Sweeping robot test equipment

Abstract

The utility model discloses a test device for a sweeping robot, which relates to the technical field of sweeping robots and comprises a test device and a carrying device. The testing device comprises at least one testing chamber, the testing chamber is provided with an access for the sweeping robot to go in and out, and a detection module for detecting the performance of the sweeping robot is arranged in the testing chamber; the carrying device comprises a picking part, and the picking part can move between the discharging station and the inlet and outlet of the testing chamber and is used for picking the to-be-tested sweeping robot at the discharging station, transferring the to-be-tested sweeping robot to the inlet and outlet and conveying the to-be-tested sweeping robot to the testing chamber from the inlet and outlet. And the picking part is also used for transferring the floor sweeping robot after the test to the discharging station from the inlet and outlet. According to the technical scheme provided by the utility model, the detection efficiency of the sweeping robot is improved, and the detection accuracy is improved at the same time.

Description

TECHNICAL FIELD

[0001] The utility model relates to a floor cleaning robot technical field, especially a floor cleaning robot testing equipment. BACKGROUND

[0002] The floor cleaning robot needs to be tested after leaving the production line to ensure its performance and reliability, and the most important one is to detect the motion ability of the floor cleaning robot to confirm whether it can build an accurate map and plan a reasonable cleaning path according to the map information. The test in the prior art is to place the floor cleaning robot on the running test site by the detection personnel, and the detection personnel manually operates the floor cleaning robot on a platform until the detection is completed, and then the detection personnel returns to the running test site, marks or classifies the floor cleaning robot according to the test, and replaces the next floor cleaning robot for testing. Since the manual operation needs to be constantly moved between multiple positions, a lot of time is needed for movement, and the movement time between different positions is not fixed, which affects the test rhythm and reduces the test efficiency. SUMMARY

[0003] The main purpose of the utility model is to provide a floor cleaning robot testing equipment, which aims to improve the automatic detection of the floor cleaning robot, reduce the handling time, maintain the stability of the test rhythm, and improve the test efficiency.

[0004] To achieve the above purpose, a floor cleaning robot testing equipment has a feeding station, and the floor cleaning robot testing equipment comprises:

[0005] A testing device comprises at least one test chamber, the test chamber has an entrance and exit for the floor cleaning robot to enter and exit, and the test chamber is provided with a detection module for detecting the performance of the floor cleaning robot; and

[0006] A handling device comprises a picking part, the picking part can move between the feeding station and the entrance and exit of the test chamber, and is used to pick the floor cleaning robot to be tested at the feeding station, transfer the floor cleaning robot to be tested to the entrance and exit, and convey the floor cleaning robot to be tested from the entrance and exit to the test chamber. The picking part is also used to transfer the floor cleaning robot after testing from the entrance and exit to the feeding station.

[0007] In an embodiment, the picking part can move in a first horizontal direction, a second horizontal direction and an up-down direction.

[0008] In an embodiment, the handling device comprises:

[0009] A first motion mechanism comprises a first mounting part movable in a first horizontal direction, and a first driving structure driving the first mounting part to move in the first horizontal direction;

[0010] a second moving mechanism mounted on the first mounting portion to be movable along a first horizontal direction by the first mounting portion, the second moving mechanism comprising a second mounting portion movable along a second horizontal direction, and a second driving structure driving the second mounting portion to move;

[0011] a lifting mechanism mounted on the second mounting portion to be movable along the first horizontal direction and the second horizontal direction with the second mounting portion, the lifting mechanism having a mounting seat movable up and down, and a lifting driving structure driving the mounting seat to move up and down;

[0012] wherein the pickup portion is mounted on the mounting seat.

[0013] In an embodiment, the first moving mechanism further comprises a first mounting frame having a first mounting rail extending along the first horizontal direction, the first mounting portion being movably mounted on the first mounting rail along the first horizontal direction, and the first driving structure driving the first mounting portion to move along the first horizontal direction; and / or,

[0014] the second moving mechanism further comprises a second mounting frame mounted on the first mounting portion, the second mounting frame having a second mounting rail extending along the second horizontal direction, the second mounting portion being movably mounted on the second mounting rail along the second horizontal direction, and the second driving structure driving the second mounting portion to move along the second horizontal direction; and / or,

[0015] the lifting mechanism further comprises a lifting frame mounted on the second mounting portion, the lifting frame having a lifting mounting rail movably mounted along the up-and-down direction, the mounting seat being mounted on the lifting mounting rail, and the lifting driving structure driving the mounting seat to move along the up-and-down direction.

