Comprehensive performance test system of mowing robot

Abstract

The utility model belongs to the technical field of robot testing, and particularly relates to a comprehensive performance testing system of a mowing robot, which comprises a testing area. The test area is divided into a plurality of blocks for simulating different test conditions; the blocks comprise a grass seed test block, an environment test block, a terrain test block, a layout test block and a simulation test block; the grass seed test block is used for simulating lawns of different grass seeds; the environment test block is used for simulating lawns in different states; the terrain test block is used for simulating lawns of different terrains; the layout test block is used for simulating lawns with different layouts; and the simulation test block is used for simulating a lawn in a real environment. Compared with the prior art, the test system solves the problem that a test system for systematically evaluating the performance of the mowing robot is lacked in the prior art. The test system of the scheme can perform multi-aspect performance test on the mowing robot so as to obtain the comprehensive performance of the mowing robot.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of robot test, concretely relates to a comprehensive performance test system of lawn mower robot. BACKGROUND

[0002] The global private lawn and garden holding amount is about 250 million, and the lawn mowing care time is nearly 8 months every year. With the improvement of the acceptance of intelligent home and automatic equipment by consumers, more and more families and commercial users choose lawn mower robots to replace traditional manual mowing. At the same time, new technologies such as AI sensing, positioning, lithium BMS are emerging and the production cost is reducing, so that the performance of the lawn mower robot is greatly improved, the market prospect is more and more broad, and it is expected that the global lawn mower robot industry market size will increase to about 2.3 billion US dollars in 2025.

[0003] The evaluation system of the comprehensive performance of the lawn mower robot is the focus of attention of various manufacturers and the pain point of the cost investment. Under the existing technical conditions, how to scientifically and efficiently test, record data and analyze data can not only help manufacturers optimize product performance, but also provide reliable reference information for consumers.

[0004] However, there is currently a lack of a system for systematically testing lawn mower robots, therefore, a test system needs to be designed based on the test items of lawn mower robots to reflect the comprehensive performance of the lawn mower robots. UTILITY MODEL CONTENT

[0005] The utility model aims at solving at least one of the above problems and provides a comprehensive performance test system of lawn mower robot to solve the lack of performance systematic evaluation test system of lawn mower robot in the prior art. The test system of the scheme can test the performance of the lawn mower robot in many aspects to obtain the comprehensive performance of the lawn mower robot.

[0006] The utility model aims at solving at least one of the above problems and provides a comprehensive performance test system of lawn mower robot to solve the lack of performance systematic evaluation test system of lawn mower robot in the prior art. The test system of the scheme can test the performance of the lawn mower robot in many aspects to obtain the comprehensive performance of the lawn mower robot.

[0007] A comprehensive performance test system of lawn mower robot, including test area;

[0008] The test area is divided into several blocks for simulating different test conditions;

[0009] The block includes grass species test block, environment test block, terrain test block, layout test block and virtual reality test block;

[0010] The grass species test block is used for simulating lawns of different grass species;

[0011] The environment test block is used for simulating lawns in different states;

[0012] The terrain test block is used for simulating lawns of different terrains.

[0013] The layout test block is used for simulating lawns of different layouts.

[0014] The realistic test block is used for simulating lawns of real environments.

[0015] Preferably, the grass species test block comprises:

[0016] The single grass species test section is used for testing the mowing performance of the mowing robot on lawns of single grass species; and,

[0017] The mixed grass species test section is used for testing the mowing performance of the mowing robot on lawns of multiple grass species.

[0018] Preferably, the environment test block comprises:

[0019] The planting density test section is used for testing the mowing performance of the mowing robot on lawns of different planting densities; and,

[0020] The planting height test section is used for testing the mowing performance of the mowing robot on lawns of different planting heights.

[0021] The planting density test section has a planting density that increases from the start point of the section to the end point of the section.

[0022] The planting height test section has a planting height that increases from the start point of the section to the end point of the section.

[0023] Preferably, the environment test block further comprises:

[0024] The soil humidity test section is used for testing the mowing performance of the mowing robot on lawns of different soil humidities; and,

[0025] The soil hardness test section is used for testing the mowing performance of the mowing robot on lawns of different soil hardnesses.

[0026] The soil humidity test section is provided with water spraying nozzles at intervals, and has a soil humidity that increases from the start point of the section to the end point of the section.

