An adjustable angle visual sensor test support for research and development of a sweeping robot

Abstract

The utility model discloses a kind of adjustable angle vision sensor test support for research and development of sweeping robot, it is related to sweeping robot test equipment technical field, including test support and sensor body, the test support includes the bracket assembly for installing sensor body and the adjusting assembly for adjusting sensor body angle;Manual turntable external design of the utility model is convenient to operate, angle adjustment can be carried out without opening robot shell.Electric mode is integrated in robot control system, and remote control and data linkage can be realized.Directly detect the angle of rotating component by the angle sensor set, greatly improve the reliability and convenience of test data.

Description

Technical Field

[0001] This utility model relates to the technical field of testing equipment for sweeping robots, and in particular to an adjustable angle vision sensor test bracket for the research and development of sweeping robots. Background Technology

[0002] In the research and development and testing of intelligent robotic vacuum cleaners, various visual sensors, such as depth cameras, RGB cameras, and LiDAR, are typically added to endow them with strong environmental perception and obstacle avoidance capabilities. These sensors are key components for the robot to achieve intelligent navigation, obstacle recognition, and scene reconstruction. Visual sensors are an important part of robotic vacuum cleaners, and their installation angle directly affects navigation and obstacle avoidance performance. During the research and development process, it is necessary to repeatedly test the sensor's performance under different installation angles.

[0003] Currently, commercial robotic vacuum cleaners on the market use fixed-angle mounting for their sensors (especially forward-facing vision cameras) to ensure reliability, cost, and mass production consistency. Once the camera is installed, its pitch and roll angles cannot be changed. While this fixed design is reasonable for finalized products, in the early stages of R&D, testing, and verification, evaluating the algorithm's performance (such as obstacle avoidance, recognition success rate, and mapping accuracy) from different perspectives requires repeated replacement or redesign of the entire robot's top cover or support module. This process is tedious and time-consuming, requiring the removal of multiple screws and rewiring, and it's difficult to guarantee the accuracy and consistency of each installation, significantly slowing down the R&D iteration cycle. Moreover, repeated disassembly and installation are not only inefficient but also prone to damaging camera interfaces and cables. Furthermore, it's difficult to ensure that the camera's pose relative to the robot body is completely consistent after each installation; this pose error directly contaminates the test data and affects the accuracy of the evaluation results.

[0004] Therefore, given the aforementioned drawbacks of existing fixed camera installation methods during the research and development phase, there is an urgent need for a method that can quickly, flexibly, and accurately adjust the camera angle to improve research and development efficiency and ensure the accuracy and reliability of test data. Utility Model Content

[0005] This invention provides an adjustable-angle visual sensor test bracket for the research and development of robotic vacuum cleaners, which enables rapid, flexible, and precise adjustment of the camera angle to improve research and development efficiency.

[0006] To achieve the above objectives, this utility model provides an adjustable angle vision sensor test bracket for the research and development of a robotic vacuum cleaner, comprising a test bracket and a sensor body. The test bracket includes a bracket assembly for mounting the sensor body and an adjustment assembly for adjusting the angle of the sensor body. The bracket assembly includes a fixing block, a mounting rod, a mounting bracket, an angle sensor, a movable plate, a connecting sleeve, and fastening screws. The fixing block is used to fix the robotic vacuum cleaner to its mounting housing. The mounting rod is integrally formed with the fixing block. The connecting sleeve is integrally formed with the movable plate and sleeved onto the mounting rod. The mounting bracket is fixed to the fixing block. The angle sensor is fixed to the side of the mounting bracket, and its detection shaft end is connected to... A connecting sleeve is fitted, and the fastening screw is threaded onto the connecting sleeve and abuts against the detection shaft end of the angle sensor. The sensor body is fixed to the movable plate. The adjustment assembly includes a drive unit, a rotating screw, a telescopic rod, a connecting plate, a central groove, a movable groove, a square groove, and a rotating shaft. The square groove is opened in the fixed block, and the telescopic rod is movably fitted into the square groove. The connecting plate is fixed to the bottom of the movable plate, the central groove is opened at the bottom of the connecting plate, the movable groove is opened on both sides of the central groove, a movable rod is fixed to the front end of the telescopic rod, and the movable rod is movably installed in the movable groove. One end of the rotating screw is integrally formed with the rotating shaft, the output end of the drive unit is connected to the rotating shaft, and the rotating shaft is rotatably installed in the fixed block.

[0007] Preferably, the drive unit includes a rotating disk, which is sleeved on one end of the rotating shaft and extends to the outside of the mounting housing.

[0008] Preferably, the drive unit includes a small motor, the output end of which is connected to the rotating shaft.

[0009] Preferably, the rotating screw is threadedly connected to the telescopic rod.

[0010] Preferably, the detection shaft end of the angle sensor is sleeved with the connecting sleeve.

[0011] Preferably, the movable plate is provided with mounting holes for mounting the sensor body.

[0012] Preferably, the fixing block is fixed to the mounting housing by bolts.

[0013] Preferably, the telescopic rod is a square rod structure that slides into the square groove.

[0014] Preferably, the outer circumference of the rotating disk is provided with anti-slip texture.

