustment structure of the parallel light tube 8 of the existing test device is less flexible and it is not easy to quickly adjust the light source position to any position.

[0041] Further improvement is as follows: Figure 2 As shown, the temperature and humidity simulation box 1 is provided with a defogger 3; the defogger 3 includes an air outlet 14 arranged on the outside of the high-perspective glass window 4, a cold air controller 12 integrated in the control cabinet 2, and a ventilation duct 13 arranged between the cold air controller 12 and the air outlet 14. The wind blown out by the cold air controller 12 is blown toward the high-perspective glass window 4 through the air outlet 14 and condensed for defogger.

[0042] The demisting device 3 can condense the water mist on the high-transmittance glass window, and can avoid the occurrence of fog, frost and other phenomena that affect the camera imaging quality test under various temperature and humidity environments as much as possible, so that the camera 100 to be tested can collect the image on the collimator 8 through the high-transmittance glass window with higher clarity and more accurate data analysis. When the water mist on the high-transmittance glass window is condensed by the demisting device 3, after the cold air controller 12 is started, the wind is transported to the air outlet 14 through the ventilation duct 13, and then blows accurately to the outside of the high-transmittance glass window 4 through the air outlet 14. After blowing, the high-transmittance glass window 4 can be cooled and demisted, and the dust on the outer surface of the high-transmittance glass window 4 can be cleaned, thereby solving the problem of inaccurate data collection due to the adhesion of impurities such as dust on the high-transmittance glass window 4 in the vertical structure.

[0043] Based on any of the above solutions, it can be further improved as follows: Figure 3 As shown, the adjustment mechanism 9 includes a coarse adjustment fixing seat 15 arranged at the bottom of the temperature and humidity simulation box 1, a lifting platform 16 arranged on the coarse adjustment fixing seat 15, a displacement adjustment seat 30 arranged on the lifting platform 16, an angle table 19 arranged on the displacement adjustment seat, a rotating table 27 arranged on the angle table 19, and a camera fixing device 21 arranged on the rotating table 27. The height of the camera fixing device 21 is adjusted by the coarse adjustment fixing seat 15 and the lifting platform 16, the camera fixing device 21 is fine-tuned by moving forward and backward and left and right through the displacement adjustment seat 30, the camera fixing device 21 is rotated through the rotating table 27, and the camera fixing device 21 is fine-tuned by the angle table 19.

[0044] The height of the camera fixing device 21 can be roughly and quickly adjusted through the coarse adjustment fixing seat 15 and relatively fixed to the bottom of the temperature and humidity simulation box 1, and then the height of the camera fixing device 21 can be accurately adjusted through the lifting platform 16, so that the camera 100 to be tested is at the required height for testing, and then the camera fixing device 21 can be quickly rotated left and right through the rotating table 27, so that the camera 100 to be tested can be roughly rotated to the required angle, and then the camera fixing device 21 can be finely adjusted to rotate left and right through the displacement adjustment seat 30. At the same time, the inclination angle of the camera fixing device 21 can be adjusted through the angle table 19, so that the camera 100 to be tested installed on the camera fixing device 21 can be accurately positioned to the required position, so that the test accuracy of the camera is higher and the position adjustment of the camera 100 to be tested is more comprehensive.

[0045] A further improvement is that the coarse adjustment fixing seat 15 includes a support plate 31, four support screws 32 arranged between the support plate 31 and the temperature and humidity simulation box 1, and the lifting platform 16 is fixed on the support plate 31. The height of the camera fixing device 21 is roughly adjusted and fixed by the four support screws, and then the camera fixing device 21 is fine-tuned by the lifting platform 16.

[0046] When the adjustment mechanism 9 is quickly adjusted and fixed by the coarse adjustment fixing seat 15, the lifting platform 16 is installed on the support plate 31, and the support plate 31 side is fixed to the temperature and humidity simulation box 1 by four support screws 32. The height of the camera fixing device 21 can be roughly adjusted and fixed by the four support screws 32. The installation structure is simple and the adjustment is simple and convenient.

[0047] A further improvement is that the displacement adjustment seat 30 includes a first manual displacement table 17 and a second manual displacement table 18 stacked up and down, and the camera fixing device 21 is fine-tuned in different directions through the first manual displacement table 17 and the second manual displacement table 18 respectively; the angle position table 19 includes a first angle adjuster 29 and a second angle adjuster 28 arranged in an upper and lower pair, and the camera fixing device 21 is adjusted inclination angle in different directions through the first angle adjuster 29 and the second angle adjuster 28 respectively.