[0027] The soil hardness test section has a soil hardness that increases from the start point of the section to the end point of the section.

[0028] Preferably, the terrain test block comprises:

[0029] The flat ground test section is used for testing the mowing performance of the mowing robot on lawns of flat ground; and,

[0030] The slope test section is used for testing the mowing performance of the mowing robot on lawns of slopes; and,

[0031] The pit test area is used for testing the mowing performance of the mowing robot on the pit lawn.

[0032] The ramp test area includes an uphill section and a downhill section with a slope of 15-30°.

[0033] The pit test area is spaced apart from several pits.

[0034] Preferably, the layout test area includes:

[0035] The single garden test area is used for testing the mowing performance of the mowing robot on the single garden lawn; and,

[0036] The multi-garden test area is used for testing the mowing performance of the mowing robot on the multi-garden lawn; and,

[0037] The partitioned test area is used for testing the mowing performance of the mowing robot on the partitioned lawn.

[0038] The single garden test area includes a lawn area and a garden area arranged inside the lawn area.

[0039] The multi-garden test area includes a lawn area and a plurality of garden areas arranged inside the lawn area.

[0040] The partitioned test area includes a plurality of lawn areas and one or more house models arranged between the plurality of lawn areas, and a passageway for the mowing robot is arranged between the plurality of lawn areas.

[0041] Preferably, the system further includes a simulated night test area.

[0042] The simulated night test area includes:

[0043] The test house is internally provided with a night environment simulation lamp for simulating a night environment in the test house; and,

[0044] The lawn area is arranged inside the test house; and,

[0045] The visual sensor is arranged inside the test house and covers the lawn in the detection range.

[0046] Preferably, the system further includes a standby test area.

[0047] The standby test area has the same structure as the test area, and the standby test area is used for maintaining and / or arranging the lawn to form a test environment when the mowing robot is tested in the test area.

[0048] Preferably, boundaries for physical separation are arranged between the areas.

[0049] Preferably, the system is provided with at least one visual sensor, and the detection range of the visual sensor covers at least a single block.

[0050] Compared with the prior art, the utility model has the following beneficial effects:

[0051] The test system is configured with a plurality of different test environments, can cover a plurality of application environments and application scenarios, and fully reflects the use performance of the mowing robot.

[0052] In addition to the single performance test, the test system also provides a pseudo test environment, so as to reflect the actual processing capacity of the tested mowing robot in the face of a more realistic mixed environment. BRIEF DESCRIPTION OF DRAWINGS

[0053] Figure 1 It is a structural schematic view of a comprehensive performance test system of a mowing robot.

[0054] In the figure: 1-test area; 2-reserve test area; 11-grass seed test block; 12-environment test block; 13-terrain test block; 14-layout test block; 15-pseudo test block; 16-simulated night test block. DETAILED DESCRIPTION

[0055] The utility model will be described in detail in combination with the drawings and specific embodiments.

[0056] EMBODIMENT

[0057] A comprehensive performance test system of a mowing robot, as shown in Figure 1 The test area 1 is divided into a plurality of blocks for simulating different test conditions.

[0058] The blocks include a grass seed test block 11, an environment test block 12, a terrain test block 13, a layout test block 14 and a pseudo test block 15.

[0059] The grass seed test block 11 is used for simulating lawns of different grass species.

[0060] The environment test block 12 is used for simulating lawns in different states.

[0061] The terrain test block 13 is used for simulating different terrains.

[0062] The terrain test block 13 is used to simulate lawns with different terrains.

[0063] The layout test block 14 is used to simulate lawns with different layouts.

[0064] The realistic test block 15 is used to simulate lawns in real environments.

[0065] More specifically, in the embodiment:

[0066] The test system is composed of at least one test area 1 and at least one standby test area 2, wherein the test area 1 and the standby test area 2 have the same structure, the test area 1 is used to test the lawn mowing robot, and the standby test area 2 is used to maintain and repair the lawn to meet the needs of the test environment. In use, the test area 1 and the standby test area 2 are exchanged for use to keep the test system always available for testing. In practice, the test area 1: standby test area 2 can be set in a ratio of 1:1 or 1:2 or 1:3.

[0067] Since the test area 1 and the standby test area 2 have the same structure, the structure of the test area 1 is described as an example.