[0016] In an embodiment, the lifting mechanism further comprises a telescopic portion telescopically arranged between the lifting mounting rail and the mounting portion along the up-and-down direction, and a telescopic driving structure driving the mounting seat to move along the up-and-down direction.

[0017] In an embodiment, the access port is located at one side of the test chamber along the second horizontal direction.

[0018] the carrying device comprises a mounting seat movably arranged along the first horizontal direction, the second horizontal direction, and the up-and-down direction, and the pickup portion is mounted on the mounting seat.

[0019] The pickup part is movably connected to the mounting base in the second horizontal direction, and the carrying device further comprises a third driving structure for driving the pickup part to move in the second horizontal direction.

[0020] In an embodiment, the mounting base is provided with a mounting part rotatable about an axis in the vertical direction, and the fourth driving structure drives the mounting part to rotate.

[0021] The pickup part is provided with at least two pickup parts movably mounted on the mounting part via a movable element movably connected to the mounting part in the second direction, and the third driving structure drives the movable element to move.

[0022] In an embodiment, the test chamber is provided with a plurality of test chambers arranged at intervals in at least one of the first horizontal direction, the second horizontal direction, or the vertical direction.

[0023] In an embodiment, the detection module comprises an image collection unit and a sound collection unit, and the image collection unit and the sound collection unit are arranged along the test chamber.

[0024] In an embodiment, the test chamber is provided with a sound attenuation structure; and / or,

[0025] The test chamber is provided with a signal shielding structure; and / or,

[0026] The test device further comprises a controller, and the image collection unit and the sound collection unit are electrically connected to the controller, respectively.

[0027] In an embodiment, the entrance of the test chamber is covered with a movable door.

[0028] In an embodiment, the test device is provided with at least two material placing stations, and the two material placing stations comprise a material feeding station and a material discharging station.

[0029] In an embodiment, the floor cleaning robot test device further comprises a first conveying track and a second conveying track arranged in sequence in the second horizontal direction, and a blocking part arranged between the first conveying track and the second conveying track, and a section of the first conveying track adjacent to the blocking part is located in the material feeding station, and a section of the second conveying track adjacent to the blocking part is located in the material discharging station.

[0030] In the technical scheme of the utility model, the pickup part of the carrying device moves the to-be-tested sweeping robot on the feeding station to the entrance of the test chamber, and places it in the test chamber for testing, the detection module in the test chamber detects the performance of the sweeping robot in the test chamber, after the testing is completed, the pickup part of the carrying device picks up the tested sweeping robot through the entrance of the test chamber, and sends it back to the feeding station, ready for the next test. Since the carrying device can automatically run in the technical scheme, the carrying time is reduced, and the stability of the test rhythm is maintained, that is, the detection efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the drawings needed to be used in the embodiment or the prior art description will be briefly introduced below, and obviously, the drawings in the following description are only some embodiments of the utility model, and for those skilled in the art, other drawings can be obtained according to the structures shown in these drawings without creative labor.

[0032] Figure 1 The structural schematic diagram of the sweeping robot test equipment one embodiment of the utility model provides;

[0033] Figure 2 For Figure 1 The front view of the sweeping robot test equipment;

[0034] Figure 3 For Figure 1 The top view of the sweeping robot test equipment;

[0035] Figure 4 For Figure 1 The structural schematic diagram of the test device one embodiment;

[0036] Figure 5 For Figure 1 The structural schematic diagram of the carrying device (hidden first mounting frame) one embodiment;

[0037] Figure 6 For Figure 5 The structural schematic diagram of the carrying device;

[0038] Figure 7 For Figure 6 The side view of the carrying device.

[0039] BRIEF DESCRIPTION OF DRAWINGS

[0040] 100, sweeping robot test equipment; 101, feeding station; 102, feeding station; 103, discharging station;

[0041] 1, test device; 11, test chamber; 111, entrance and exit;

[0042] 2, conveying device; 21, pickup part;

[0043] 22, first movement mechanism; 220, first mounting frame; 221, first mounting part; 222, first driving structure; 223, first mounting rail; 224, first motor; 225, first driving tooth; 226, first tooth belt; 227, first driven tooth; 228, first driving tooth; 229, first rack;

[0044] 23, second movement mechanism; 231, second mounting part; 232, second driving structure; 233, second mounting rail; 234, second motor; 235, second driving tooth; 236, second tooth belt; 237, second driven tooth;

[0045] 24, lifting mechanism; 241, mounting seat; 242, lifting driving structure; 243, lifting mounting rail; 244, telescopic part; 245, telescopic driving structure; 246, lifting motor; 247, lifting driving tooth; 248, lifting rack;

[0046] 25, third driving structure; 26, mounting part; 27, fourth driving structure; 28, movable piece;

[0047] 3, first conveying rail; 4, second conveying rail; 5, blocking part.

