TOF calibration tool for sweeper

Abstract

A TOF calibration tool for a sweeper is used for improving the efficiency and reliability of factory detection of a sweeping robot. The tool comprises a detection table, a first reflectivity detection assembly and a second reflectivity detection assembly. The detection bench is provided with a mechanical clamp which is used for fixing the sweeper and enabling a downward-looking sensor of the sweeper to be aligned forwards and a right-looking sensor of the sweeper to be aligned rightwards. The first reflectivity detection assembly is located on the front side of the detection table and comprises a first lifting table and a horizontal rotary table, and four sectors of high reflectivity, medium reflectivity, low reflectivity and a non-reflection hollowed-out area are arranged in the circumferential direction of the rotary table and used for calibration of a downward-looking sensor. The second reflectivity detection assembly is located on the right side of the detection table and comprises a second lifting table and a vertical rotary table, and the rotary table is provided with three reflectivity sectors and used for calibrating a right-view sensor; the horizontal rotary table and the vertical rotary table are driven by stepping motors and are matched with an encoder to achieve accurate angle control. The device can synchronously calibrate a plurality of sensors, is high in automation degree, effectively reduces manual intervention, and improves the calibration precision and efficiency.

Description

Technical Field

[0001] This utility model relates to the field of intelligent cleaning equipment testing technology, and in particular to a TOF calibration fixture for a sweeper. Background Technology

[0002] With the widespread adoption of intelligent robotic vacuum cleaners, Time-of-Flight (TOF) sensors, due to their high precision and strong anti-interference capabilities, are widely used in obstacle detection, cliff fall prevention, and other functions. TOF sensors mainly consist of downward-facing and right-facing sensors. They determine distance by emitting infrared light and calculating reflection time, while relying on the intensity of the reflected signal to identify the reflectivity characteristics of different materials (such as floors, carpets, and furniture). However, the performance of TOF sensors is affected by factors such as environmental reflectivity, installation angle, and ranging range. Rigorous calibration is essential before shipment to ensure their reliability in real-world scenarios.

[0003] Currently, the calibration methods for TOF sensors in robotic vacuum cleaners generally suffer from the following problems:

[0004] Low calibration efficiency: Frequent replacement of reflectors is required, and manual intervention is necessary, making automated calibration impossible.

[0005] Limited coverage scenarios: It only supports single reflectivity or single-direction detection and cannot simulate complex home environments.

[0006] Insufficient precision control: The lack of a closed-loop feedback mechanism leads to large errors in ranging and reflectivity calibration.

[0007] Therefore, in view of the shortcomings of the existing technology, it is necessary to design a TOF calibration tool for sweeping machines to solve the above problems.

[0008] It should be noted that the above introduction to the technical background is only for the purpose of providing a clear and complete explanation of the technical solution of this utility model and for the convenience of those skilled in the art to understand it. It should not be assumed that the above content is known to those skilled in the art simply because it has been described in the background of this utility model. Utility Model Content

[0009] To overcome the shortcomings of the prior art, the present invention aims to disclose a TOF calibration fixture for a sweeping robot, so as to improve the efficiency and reliability of the sweeping robot's factory testing.

[0010] This utility model discloses a TOF calibration fixture for a sweeper, a testing table, the table surface of which is equipped with a mechanical clamp for fixing the sweeper and aligning its downward-facing sensor to the front and its right-facing sensor to the right.

[0011] The first reflectivity detection component is located at the front of the detection platform and includes a first lifting platform and a horizontal turntable installed on its top. The circular surface of the horizontal turntable is divided into four sectors along the circumference: a first high-reflectivity sector, a first medium-reflectivity sector, a first low-reflectivity sector, and a non-reflectivity sector. The horizontal turntable is driven to rotate by a motor so that the first high-reflectivity sector, the first medium-reflectivity sector, the first low-reflectivity sector, and the non-reflectivity sector can be aligned with the downward-facing sensor of the sweeper, respectively. This is used to calibrate and detect the downward-facing sensor of the sweeper.