[0068] In the test area 1, it specifically includes: grass seed test block 11, environment test block 12, terrain test block 13, layout test block 14, realistic test block 15, and simulated night test block 16. The grass seed test block 11 is used to simulate the lawn state with different grass seeds, such as ryegrass, Bermuda, tall fescue, Manila, and other typical lawn grass seeds used in the market, or the grass seeds specified by the test requester, to test the lawn mowing performance of the lawn mowing robot on different grass seed lawns; the environment test block 12 is used to simulate the lawn state with different environmental conditions, such as different planting densities, different planting heights, different soil moistures, different soil hardnesses, and other use environment conditions, to test the versatility of the lawn mowing robot in different environmental conditions; the terrain test block 13 is used to simulate the lawn state with different terrain conditions, such as flat ground, uphill and downhill, and pits, to test the adaptability of the lawn mowing robot in different terrain lawns; the layout test block 14 is used to simulate lawns with different structural layouts, such as single garden lawns, multiple garden lawns, and partitioned lawns, to test the identification, positioning, planning, and navigation performance of the lawn mowing robot in different environmental layouts; the realistic test block 15 is used to simulate the typical environmental conditions when the user uses the lawn mowing robot, to test the comprehensive performance of the lawn mowing robot in complex real environments; and the simulated night test block 16 is used to simulate the night environment, to test the identification, positioning, planning, and navigation performance of the lawn mowing robot in the night environment. The blocks can be physically separated by boundaries such as fences.

[0069] The grass seed test block 11 can be further divided into at least one single grass seed test section and at least one mixed grass seed test section. The single grass seed test section is planted with only one type of grass seed, which is usually a common type of grass seed on the market or a specified grass seed according to the test requirements of the test requester, so as to test the mowing performance of the mowing robot on the single grass seed lawn. The mixed grass seed test section is planted with not only the common type of grass seed on the market or the specified grass seed of the test requester, but also common weed grass seeds, i.e., at least one common type of grass seed / test requester specified grass seed + at least one common weed grass seed, so as to test the mowing performance of the mowing robot on the mixed grass seed lawn and the lawn mixed with weed grass seeds. In the grass seed test block 11, each section is arranged in a straight line, the length of which can be controlled within 10-100 meters, and the width thereof is appropriate to be not less than the mowing processing width of the mowing robot, and the sections can be arranged side by side. Visual sensors such as cameras are arranged at both ends of each section for observing the lawn state after mowing, and the setting height thereof is basically flush with the height of the mowed lawn, so that the test personnel can obtain the comparison images of the lawn state before and after mowing of the first and last sections of the section, and the comparison images of the lawn state after mowing of the first and last sections of the section, so as to evaluate the mowing performance (such as mowing speed and mowing quality) of the mowing robot on different grass seed lawns. In addition, visual sensors are also arranged on the side of each section for obtaining the images of the running state of the mowing robot during the test. In some embodiments, the grass seed test block 11 can be designed as a single straight line or a ring, and each section is connected in sequence for continuous testing of the mowing performance of the mowing robot on different grass seeds. At this time, the visual sensors can be arranged on the side of the section.

[0070] The environment test block 12 can be further divided into a planting density test section, a planting height test section, a soil humidity test section, and a soil hardness test section. The planting density test section has an increasing planting density from the start point to the end point to test the upper limit of the mowing load of the mowing robot on the planting density. The planting height test section has an increasing planting height from the start point to the end point to test the upper limit of the mowing load of the mowing robot on the planting height. The soil humidity test section is provided with a plurality of water spraying nozzles spaced along the extension direction of the section, and the interval distance decreases from the start point to the end point to form an environment with increasing soil humidity from the start point to the end point to test the mowing performance of the mowing robot under different humidity soils. The soil hardness test section has an increasing soil hardness from the start point to the end point (which can be sequentially filled with different hardness soils) to test the mowing performance of the mowing robot under different soil hardness. Further, similar to the grass species test block 11, each section can adopt a straight path form and be arranged side by side, and at least the start and end sections of each section of the environment test block 12 are provided with a visual sensor to obtain the image contrast of the lawn before and after mowing and the start and end sections after mowing, thereby providing an evaluation of the mowing performance of the mowing robot under different environments. In addition, a visual sensor is also arranged on the side of each section to obtain the image of the running state of the mowing robot during testing. In some embodiments, the water spraying nozzles of the soil humidity test section adopt a hanging structure, which can also simulate different rainfall conditions, lawn environments after rain or light dew coverage, further expanding the testable range of the block. A drain pipe is arranged at the bottom of the soil humidity test section, and a drainage groove connected to the drain pipe is arranged around the section to timely drain the excess water sprayed to avoid a large amount of water accumulation and affect other sections.