[0048] The purposes, functional features and advantages of the utility model will be further described in combination with embodiments and with reference to the drawings. DETAILED DESCRIPTION

[0049] The technical solutions in the embodiments of the utility model will be clearly and completely described below in combination with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0050] It should be noted that if the embodiments of the utility model involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement condition, etc. between components in a certain posture, and if the certain posture changes, the directional indications also change accordingly.

[0051] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0052] After leaving the production line, robotic vacuum cleaners need to undergo a series of tests to ensure their performance and reliability. One of the most important tests is to verify whether the robot can build an accurate map and plan a reasonable cleaning path based on the map information. In existing technologies, this test involves personnel placing the robot on a test track and manually operating it on a platform to visually observe the accuracy of the cleaning path. However, repeatedly moving the robot back and forth not only reduces testing efficiency but also results in low accuracy when relying on visual inspection.

[0053] To solve the above-mentioned technical problems, this utility model proposes a sweeping robot testing device 100, such as... Figures 1 to 4 As shown, the device has a material feeding station 101. The sweeping robot testing equipment 100 includes a testing device 1 and a conveying device 2. The testing device 1 includes at least one testing chamber 11. The testing chamber 11 has an entrance / exit 111 for the sweeping robot to enter and exit. The testing chamber 11 is equipped with a testing module for testing the performance of the sweeping robot. The conveying device 2 includes a picking unit 21. The picking unit 21 can move between the material feeding station 101 and the entrance / exit 111 of the testing chamber 11 to pick up the sweeping robot to be tested at the material feeding station 101, transfer the sweeping robot to be tested to the entrance / exit 111, and transport it from the entrance / exit 111 to the testing chamber 11. The picking unit 21 is also used to transfer the sweeping robot after testing from the entrance / exit 111 to the material feeding station 101.

[0054] In this invention, the picking unit 21 of the conveying device 2 moves the robotic vacuum cleaner to be tested from the unloading station 101 to the entrance 111 of the test chamber 11, and places it inside the test chamber 11 for testing. The detection module located in the test chamber 11 detects the performance of the robotic vacuum cleaner within the test chamber 11. After the test is completed, the picking unit 21 of the conveying device 2 picks up the tested robotic vacuum cleaner through the entrance 111 of the test chamber 11 and returns it to the unloading station 101 for the next test. Because this invention can be automated by the conveying device 2, the conveying time is reduced while maintaining a stable testing rhythm, thus improving testing efficiency. The picking unit 21 can pick up the robotic vacuum cleaner using a suction cup or a gripper, which is not specifically limited here.

[0055] It is understood that the picking unit 21 can have a travel distance in one, two, three, or multiple dimensions to adapt to the needs of different robotic vacuum cleaners. In one embodiment, the picking unit 21 can move in a first horizontal direction, a second horizontal direction, and a vertical direction. This configuration allows the picking unit 21 to perform efficient and precise operations in three-dimensional space by moving in two horizontal directions and vertically, thus ensuring the smoothness of the entire testing process. Driving the picking unit 21 in the three dimensions can be achieved using a linear drive module or a linear cylinder, etc. Therefore, in one embodiment, the conveying device 2 includes a first motion mechanism 22, a second motion mechanism 23, and a lifting mechanism 24: the first motion mechanism 22 includes a first mounting portion 221 movable in a first horizontal direction and a first drive structure 222 for driving the first mounting portion 221 to move in the first horizontal direction; the second motion mechanism 23 is mounted on the first mounting portion 221 so as to be driven by the first mounting portion 221 to move in the first horizontal direction, the second motion mechanism 23 includes a second mounting portion 231 movable in a second horizontal direction and a second drive structure 232 for driving the second mounting portion 231 to move; the lifting mechanism 24 is mounted on the second mounting portion 231 so as to move with the second mounting portion 231 in the first and second horizontal directions, the lifting mechanism 24 has a mounting base 241 movable up and down and a lifting drive structure 242 for driving the mounting base 241 to move; wherein, the picking portion 21 is mounted on the mounting base 241.