[0012] The second reflectivity detection component is located on the right side of the detection platform. It includes a second lifting platform and a vertical turntable mounted on it. The vertical turntable is divided into three sectors along its circumference: a second high-reflectivity sector, a second medium-reflectivity sector, and a second low-reflectivity sector. The second lifting platform drives the vertical turntable to move vertically, and the vertical turntable rotates via a motor, so that the second high-reflectivity sector, the second medium-reflectivity sector, and the second low-reflectivity sector can be aligned with the right-view sensor of the sweeper, respectively, for calibration testing of the sweeper's right-view sensor.

[0013] Preferred technical solution: Standard stickers with reflectivity of 90%, 40%, and 10% are respectively attached to the surfaces of the first high-reflection sector, the first medium-reflection sector, and the first low-reflection sector, and the non-reflection sector is a hollow structure that penetrates the thickness of the turntable.

[0014] Preferred technical solution: Standard stickers with reflectivity of 90%, 40%, and 10% are respectively affixed to the surfaces of the second high-reflection sector, the second medium-reflection sector, and the second low-reflection sector.

[0015] Preferred technical solution: Both the horizontal and vertical turntables are driven to rotate by stepper motors, and the rotation angle is controlled by encoder feedback.

[0016] Preferred technical solution: A ranging feedback unit is provided above the horizontal turntable, including a laser ranging sensor fixed above the horizontal turntable, which is used to monitor the distance between the sweeper chassis and the horizontal turntable in real time and adjust the height of the first lifting platform through the controller to ensure that the horizontal turntable is in the optimal detection position.

[0017] Preferred technical solution: The mechanical fixture includes at least two telescopic mechanisms set under the testing table; the telescopic mechanisms are independently controlled, and their front ends can pass through the testing table and engage with the positioning holes on the sweeper.

[0018] Due to the application of the above technical solution, the beneficial effects of this utility model compared with the prior art are as follows:

[0019] 1) Through the coordinated design of the horizontal and vertical turntables, the downward and right-view sensors can be calibrated simultaneously, which significantly improves efficiency compared to the traditional method of calibrating single sensors sequentially.

[0020] 2) The horizontal and vertical turntables are driven by stepper motors. With the fan-shaped design on the turntable, different reflectivity areas can be automatically switched without the need for manual replacement of test cards, reducing manual operation time.

[0021] 3) The distance between the sweeper chassis and the horizontal turntable is monitored by a laser rangefinder sensor, and the height of the lifting platform is automatically adjusted to ensure that the TOF sensor is always at the optimal detection distance.

[0022] 4) Set up a non-reflective hollow area to simulate the sensor response when the robot vacuum cleaner is suspended in the air (such as when it encounters the edge of a staircase) and verify whether the anti-fall function is working properly.

[0023] 5) The second lifting platform can adjust the height of the vertical turntable to adapt to the right-view sensor in different installation positions, and is compatible with the design of mainstream sweeping robots on the market. At the same time, the vertical turntable can be fully raised to simulate a side-obstacle-free state. Attached Figure Description

[0024] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the structure of a TOF calibration fixture for a sweeper according to the present invention.

[0026] In the attached diagrams above, 1 is the testing platform; 11 is the telescopic mechanism; 2 is the first reflectivity detection component; 21 is the first lifting platform; 22 is the horizontal turntable; 221 is the first high reflectivity sector; 222 is the first medium reflectivity sector; 223 is the first low reflectivity sector; 224 is the non-reflectivity sector; 23 is the laser rangefinder sensor; 3 is the second reflectivity detection component; 31 is the second lifting platform; 32 is the vertical turntable; 321 is the second high reflectivity sector; 322 is the second medium reflectivity sector; 323 is the second low reflectivity sector; and 4 is the sweeper. Detailed Implementation

[0027] The following specific embodiments illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification.

[0028] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be used interchangeably where appropriate for the description of embodiments of this application herein. Furthermore, the terms "comprising" and "having," and their synonyms, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0029] In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing the present invention and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0030] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this utility model according to the specific circumstances.