[0071] The terrain test block 13 can be further divided into a flat ground test section, a slope test section, and a pit test section. The slope test section is provided with an uphill section and a downhill section with a slope of 15-30°, and the pit test section is irregularly provided with a plurality of pits. Each section can adopt a straight path form, and the three sections in the block can be connected in sequence. Visual sensors that can cover the corresponding sections are arranged on the sides of each section, and the running state of the mowing robot on different terrains can be obtained through the visual sensors, thereby enabling the mowing robot to score and evaluate the terrain passing ability. In addition, the flat ground test section can also be used to simultaneously determine the regular parameters of the mowing robot, such as running speed, coverage rate, and noise. The running speed can be realized by the visual sensor cooperating with a timer, the coverage rate can be obtained by the visual sensor before and after mowing and calculated externally, and the noise can be realized by a decibel meter arranged on the side of the section.

[0072] The layout test block 14 can be further divided into single garden test section, multi-garden test section and separated test section. The single garden test section includes a garden area and a lawn area surrounding the garden area. The multi-garden test section includes multiple scattered garden areas and a lawn area surrounding the garden areas. The separated test section includes multiple scattered lawn areas and a house model arranged between the lawn areas (a passage for the lawn mower is left between the lawn areas, and a typical separated test section is a front and back yard lawn layout). The block is mainly used to test the identification and positioning of the lawn mower to the garden area and the house model, as well as the route planning and navigation capabilities. Visual sensors are arranged on the side or above each section to cover the corresponding section, so that the running track of the lawn mower and the lawn condition in the section can be obtained through the visual sensors. The garden area and the simulated house in each section of the layout test block 14 can be arranged in a regular shape or a specified shape / model as required by the test requester to obtain the required test result information.

[0073] The quasi-real test block 15 is arranged according to a typical lawn layout, and in addition to the lawn area and the house model, it can also include obstacles such as stone paths, leisure tables and chairs, flower boxes, swings and various common soft and hard obstacles. Some of the obstacles are arranged as fixed structures, such as swings, and some of the obstacles are arranged as movable structures, such as tables and chairs, flower boxes, etc. The quasi-real test block 15 can also be adjusted and arranged according to the requirements of the test requester. In addition, a visual sensor covering the entire block is arranged above the quasi-real test block 15, and a force sensor (such as a diaphragm type force sensor) and / or a distance sensor (such as a laser sensor or an infrared sensor) can also be arranged on the surface of the obstacle near the bottom, which can simultaneously test the obstacle identification, path planning and space obstacle avoidance capability of the lawn mower (obtain the path of the lawn mower, detect whether the collision with the lawn mower and / or the distance between the lawn mower).

[0074] The simulated night test block 16 further includes a test house, which is provided with a lawn area, a night environment simulation lamp and at least one visual sensor covering the inside of the test house. The test house is a light-tight room, and the night environment simulation lamp in the test house is arranged on the inner wall and the top surface of the test house to simulate the night environment by adjusting the brightness. The visual sensor can be arranged at the top corner of the test house to completely obtain the condition of the lawn area laid on the bottom surface of the test house. The visual sensor can use an infrared night vision camera to better obtain the running state of the lawn mower during the test. In order to avoid the accumulation of heat generated by the lawn mower inside the test house, an air exchange device such as an air outlet, an air fan or an air conditioner can also be arranged on the wall surface.

[0075] In the test system, the visual sensor for acquiring the complete condition of each block can adopt a rotating structure (for example, the visual sensor is arranged on a rotating rod driven by a motor), and then a single visual sensor can acquire the conditions in multiple blocks.

[0076] Through the application of the test system, the comprehensive performance of the lawn mowing robot in different use environments can be systematically tested, more reliable detection and certification services can be provided for product manufacturers, and consumers can also make wise purchase decisions through the test results and enjoy efficient and convenient lawn maintenance services.