[0056] In this way, the first mounting portion 221 can move in the first horizontal direction to cover the required working range. The first driving structure 222 can be equipped with a high-precision servo motor or linear drive module, responsible for driving the first mounting portion 221 to move in the first horizontal direction. The first driving structure 222 can provide stable and precise linear motion, so that the pickup portion 21 can smoothly transition between required positions. The second movement mechanism 23 is directly mounted on the first mounting portion 221, so it can move in the first horizontal direction with the first mounting portion 221. The second mounting portion 231 can move in the second horizontal direction, further allowing the pickup portion 21 to move freely in a larger horizontal plane area. The second driving structure 232 can also use a high-performance servo motor or linear drive module to drive the second mounting portion 231 to move in the second horizontal direction. In addition, by coordinating the movement of the two horizontal directions, precise positioning of the pickup portion 21 at any point in the horizontal plane area can be achieved. The lifting mechanism 24 is mounted on the second mounting portion 231, so it can move in the two horizontal directions with the second mounting portion 231, and also independently complete the movement in the vertical direction. The mounting seat 241 can move up and down to provide the pickup portion 21 with the ability to adjust the height. The lifting driving structure 242 can be a ball screw transmission, a linear cylinder or other forms of driving device, to drive the mounting seat 241 to move up and down. So that the pickup portion 21 can quickly respond according to different height requirements, and maintain the stability and accuracy of the action.

[0057] As Figure 5As shown, in order to improve the stability of the pickup part 21 running in the first horizontal direction, in an embodiment, the first movement mechanism 22 further comprises a first mounting frame 220, the first mounting frame 220 has a first mounting rail 223 extending along the first horizontal direction, the first mounting part 221 is movably mounted on the first mounting rail 223 along the first horizontal direction, and the first driving structure 222 drives the first mounting part 221 to move along the first horizontal direction. In this way, by taking the first mounting rail 223 as the guide path of the first mounting part 221, smooth movement along the predetermined track is ensured, and deviation or shaking is avoided. Such a linear guide rail can reduce friction, so that the first mounting part 221 can easily and stably move a long distance. In order to transmit the power of the first driving structure 222 to the first mounting part 221, a synchronous belt or a gear transmission device can be used. These transmission modes not only can ensure efficient energy conversion, but also can realize accurate speed control and positioning. Specifically, in an embodiment, the first driving mechanism comprises a first motor 224, the first motor 224 is arranged on the first mounting part 221, the output end of the first motor 224 is provided with a first driving tooth 225, the first driving tooth 225 is engaged with a first tooth belt 226, one end of the first tooth belt 226 away from the first driving tooth 225 is engaged with a first transmission tooth 227, the first transmission tooth 227 is coaxially provided with the first driving tooth 228, the first driving tooth 228 is engaged with a first rack 29, and the first rack 29 is arranged on the first mounting rail 223 along the first horizontal direction. In this way, when the first motor 224 starts to operate, the first driving tooth 225 at the output end of the first motor 224 drives the first transmission tooth 227 to rotate through the first tooth belt 226. Since the first transmission tooth 227 is coaxially arranged with the first driving tooth 228, the first driving tooth 228 also rotates. The first driving tooth 228 is engaged with the first rack 29, and along with the rotation of the first driving tooth 228, it moves linearly along the first rack 29, thereby driving the first mounting part 221 to stably move along the first mounting rail 223 in the first horizontal direction. By driving a series of transmission components through the first motor 224, the smooth and accurate movement of the first mounting part 221 in the first horizontal direction can be accurately controlled.

[0058] As Figure 6As shown, in order to improve the stability of the pickup unit 21 running in the second horizontal direction, the second movement mechanism 23 further comprises a second mounting frame mounted on the first mounting portion 221, the second mounting frame having a second mounting rail 233 extending along the second horizontal direction, the second mounting portion 231 movably mounted on the second mounting rail 233 along the second horizontal direction, and the second driving structure 232 driving the second mounting portion 231 to move along the second horizontal direction. In this way, by taking the second mounting rail 233 as the guiding path of the second mounting portion 231, it is ensured that it moves smoothly along the predetermined track, avoiding deviation or shaking. Such a linear guide rail can reduce friction, so that the second mounting portion 231 can easily and stably move over a long distance. In order to transmit the power of the second driving structure 232 to the first mounting portion 221, a synchronous belt or a gear transmission device can be used. Specifically, in an embodiment, the second driving structure 232 comprises a second motor 234, the output end of the second motor 234 is provided with a second driving tooth 35, the second driving tooth 35 engages a second toothed belt 236, the second toothed belt 236 engages a second driven tooth 237, and the second toothed belt 236 is fixedly connected with the second mounting portion 231. In this way, by controlling the second motor 234 to start running, the second driving tooth 35 at the output end of the second motor 234 drives the second toothed belt 236 to move, and as the second toothed belt 236 moves, it drives the second driven tooth 237 to rotate, thereby causing the second mounting portion 231 fixedly connected therewith to move along the second horizontal direction. Since the second toothed belt 236 is fixedly connected with the second mounting portion 231, the second mounting portion 231 will move linearly as the second toothed belt 236 moves, thereby achieving precise displacement in the second horizontal direction. By driving a series of transmission components through the second motor 234, the smooth and precise movement of the second mounting portion 231 in the second horizontal direction can be accurately controlled.