[0031] Furthermore, the terms "installation," "setting," "equipped with," "connection," "linking," "fitting," and "fitting" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Similarly, "fitting" can mean completely or partially fitted. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0032] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0033] Example:

[0034] like Figure 1As shown, this utility model discloses a TOF calibration fixture for a sweeping machine, including a testing platform 1, a first reflectivity detection component 2, and a second reflectivity detection component 3. The main components of this utility model will be described in detail below:

[0035] The testing platform 1 has a mechanical clamp on its surface, including at least two independently controlled telescopic mechanisms 11. The front end of the telescopic mechanism 11 can pass through the platform and engage with the positioning hole of the sweeper 4 to fix the sweeper 4 and make its downward sensor face forward and its right sensor face right.

[0036] The first reflectivity detection component 2 is disposed in front of the detection platform 1 and includes a first lifting platform 21 and a horizontal turntable 22 mounted on top of it. The circular surface of the horizontal turntable 22 is divided into four sectors along the circumference: a first high-reflectivity sector 221, a first medium-reflectivity sector 222, a first low-reflectivity sector 223, and a non-reflectivity sector 224. It should be noted that in other embodiments, the above four sectors can be arranged in any order. The horizontal turntable 22 is driven to rotate by a motor, so that the first high-reflectivity sector 221, the first medium-reflectivity sector 222, the first low-reflectivity sector 223, and the non-reflectivity sector 224 can be aligned with the downward-facing sensor of the sweeping machine, respectively. By using sectors with different reflectivities, the downward-facing sensor is calibrated, and the ability of the downward-facing sensor to recognize edge suspension is tested.

[0037] The second reflectivity detection component 3 is located on the right side of the detection platform 1. It includes a second lifting platform 31 and a vertical turntable 32 mounted on it. The vertical turntable 32 is divided into three sectors along its circumference: a second high reflectivity sector 321, a second medium reflectivity sector 322, and a second low reflectivity sector 323. The second lifting platform 31 drives the vertical turntable 32 to move vertically, and the vertical turntable 32 is rotated by a motor so that the second high reflectivity sector 321, the second medium reflectivity sector 322, and the second low reflectivity sector 323 can be aligned with the right-view sensor of the sweeper. By using sectors with different reflectivities, the right-view sensor is calibrated, and the right-view sensor's ability to recognize unobstructed scenes is tested.

[0038] The method of use and principle of this utility model are as follows:

[0039] Step 1: Fix the sweeper 4 to the testing platform 1, insert the telescopic mechanism 11 into the positioning hole of the sweeper 4, and start the fixture:

[0040] Step 2: The laser rangefinder 23 detects the height of the horizontal turntable 22 and adjusts the first lifting platform 21 to place the horizontal turntable 22 in the optimal rangefinding position.

[0041] Step 3: The horizontal turntable 22 is driven to rotate by a stepper motor, so that the four sectors are aligned with the downward-looking sensor in sequence. The downward-looking sensor collects signals with different reflectivities and no reflections to complete the distance and reflectivity calibration.

[0042] Step 4: The second lifting platform 31 adjusts the height of the vertical turntable 32, and the stepper motor drives it to rotate. The right-view sensor collects different reflectivities to complete the distance and reflectivity calibration. Then, the second lifting platform 31 adjusts the vertical turntable 32 to rise, so that the second lifting platform 31 completely avoids the right-view sensor, and tests the right-view sensor's ability to recognize unobstructed scenes.

[0043] The calibration data is fed back to the control system in real time, and the system automatically determines whether the data is qualified, without the need for manual intervention throughout the process.

[0044] like Figure 1 As shown, the surfaces of the first high-reflection sector 221, the first medium-reflection sector 222, and the first low-reflection sector 223 are respectively covered with standard stickers with reflectivity of 90%, 40%, and 10%. The non-reflection sector 224 has a hollow structure that penetrates the thickness of the turntable, which facilitates the adjustment of the reflectivity measurement standard and improves equipment compatibility.