[0015] Preferably, the small motor is a stepper motor or a servo motor.

[0016] Compared with related technologies, the adjustable-angle vision sensor test bracket for the research and development of sweeping robots provided by this utility model has the following beneficial effects:

[0017] This invention provides an adjustable-angle visual sensor test bracket for the research and development of robotic vacuum cleaners. The external manual turntable design facilitates operation, allowing angle adjustment without opening the robot's outer shell. The electric mode is integrated into the robot's control system, enabling remote control and data linkage. The angle sensor directly detects the angle of rotating components, greatly improving the reliability and convenience of test data. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the sweeping robot of this utility model;

[0019] Figure 2 This is a schematic diagram showing the installation position of the test bracket of this utility model;

[0020] Figure 3 This is a schematic diagram of the test bracket structure of this utility model;

[0021] Figure 4 This is a schematic diagram of the cross-sectional structure of the fixing block of this utility model;

[0022] Figure 5 This is a schematic diagram of the structure of Embodiment 2 of this utility model.

[0023] The following components are labeled in the diagram: 11. Drive base; 12. Upper seat; 13. Cleaning assembly; 14. Swing arm; 15. Roller assembly; 21. Bracket assembly; 22. Adjustment assembly; 23. Sensor body; 121. Mounting housing; 122. Sensor cover plate; 211. Fixing block; 212. Mounting rod; 213. Mounting bracket; 214. Angle sensor; 215. Movable plate; 216. Connecting sleeve; 217. Fastening screw; 221. Rotating screw; 222. Rotating disk; 223. Telescopic rod; 224. Connecting plate; 225. Middle groove; 226. Movable groove; 227. Square groove; 228. Rotating shaft; 229. Small motor. Detailed Implementation

[0024] The above-mentioned and other technical features and advantages of this utility model will be described in more detail below with reference to the accompanying drawings.

[0025] like Figure 2As shown, this utility model provides an adjustable-angle visual sensor test bracket for the research and development of a robotic vacuum cleaner. This test bracket is applied to a robotic vacuum cleaner, which includes a drive base 11, an upper seat 12, a cleaning assembly 13, a swing arm 14, and a roller assembly 15. The upper seat 12 is positioned above the drive base 11, the roller assembly 15 is positioned below the drive base 11, the cleaning assembly 13 is positioned on both sides of the bottom of the robotic vacuum cleaner in its forward direction, and the swing arm 14 is positioned above the upper seat 12. The upper seat 12 includes a mounting housing 121 for mounting the test bracket and a sensor cover 122 for facilitating the installation of the test bracket.

[0026] The test bracket and sensor body 23 are components of the robotic vacuum cleaner, with the sensor body 23 mounted on the test bracket. The test bracket includes a bracket assembly 21 and an adjustment assembly 22. The bracket assembly 21 is used to mount the sensor body 23 and detect its angle, while the adjustment assembly 22 is used to precisely adjust the pitch angle of the sensor body 23.

[0027] like Figure 3 As shown, the bracket assembly 21 includes a fixing block 211, a mounting rod 212, a mounting bracket 213, an angle sensor 214, a movable plate 215, a connecting sleeve 216, and a fastening screw 217.

[0028] The fixing block 211 is made of aluminum alloy or manufactured by 3D printing, and is fixed to the inner wall of the robot vacuum cleaner mounting housing 121 by two bolts. The mounting rod 212 is integrally formed with the fixing block 211. The connecting sleeve 216 and the movable plate 215 are integrally formed by 3D printing, and the connecting sleeve 216 and the mounting rod 212 form a rotational engagement.

[0029] Mounting bracket 213 is an L-shaped sheet metal part, fixed to the side of fixing block 211 by bolts. Angle sensor 214 is a high-precision rotary encoder, clamped and fixed to the side of mounting bracket 213 by bracket. Its detection shaft end is a D-shaped shaft, which is sleeved with connecting sleeve 216. Fastening screw 217 is threaded into the threaded hole on the side of connecting sleeve 216. When tightened, it abuts against the detection shaft end of angle sensor 214 to achieve locking.

[0030] The movable plate 215 is a rectangular aluminum alloy plate with mounting holes on its surface. The sensor body 23 is fixed to the movable plate 215 by bolts passing through the mounting holes. The movable plate 215 can rotate around the axis of the mounting rod 212.

[0031] like Figure 4 As shown, the adjustment assembly 22 includes a drive unit, a rotating screw 221, a telescopic rod 223, a connecting plate 224, a central groove 225, a movable groove 226, a square groove 227, and a rotating shaft 228.

[0032] The square groove 227 is a square through groove, located in the center of the fixed block 211. The telescopic rod 223 is a square rod, forming a sliding fit with the square groove 227. The connecting plate 224 is fixed to the bottom of the movable plate 215. The central groove 225 is located at the center of the bottom of the connecting plate 224. There are two movable grooves 226, symmetrically located on both sides of the central groove 225.

[0033] A movable rod is fixed to the front end of the telescopic rod 223, and both ends of the movable rod are movably installed in the movable groove 226. One end of the rotating screw 221 is integrally formed with the rotating shaft 228 by welding. The rotating shaft 228 is rotatably installed in the bearing seat of the fixed block 211 by two ball bearings.