[0059] As Figure 7As shown, in order to improve the stability of the pickup unit 21 running in the up-down direction, in one embodiment, the lifting mechanism 24 further comprises a lifting frame, which is mounted on the second mounting portion 231, and has a lifting mounting rail 243 movably mounted in the up-down direction, the mounting seat 241 is mounted on the lifting mounting rail 243, and the lifting driving structure 242 drives the mounting seat 241 to move in the up-down direction. In this way, by taking the lifting mounting rail 243 as the guide path of the mounting seat 241, it is ensured that it moves smoothly along the predetermined track and avoids deviation or shaking. Such a linear guide rail can reduce friction, so that the mounting seat 241 can easily and stably move over a long distance. In order to transmit the power of the lifting driving structure 242 to the mounting seat 241, a synchronous belt or a gear transmission device can be used. Specifically, in one embodiment, the lifting driving structure 242 comprises a lifting motor 246, the output end of the motor is provided with a lifting driving gear 247, the lifting driving gear 247 is engaged with a lifting rack 248, and the lifting rack 248 is arranged on the mounting seat 241 in the up-down direction. In this way, by controlling the lifting motor 246 to start running, the lifting driving gear 247 at the output end of the motor drives the lifting rack 248 to move, and as the lifting driving gear 247 rotates, the lifting rack 248 moves linearly, thereby driving the mounting seat 241 to move in the up-down direction. By driving a series of transmission components through the lifting motor 246, the smooth and accurate movement of the mounting seat 241 in the up-down direction can be accurately controlled.

[0060] To further accelerate the moving speed of the pickup portion 21 in the up-down direction, in an embodiment, the lifting mechanism 24 further comprises a telescopic portion 244 and a telescopic driving structure 245, the telescopic portion 244 is arranged between the lifting mounting rail 243 and the mounting portion 26 in the up-down direction, and the telescopic driving structure 245 is used to drive the mounting base 241 to move in the up-down direction. In this way, by controlling the operation of the telescopic driving structure 245, the telescopic portion 244 can be driven to quickly extend or contract, so that the mounting base 241 quickly reaches the approximate target height. Among them, the telescopic portion 244 can be composed of multiple telescopic guide rails or rod members, which can realize fast telescopic action while maintaining stability. The telescopic driving structure 245 drives the telescopic portion 244 to perform fast telescopic motion, which can be a hydraulic cylinder, a pneumatic cylinder, an electric push rod or other forms of fast driving device, the specific selection depends on the application scene and performance requirements. For example, when the pickup portion 21 needs to move in the up-down direction, it can be quickly lifted to the approximate position by the telescopic portion 244, and the remaining distance to the target position can be driven by the lifting driving structure 242 to drive the mounting base 241 to move in the up-down direction, thereby improving the driving speed of the pickup portion 21 between different heights.

[0061] It can be understood that when the pickup portion 21 moves to the entrance 111 of the test chamber 11, it still needs to enter the test chamber 11 through the entrance 111, although the pickup portion 21 can be driven to enter or leave the test chamber 11 by the second movement mechanism 23, but driving the second movement mechanism 23 will cause excessive energy consumption, therefore, in an embodiment, the entrance 111 is located at one side of the test chamber 11 in the second horizontal direction; the carrying device 2 comprises a mounting base 241 movably arranged in the first horizontal direction, the second horizontal direction and the up-down direction, and the pickup portion 21 is mounted on the mounting base 241; the pickup portion 21 is movably connected to the mounting base 241 in the second horizontal direction, and the carrying device further comprises a third driving structure 25, the third driving structure 25 is used to drive the pickup portion 21 to move in the second horizontal direction. In this way, since the third driving structure 25 only drives the pickup portion 21 to enter or leave the test chamber 11, the mass of the unnecessary moving part is reduced, which is beneficial to save energy and improve mechanical efficiency. The third driving structure 25 can adopt a linear motor module, a pneumatic or hydraulic cylinder, or an electric push rod, which is not particularly limited here.