[0045] like Figure 1 As shown, standard stickers with reflectivity of 90%, 40%, and 10% are respectively affixed to the surfaces of the second high-reflectivity sector 321, the second medium-reflectivity sector 322, and the second low-reflectivity sector 323, to facilitate adjustment of reflectivity measurement standards and improve equipment compatibility.

[0046] like Figure 1 As shown, both the horizontal turntable 22 and the vertical turntable 32 are driven to rotate by stepper motors, and the rotation angle is controlled by encoder feedback to improve measurement accuracy.

[0047] like Figure 1 As shown, a distance measurement feedback unit is provided above the horizontal turntable 22, including a laser distance sensor 23 fixed above the horizontal turntable 22. It is used to monitor the distance between the sweeper chassis and the horizontal turntable 22 in real time and adjust the height of the first lifting platform 21 through the controller, and perform dual correction on the reflectivity and distance measurement of the downward-looking sensor.

[0048] This invention solves the pain points of traditional calibration methods through modular design and automated control, significantly improving the detection efficiency and accuracy of TOF sensors in robotic vacuum cleaners, and is suitable for large-scale industrial production.

[0049] Finally, it should be noted that the above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A sweeper TOF calibration tool, characterized in that, include: The testing platform (1) is equipped with mechanical clamps on its surface, which are used to fix the sweeper and align its downward-facing sensor to the front and its right-facing sensor to the right. The first reflectivity detection component (2) is located in front of the detection platform (1) and includes a first lifting platform (21) and a horizontal turntable (22) installed on its top. The circular surface of the horizontal turntable (22) is divided into four sectors along the circumference, namely the first high reflectivity sector (221), the first medium reflectivity sector (222), the first low reflectivity sector (223), and the non-reflectivity sector (224). The horizontal turntable (22) is driven to rotate by a motor so that the first high reflectivity sector (221), the first medium reflectivity sector (222), the first low reflectivity sector (223), and the non-reflectivity sector (224) can be aligned with the downward-facing sensor of the sweeper. The second reflectivity detection component (3) is located on the right side of the detection platform (1), and includes a second lifting platform (31) and a vertical turntable (32) mounted thereon. The vertical turntable (32) is divided into three sectors along the circumference, namely the second high reflectivity sector (321), the second medium reflectivity sector (322), and the second low reflectivity sector (323). The second lifting platform (31) drives the vertical turntable (32) to move vertically, and the vertical turntable (32) is rotated by a motor so that the second high reflectivity sector (321), the second medium reflectivity sector (322), and the second low reflectivity sector (323) can be aligned with the right-view sensor of the sweeper. 2.The TOF calibration tool for a sweeping robot according to claim 1, wherein: The surfaces of the first high-reflection sector (221), the first medium-reflection sector (222), and the first low-reflection sector (223) are respectively covered with standard stickers with reflectivity of 90%, 40%, and 10%, and the non-reflection sector (224) is a hollow structure that penetrates the thickness of the turntable. 3.The TOF calibration tool for a robot vacuum cleaner according to claim 1, wherein: The surfaces of the second high-reflection sector (321), the second medium-reflection sector (322), and the second low-reflection sector (323) are respectively covered with standard stickers with reflectivity of 90%, 40%, and 10%.

4. The TOF calibration tool for a robot vacuum cleaner according to claim 1, wherein: Both the horizontal turntable (22) and the vertical turntable (32) are driven to rotate by stepper motors, and the rotation angle is controlled by encoder feedback.

5. The TOF calibration tool for a robot vacuum cleaner according to claim 1, wherein: The horizontal turntable (22) is provided with a distance measurement feedback unit, including a laser distance sensor (23) fixed above the horizontal turntable (22), which is used to monitor the distance between the sweeper chassis and the horizontal turntable (22) in real time and adjust the height of the first lifting platform (21) through the controller.

6. The TOF calibration tool for a robot vacuum cleaner according to claim 1, wherein: The mechanical clamp includes at least two telescopic mechanisms (11) set under the testing table (1); the telescopic mechanism (11) is independently controlled, and its front end can pass through the testing table (1) and engage with the positioning hole on the sweeper.

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