[0077] The above description of the embodiments is for the convenience of the ordinary skilled in the art to understand and use the utility model. Those skilled in the art can obviously easily make various modifications to these embodiments, and apply the general principles described herein to other embodiments without having to go through creative labor. Therefore, the utility model is not limited to the above embodiments, and the improvements and modifications made by those skilled in the art according to the disclosure of the utility model without departing from the scope of the utility model should be within the protection scope of the utility model.

Claims

1. A comprehensive performance test system for a mowing robot, characterized by The test area (1) is divided into several blocks for simulating different test conditions. The blocks include a grass seed test block (11), an environment test block (12), a terrain test block (13), a layout test block (14), and a simulation test block (15). The grass seed test block (11) is used to simulate lawns of different grass seeds. The environment test block (12) is used to simulate lawns in different states. The terrain test block (13) is used to simulate lawns in different terrains. The layout test block (14) is used to simulate lawns in different layouts. The simulation test block (15) is used to simulate lawns in real environments. The grass seed test block (11) includes:

2. The comprehensive performance test system of a mowing robot according to claim 1, characterized in that, a single grass seed test section for testing the mowing performance of the mowing robot on a single grass seed lawn; and a mixed grass seed test section for testing the mowing performance of the mowing robot on a multi-grass seed lawn. The environment test block (12) includes:

3. The comprehensive performance test system of a mowing robot according to claim 1, characterized in that, a planting density test section for testing the mowing performance of the mowing robot on lawns with different planting densities; and a planting height test section for testing the mowing performance of the mowing robot on lawns with different planting heights. The planting density test section has an increasing planting density from the start to the end of the section. The planting height test section has an increasing planting height from the start to the end of the section. The environment test block (12) further includes:

4. The comprehensive performance test system of a mowing robot according to claim 3, characterized in that, a soil moisture test section for testing the mowing performance of the mowing robot on lawns with different soil moistures; and a soil hardness test section for testing the mowing performance of the mowing robot on lawns with different soil hardnesses. The soil moisture test section is provided with water spray nozzles at intervals, and the soil moisture increases from the start to the end of the section. The soil hardness test section has an increasing soil hardness from the start to the end of the section. The terrain test block (13) includes:

5. The comprehensive performance test system of a mowing robot according to claim 1, characterized in that, a flat ground test section for testing the mowing performance of the mowing robot on flat ground lawns; and a slope test section for testing the mowing performance of the mowing robot on slope lawns; and a pit test section for testing the mowing performance of the mowing robot on pit lawns. The slope test section includes an uphill section and a downhill section with a slope of 15-30°. The pit test section is provided with several pits at intervals. The layout test block (14) includes:

6. The comprehensive performance test system of a mowing robot according to claim 1, characterized in that, a single garden test section for testing the mowing performance of the mowing robot on a single garden lawn; and a multi-garden test section for testing the mowing performance of the mowing robot on a multi-garden lawn; and a partitioned test section for testing the mowing performance of the mowing robot on a partitioned lawn. The single garden test section includes a lawn area and a garden area inside the lawn area. The multi-garden test section includes a lawn area and multiple garden areas inside the lawn area. ​ The divided test section includes multiple lawn areas and one or more house models arranged between the multiple lawn areas, and a passageway is arranged between the multiple lawn areas for passing the lawn mowing robot.

7. The comprehensive performance test system of a mowing robot according to claim 1, characterized in that, The system further comprises a simulated night test block (16); The simulated night test block (16) comprises: a test house, which is internally provided with a night environment simulation lamp for simulating a night environment in the test house; and a lawn area arranged inside the test house; and a visual sensor arranged inside the test house and covering the lawn in a detection range.

8. The comprehensive performance test system of a mowing robot according to claim 1, characterized in that, The system further comprises a standby test area (2); The standby test area (2) has the same structure as the test area (1), and the standby test area (2) is used for maintaining and / or arranging the lawn to form a test environment when the lawn mowing robot is tested in the test area (1).

9. The comprehensive performance test system of a mowing robot according to claim 1, characterized in that, Boundaries for physically separating the blocks are arranged between the blocks.

10. The comprehensive performance test system of a mowing robot according to claim 1, characterized in that, The system is provided with at least one visual sensor, and a detection range of the visual sensor covers at least a single block.

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