[0062] It can be understood that during a test process, the tested cleaning robot in the test chamber 11 needs to be taken out and the untested cleaning robot needs to be put in. To this end, in an embodiment, the mounting portion 26 is arranged on the mounting seat 241 and can rotate about an axis in the up-down direction, and the fourth driving structure 27 drives the mounting portion 26 to rotate. The pickup portion 21 is provided in at least two, and the two pickup portions 21 are mounted on the mounting portion 26 through a movable piece 28, the movable piece 28 is movably connected to the mounting portion 26 in a second direction, and the third driving structure 25 drives the movable piece 28 to move. In this way, one pickup portion 21 is located at the entrance 111 of the test chamber 11, ready to take out the tested cleaning robot; the other pickup portion 21 picks up the untested cleaning robot from the feeding station 101, one pickup portion 21 enters the test chamber 11, grabs the tested cleaning robot, and carries it back to the entrance 111, the fourth driving structure 27 is started to drive the mounting portion 26 to rotate, so that the positions of the two pickup portions 21 are exchanged. The other pickup portion 21 enters the test chamber 11 and places the untested cleaning robot in the test chamber 11. Through the rotation of the mounting portion 26 and the fourth driving structure 27, the rapid exchange and synchronous operation between the two pickup portions 21 are realized, and the carrying efficiency of the carrying device 2 is improved. In addition, it is worth mentioning that the pickup portion 21 can be provided in multiple, and the multiple pickup portions 21 are distributed on the mounting portion 26, and the carrying efficiency of the carrying device 2 can be further improved by adjusting the angle of rotation of the mounting portion 26 each time. For example, when the tested cleaning robot needs to be taken out and the untested cleaning robot needs to be put in. One idle pickup portion 21 can be extended into the test chamber 11 through the third driving structure 25 to pick up the tested cleaning robot, and then the third driving structure 25 drives the pickup portion 21 to move away from the test chamber 11. At this time, the fourth driving structure 27 works to drive the mounting portion 26 to rotate, so that the third driving structure 25 connected with the mounting portion 26 rotates together to the other pickup portion 21 to pick up the untested cleaning robot and align the entrance of the test chamber 11. Then the third driving structure 25 works to drive the pickup portion 21 to enter the test chamber 11 to place the untested cleaning robot, and the third driving structure 25 drives the connecting piece 28 to make the pickup portion 21 leave the test chamber 11, so as to complete the replacement of the cleaning robot.

[0063] Since the single test time of the sweeping robot is greater than the conveying time of the conveying device 2, in an embodiment, the test chamber 11 is provided in plurality, and the plurality of test chambers 11 are arranged in interval along at least one of the first horizontal direction, the second horizontal direction or the up-down direction. In this way, by providing the plurality of test chambers 11, by increasing the number of test chambers 11, the conveying device 2 can efficiently switch between different test chambers 11, avoid idle waiting time, and improve the overall utilization rate of the equipment. At the same time, the tests of multiple sweeping robots are carried out, thereby greatly shortening the overall test period. Even if the test time in a single test chamber 11 is long, multiple test chambers 11 can work in parallel to ensure that there is a sweeping robot in the test state at any time.

[0064] It can be understood that the test chamber 11 can detect the trajectory and sound of the sweeping robot, and for this purpose, in an embodiment, the detection module includes an image collection unit and a sound collection unit, which are arranged along the test chamber 11. In this way, the trajectory of the sweeping robot during operation can be detected by the image collection unit, thereby realizing automatic detection. By installing the sound collection unit in the test chamber 11, the noise level of the sweeping robot during operation can be monitored in real time. The sound collection unit can capture sound signals through a high-sensitivity microphone or a sound level meter. In order to reduce the influence of the external environment on the sound in the test chamber 11, in an embodiment, the test chamber 11 is provided with a sound insulation structure. In this way, the sound insulation structure can effectively isolate external noise and reduce internal sound reflection and echo, thereby ensuring the accuracy and reliability of the test results. The sound insulation structure can be wrapped with high-efficiency sound insulation materials such as sound-absorbing cotton, sound insulation boards or composite sound insulation films, or by using double or multi-layer wall structure, and filling sound-absorbing materials between layers to form an effective sound insulation barrier.