[0048] The first manual translation stage 17 and the second manual translation stage 18 can respectively perform fine adjustments on the camera 100 to be inspected in different directions, thereby making the adjustment more flexible, and the first angle adjuster 29 and the second angle adjuster 28 can respectively perform tilt angle adjustments on the camera fixing device 21 in different directions, thereby allowing the camera 100 to be inspected to be quickly adjusted to the desired shooting angle.

[0049] On the basis of the above technical solution, it is further improved that the camera fixing device 21 includes a support rod 26 with a bottom arranged on the rotating table 27, a clamping driver 24 arranged on the support rod 26, and two clamping blocks 22 arranged on the clamping driver 24, and the clamping blocks 22 clamp and release the camera 100 to be detected through the clamping driver 24; the clamping driver 24 includes two guide rods 23 arranged in parallel on the support rod 26, a driving screw 20 arranged between the two guide rods 23, and a horseshoe buckle 25 arranged at one end of the driving screw 20, and the bottoms of the two clamping blocks 22 are respectively slidably mounted on the guide rods 23 extending on both sides of the support rod 26, and the driving screw 20 and the two clamping blocks 22 are connected by reverse threads, and the two clamping blocks 22 are driven to move relative to each other by the rotation of the driving screw 20.

[0050] When disassembling and assembling the camera 100 to be inspected, the two clamping blocks 22 are driven by the clamping driver 24 to clamp relatively or expand outwards to realize control, and the operation is simple and convenient. Since the two clamping blocks 22 are supported by the guide rods 23 extending to both sides and are threadedly connected by two screw driving screws 20 with different spiral directions, when driving the two clamping blocks 22, it is only necessary to control the horseshoe buckle 25 at one end of the driving screw 20 to rotate, so that the two clamping blocks 22 can be synchronously moved relative to each other through the driving screw 20, and the structure is simple and convenient, and the operation difficulty is low.

[0051] Embodiment 2:

[0052] On the basis of Example 1, it is further improved as follows: Figure 4 As shown, a display 33 with a control system and a control mouse 34 are provided on one side of the chassis 11 , and the camera 100 to be detected is connected to the host of the display 33 via a signal line.

[0053] The control system is located in the motor host, whether it is a notebook or a desktop computer, the display 33 and the control mouse 34 are installed on the outside of the chassis 11, which can be easily controlled. The camera 100 to be tested is connected to the computer host of the display 33 through a signal line, which can enable the data captured by the camera 100 to be tested to be transmitted to the computer in real time for data analysis and generate the required data or images.

[0054] Further improvement is as follows: Figure 4 As shown, a temperature and humidity control machine 35 is provided on the outside of the chassis 11, and the temperature and humidity control machine 35 is connected to the temperature and humidity simulation box 1 through a flexible ventilation duct 13. The temperature and humidity changes in the temperature and humidity simulation box 1 are controlled by the temperature and humidity control machine 35, so as to simulate the influence of different environments on the imaging effect of the camera.

[0055] The current temperature and humidity test chambers are all integrated structures, which leads to slight vibrations during the test process, which will have an adverse effect on the test results. Therefore, the existing temperature and humidity test chambers are improved so that the temperature and humidity simulation chamber 1 is partially integrated with the chamber body, while the temperature and humidity control machine 35 is separated separately. The two are connected by a soft ventilation duct 13 to form a split structure, so that the vibration of the chamber caused by the operation of the compressor and fan in the temperature and humidity control machine 35 will not be transmitted to the temperature and humidity simulation chamber 1, thereby avoiding the slight vibration from affecting the camera, making the image taken by the camera clearer, effectively reducing the instability of the image test results caused by the vibration of the equipment, and having higher accuracy. There is no vibration during the test process, which meets the requirements of image testing.

[0056] The above-mentioned implementation modes are only preferred implementation modes of the present application and cannot be used to limit the scope of protection of the present application. Any non-substantial changes and substitutions made by technicians in this field on the basis of the present application shall fall within the scope of protection required by the present application.