[0034] Example 1

[0035] like Figure 2-4 As shown, the drive unit in this embodiment includes a rotating disk 222. The rotating disk 222 is an aluminum alloy disc with anti-slip texture on its outer circumference and is fitted onto one end of the rotating shaft 228. The bottom of the rotating disk 222 protrudes from the outside of the mounting housing 121 for easy manual operation.

[0036] In use, the rotating disk 222 is manually rotated, causing the rotating shaft 228 and the rotating screw 221 to rotate. Because the rotating screw 221 and the threaded hole inside the telescopic rod 223 form a threaded engagement, the rotational motion is converted into the linear motion of the telescopic rod 223. The telescopic rod 223 pushes the connecting plate 224, causing the movable plate 215 to rotate around the axis of the mounting rod 212. The angle sensor 214 detects the rotation angle in real time, and when the desired angle is reached, the fastening screw 217 is tightened to achieve positioning.

[0037] Example 2

[0038] like Figure 5 As shown, the drive unit in this embodiment includes a small motor 229. The small motor 229 is a stepper motor, which is fixed in the mounting housing 121 by a motor bracket. The motor output shaft is connected to the rotating shaft 228 via a coupling. The motor wires are connected to the control system of the sweeping robot.

[0039] In use, the control system sends pulse signals to drive the stepper motor to rotate, which in turn drives the rotating screw 221 to rotate via the transmission system, achieving precise linear displacement of the telescopic rod 223. The adjustment accuracy can reach 0.1°, and it can realize programmed automatic adjustment and angle memory functions.

[0040] Working principle: When the screw 221 rotates, it drives the telescopic rod 223 to move linearly within the square groove 227. The movable rod at the front end of the telescopic rod 223 slides within the movable groove 226, pushing the connecting plate 224 to move. Since the connecting plate 224 is fixedly connected to the movable plate 215, it drives the movable plate 215 to rotate around the axis of the mounting rod 212, thereby adjusting the angle of the sensor body 23. The angle sensor 214 detects the rotation angle in real time and feeds it back to the testing system.

Claims

1. An adjustable-angle vision sensor test bracket for the research and development of a robotic vacuum cleaner, characterized in that, The system includes a test bracket and a sensor body. The test bracket includes a bracket assembly for mounting the sensor body and an adjustment assembly for adjusting the angle of the sensor body. The bracket assembly includes a fixing block, a mounting rod, a mounting bracket, an angle sensor, a movable plate, a connecting sleeve, and fastening screws. The fixing block is used to fix the system to the mounting housing of the robot vacuum cleaner. The mounting rod is integrally formed with the fixing block. The connecting sleeve is integrally formed with the movable plate and sleeved onto the mounting rod. The mounting bracket is fixed to the fixing block. The angle sensor is fixed to the side of the mounting bracket, and its detection shaft end is sleeved onto the connecting sleeve. The fastening screws are threadedly connected to the connecting sleeve. The sensor body is fixed to the movable plate, abutting against the detection shaft end of the angle sensor; the adjustment assembly includes a drive unit, a rotating screw, a telescopic rod, a connecting plate, a central groove, a movable groove, a square groove, and a rotating shaft; the square groove is opened in the fixed block, the telescopic rod is movably sleeved in the square groove, the connecting plate is fixed to the bottom of the movable plate, the central groove is opened at the bottom of the connecting plate, the movable groove is opened on both sides of the central groove, a movable rod is fixed to the front end of the telescopic rod, the movable rod is movably installed in the movable groove, one end of the rotating screw is integrally formed with the rotating shaft, the output end of the drive unit is connected to the rotating shaft, and the rotating shaft is rotatably installed in the fixed block.

2. The adjustable angle vision sensor test bracket according to claim 1, characterized in that, The drive unit includes a rotating disk, which is sleeved on one end of the rotating shaft and extends to the outside of the mounting housing.

3. The adjustable angle vision sensor test bracket according to claim 1, characterized in that, The drive unit includes a small motor, the output end of which is connected to a rotating shaft.

4. The adjustable angle vision sensor test bracket according to claim 1, characterized in that, The rotating screw is threadedly connected to the telescopic rod.

5. The adjustable angle vision sensor test bracket according to claim 1, characterized in that, The detection shaft end of the angle sensor is sleeved with the connecting sleeve.

6. The adjustable-angle vision sensor test bracket according to claim 1, characterized in that, The movable plate is provided with mounting holes for mounting the sensor body.

7. The adjustable angle vision sensor test bracket according to claim 1, characterized in that, The fixing block is fixed to the mounting housing by bolts.

8. The adjustable-angle vision sensor test bracket according to claim 1, characterized in that, The telescopic rod is a square rod structure that slides into a square groove.

9. The adjustable-angle vision sensor test bracket according to claim 2, characterized in that, The outer circumference of the rotating disk is provided with anti-slip texture.

10. The adjustable-angle vision sensor test bracket according to claim 3, characterized in that, The small motor is a stepper motor or a servo motor.

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