[0065] In an embodiment, the testing device 1 further comprises a controller, and the image collection unit and the sound collection unit are electrically connected to the controller. In this way, the data collected by the image collection unit and the sound collection unit can be obtained by the controller for calculation, and it is determined whether the sweeping robot meets the preset standard. The controller can be electrically connected to the image collection unit and the sound collection unit through a WiFi or Bluetooth module. In addition, the running track of the sweeping robot can also be controlled by an electrical signal. In an embodiment, the controller is electrically connected to the sweeping robot. The controller can communicate with the sweeping robot through a WiFi or Bluetooth module to control the sweeping robot to move in the testing room 11. In order to reduce the influence of the external environment on the signal in the testing room 11, in an embodiment, a signal shielding structure is arranged in the testing room 11. In this way, the signal shielding structure can effectively reduce the interference of external electromagnetic interference (EMI) and other wireless signals (such as the signal interference of the controller of another testing room 11), and ensure the communication stability and data accuracy during the test. The signal shielding structure can be made of metal materials (such as copper, aluminum, etc.) on the walls, ceiling and floor of the testing room 11 to form a fully enclosed metal shielding layer. The metal shell can reflect or absorb external electromagnetic waves to prevent them from entering the testing room 11. The metal shielding layer is based on the principle of Faraday cage. The metal shielding layer can effectively block external electromagnetic interference, and also prevent internal signals from leaking out, reducing mutual interference between different test signals. Alternatively, a wave-absorbing material is coated on the inner wall of the testing room 11 to reduce the reflection and echo of internal signals and optimize the signal transmission quality.

[0066] It can be understood that the entrance 111 of the test chamber 11 is for the passage of the picking-up part 21 and the swept floor robot picked up by the picking-up part 21, and therefore, in an embodiment, the entrance 111 of the test chamber 11 is covered with a movable door. In this way, the entrance 111 of the test chamber 11 is covered with a movable door. Not only does it make the test environment in the test chamber 11 closed, but it also ensures that the swept floor robot cannot leave the test chamber 11, and even if there is a problem with the swept floor robot, it can stay in the test chamber 11, and be unloaded by the conveying device 2. The movable mode of the door body can include, but is not limited to, a sliding door (adopting a sliding design, the door body moves horizontally along the guide rail, occupying small space, suitable for narrow working area. The sliding door can be opened and closed by electric or manual mode.), a hinged door (adopting a hinge connection, the door body can rotate outwardly or inwardly to open, providing a larger passing space, suitable for situations that need frequent access. The hinged door is usually equipped with air springs or other power-assisted devices for easy operation.), or a roller shutter door (composed of multiple vertically arranged curtain pieces, which can be quickly lifted and lowered by motor drive, especially suitable for situations that need to be quickly opened and closed and maintain good sealing performance.).

[0067] In an embodiment, the feeding station 101 is provided with at least two feeding stations, including an upper feeding station 102 and a lower feeding station 103. In this way, the untested sweeping robots can be provided through the upper feeding station 102, and the tested sweeping robots can be taken away through the lower feeding station 103, so that the sweeping robots are managed and transported separately, reducing the possibility of missed or retested sweeping robots. In an embodiment, the sweeping robot testing device 100 further comprises a first conveying track 3 and a second conveying track 4 arranged in sequence along a second horizontal direction, and a blocking part 5 arranged between the first conveying track 3 and the second conveying track 4, a section of the first conveying track 3 adjacent to the blocking part 5 is located at the upper feeding station 102, and a section of the second conveying track 4 adjacent to the blocking part 5 is located at the lower feeding station 103. In this way, by placing the untested sweeping robots on the first conveying track 3, the untested sweeping robots are conveyed to the upper feeding station 102 along with the movement of the first conveying track 3, gradually approaching the blocking part 5, and finally stopping on the blocking part 5, preventing the untested sweeping robots from directly entering the lower feeding station 103. The carrying device 2 transports the tested sweeping robots to the second conveying track 4 of the lower feeding station 103, and the second conveying track 4 takes away the tested sweeping robots to leave a vacant position for the next time. Among them, the first conveying track 3 and the second conveying track 4 can be provided as a conveyor belt or a transmission roller, which is not particularly limited here. In order to increase the tightness of the connection between the first conveying track 3 and the second conveying track 4, in an embodiment, the first conveying track 3 and the second conveying track 4 are integrally provided. In addition, it is worth mentioning that in an embodiment, the blocking part 5 can be provided with a position sensor, so as to control the carrying device 2 to perform the feeding work.

[0068] The above is only an exemplary embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structural transformation or direct / indirect application in other related technical fields within the technical concept of the present application is included in the patent protection scope of the present application.

Claims

1. A testing device for a sweeping robot, comprising a material feeding station, characterized in that, The sweeping robot testing device comprises: a testing device comprising at least one testing chamber having an entrance and exit for the sweeping robot, and a detection module arranged in the testing chamber for detecting the performance of the sweeping robot; and a conveying device comprising a pickup portion movable between the feeding station and the entrance and exit of the testing chamber, for picking up the sweeping robot to be tested at the feeding station and transferring the sweeping robot to be tested to the entrance and exit and conveying the sweeping robot from the entrance and exit to the testing chamber, and for transferring the sweeping robot after testing from the entrance and exit to the feeding station.