Claims

1. A vertical temperature drift test device, characterized in that: The invention comprises a case (11), a case door (10) arranged on one side of the case (11), a temperature and humidity simulation box (1) whose bottom is fixedly installed in the case (11), an adjustment mechanism (9) arranged in the temperature and humidity simulation box (1) for fixing a camera, an articulated modular robot (7) arranged on the inner side of the top of the case (11), and a collimator (8) arranged on the articulated modular robot (7), wherein a high-perspective glass window (4) is arranged on the top of the temperature and humidity simulation box (1), and the position of the collimator (8) relative to the camera to be detected is controlled by the articulated modular robot (7).

2. A vertical temperature drift test device according to claim 1, characterized in that: The articulated modular robot (7) comprises a teaching pendant (5) arranged outside the chassis (11), a control cabinet (2) arranged inside the chassis (11), and a robot body (6) with one end arranged inside the top of the chassis (11). The robot body (6) is composed of six rotating joints, each of which represents one degree of freedom. The joints of the robot body (6) imitate a human arm.

3. A vertical temperature drift test device according to claim 2, characterized in that: The temperature and humidity simulation box (1) is provided with a demisting device (3).

4. A vertical temperature drift test device according to claim 3, characterized in that: The defogger (3) comprises an air outlet (14) arranged outside the high-perspective glass window (4), a cold air controller (12) integrated in the control cabinet (2), and a ventilation duct (13) arranged between the cold air controller (12) and the air outlet (14); the air blown out by the cold air controller (12) is blown toward the high-perspective glass window (4) through the air outlet (14) and condensed for defogger.

5. A vertical temperature drift test device according to any one of claims 1 to 4, characterized in that: The adjustment mechanism (9) comprises a coarse adjustment fixing seat (15) arranged at the bottom of the temperature and humidity simulation box (1), a lifting platform (16) arranged on the coarse adjustment fixing seat (15), a displacement adjustment seat (30) arranged on the lifting platform (16), an angle platform (19) arranged on the displacement adjustment seat (30), a rotating platform (27) arranged on the angle platform (19), and a camera fixing device (21) arranged on the rotating platform (27); the height of the camera fixing device (21) is adjusted by the coarse adjustment fixing seat (15) and the lifting platform (16); the camera fixing device (21) is finely adjusted in forward and backward and left and right directions by the displacement adjustment seat (30); the camera fixing device (21) is rotated by the rotating platform (27); and the camera fixing device (21) is finely adjusted in inclination angle by the angle platform (19).

6. A vertical temperature drift test device according to claim 5, characterized in that: The coarse adjustment fixing seat (15) comprises a support plate (31), four support screws (32) arranged between the support plate (31) and the temperature and humidity simulation box (1), and the lifting platform (16) is fixed on the support plate (31). The height of the camera fixing device (21) is roughly adjusted and fixed by the four support screws, and then the camera fixing device (21) is finely adjusted by the lifting platform (16).

7. A vertical temperature drift test device according to claim 6, characterized in that: The displacement adjustment seat (30) comprises a first manual displacement platform (17) and a second manual displacement platform (18) which are stacked up and down, and the camera fixing device (21) performs fine adjustment in different directions through the first manual displacement platform (17) and the second manual displacement platform (18).

8. A vertical temperature drift test device according to claim 6, characterized in that: The angle platform (19) comprises a first angle adjuster (29) and a second angle adjuster (28) arranged in an upper and lower pair, and the camera fixing device (21) is used to adjust the tilt angles in different directions through the first angle adjuster (29) and the second angle adjuster (28).

9. A vertical temperature drift test device according to claim 6, characterized in that: The camera fixing device (21) comprises a support rod (26) whose bottom is arranged on the rotating platform (27), a clamping driver (24) arranged on the support rod (26), and two clamping blocks (22) arranged on the clamping driver (24), wherein the clamping blocks (22) clamp and release the camera to be detected through the clamping driver (24).

10. A vertical temperature drift test device according to claim 9, characterized in that: The clamping driver (24) comprises two guide rods (23) arranged in parallel on the support rod (26), a driving screw rod (20) arranged between the two guide rods (23), and a horseshoe buckle (25) arranged at one end of the driving screw rod (20); the bottoms of the two clamping blocks (22) are respectively slidably sleeved on the guide rods (23) extending on both sides of the support rod (26); the driving screw rod (20) and the two clamping blocks (22) are connected by reverse threads, and the two clamping blocks (22) are driven by the rotation of the driving screw rod (20) to move relative to each other.

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