2. The robotic vacuum testing apparatus of claim 1, wherein, The pickup portion is movable in a first horizontal direction, a second horizontal direction and a vertical direction.

3. The robotic vacuum testing apparatus of claim 2, wherein, The conveying device comprises: a first movement mechanism comprising a first mounting portion movable in the first horizontal direction, and a first driving structure driving the first mounting portion to move in the first horizontal direction; a second movement mechanism mounted on the first mounting portion and movable along the first horizontal direction driven by the first mounting portion, the second movement mechanism comprising a second mounting portion movable in the second horizontal direction, and a second driving structure driving the second mounting portion to move in the second horizontal direction; and a lifting mechanism mounted on the second mounting portion and movable along the first horizontal direction and the second horizontal direction with the second mounting portion, the lifting mechanism having a mounting seat movable up and down, and a lifting driving structure driving the mounting seat to move up and down; wherein the pickup portion is mounted on the mounting seat.

4. The robotic vacuum testing apparatus of claim 3, wherein, The first movement mechanism further comprises a first mounting frame having a first mounting rail extending in the first horizontal direction, the first mounting portion being movably mounted on the first mounting rail in the first horizontal direction, and the first driving structure driving the first mounting portion to move in the first horizontal direction; and / or The second movement mechanism further comprises a second mounting frame mounted on the first mounting portion, the second mounting frame having a second mounting rail extending in the second horizontal direction, the second mounting portion being movably mounted on the second mounting rail in the second horizontal direction, and the second driving structure driving the second mounting portion to move in the second horizontal direction; and / or The lifting mechanism further comprises a lifting frame mounted on the second mounting portion, the lifting frame having a lifting mounting rail movably mounted in the vertical direction, the mounting seat being mounted on the lifting mounting rail, and the lifting driving structure driving the mounting seat to move in the vertical direction.

5. The robotic vacuum testing apparatus of claim 4, wherein, The lifting mechanism further comprises a telescopic portion telescopically arranged between the lifting mounting rail and the mounting portion in the vertical direction, and a telescopic driving structure driving the mounting seat to move in the vertical direction.

6. The floor mopping robot test apparatus of any one of claims 2 to 5, wherein, The entrance and exit is located on one side of the testing chamber in the second horizontal direction; The conveying device comprises a mounting seat movably arranged in the first horizontal direction, the second horizontal direction and the vertical direction, and the pickup portion is mounted on the mounting seat. The pickup part is movably connected to the mounting base in the second horizontal direction, and the carrying device further comprises a third driving structure for driving the pickup part to move in the second horizontal direction.

7. The robotic vacuum cleaner testing apparatus of claim 6, wherein, The mounting base is provided with a mounting part capable of rotating around an axis in the vertical direction, and the carrying device further comprises a fourth driving structure for driving the mounting part to rotate. The pickup part is provided with at least two pickup parts, and the two pickup parts are mounted on the mounting part through a movable element movably connected to the mounting part in the second direction, and the third driving structure drives the movable element to move.

8. The robotic vacuum cleaner testing apparatus of claim 1, wherein, The test chamber is provided with a plurality of test chambers arranged at intervals in at least one of the first horizontal direction, the second horizontal direction or the vertical direction.

9. The robotic vacuum cleaner testing apparatus of claim 1 or 8, wherein, The detection module comprises an image collection unit and a sound collection unit, and the image collection unit and the sound collection unit are arranged along the test chamber.

10. The robotic vacuum cleaner testing apparatus of claim 9, wherein, The test chamber is provided with a sound attenuation structure; and / or, The test chamber is provided with a signal shielding structure; and / or, The test device further comprises a controller, and the image collection unit and the sound collection unit are respectively electrically connected to the controller.

11. The robotic vacuum cleaner testing apparatus of claim 1, wherein, The entrance of the test chamber is covered with a movable door body.

12. The robotic vacuum cleaner testing apparatus of claim 1, wherein, The feeding station is provided with at least two feeding stations, and the two feeding stations comprise a feeding station and a discharging station.

13. The robotic vacuum cleaner testing apparatus of claim 12, wherein, The floor cleaning robot test equipment further comprises a first conveying track and a second conveying track arranged in sequence in the second horizontal direction, and a blocking part arranged between the first conveying track and the second conveying track, and a section of the first conveying track adjacent to the blocking part is located in the feeding station, and a section of the second conveying track adjacent to the blocking part is located in the discharging station.

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