Test device

Abstract

This application discloses a testing device, relating to the field of ultrasonic sensor testing technology. The testing device includes: a base plate; a limiting component protruding from one side of the base plate and defining a limiting groove on one side of the base plate for accommodating a first test piece; a first support frame detachably mounted on the side of the base plate facing the limiting component and located in the limiting groove, the first support frame being configured to hold a second test piece; and a testing unit configured to perform detection range testing and / or anti-false triggering testing on the ultrasonic sensors on the first and second test pieces, respectively, wherein the positions of the ultrasonic sensors on the first and second test pieces are consistent. The testing device provided in this application can test ultrasonic sensors assembled in a housing and ultrasonic sensors after installation.

Description

Technical Field

[0001] This application relates to the field of ultrasonic sensor detection technology, and in particular to a testing device. Background Technology

[0002] Ultrasonic sensors are commonly used in robots and other equipment to detect obstacles in front of and around the device due to their simple structure, low cost, and strong resistance to light interference. However, due to the characteristics of the ultrasonic sensor's detection principle, to avoid blind spots and improve accuracy, its installation angle and position must be designed reasonably to ensure that there are no blind spots in practical applications.

[0003] In related technologies, testing devices for ultrasonic sensors cannot achieve multi-stage testing during the assembly process of ultrasonic sensors. Utility Model Content

[0004] This application provides a testing apparatus for testing an ultrasonic sensor assembled in a housing and an ultrasonic sensor after assembly.

[0005] This application provides a testing apparatus, including:

[0006] Base plate;

[0007] A limiting component protrudes from one side of the base plate and defines a limiting groove on one side of the base plate for accommodating the first test piece;

[0008] A first support frame is detachably installed on the side of the base plate facing the limiting component and located in the limiting groove. The first support frame is configured to place the second test piece.

[0009] The detection unit is configured to perform detection range testing and / or anti-false triggering testing on the ultrasonic sensor on the first test piece and the ultrasonic sensor on the second test piece, respectively, wherein the position of the ultrasonic sensor on the first test piece is consistent with the position of the ultrasonic sensor on the second test piece.

[0010] In some possible implementations, the limiting component includes a plurality of limiting plates that protrude from the same side of the base plate and cooperate to form the limiting groove. The limiting groove is located near the side of the base plate along a second direction, which is parallel to the base plate.

[0011] And / or, the first support frame includes a first support plate and a plurality of first support rods, the first support plate is connected to the same end of the plurality of first support rods, and a plurality of first insertion holes are provided on the base plate in the area of ​​the limiting groove, and the ends of the plurality of first support rods away from the first support plate are inserted into the plurality of first insertion holes one by one.

[0012] In some possible implementations, the detection unit includes an angle detection mechanism, which includes a second insertion hole and a third insertion hole formed on the base plate. The inner wall of the second insertion hole facing away from the third insertion hole and the inner wall of the third insertion hole facing away from the second insertion hole are configured to cooperate with the location of the corresponding ultrasonic sensor transmitter to define the reference detection range of the ultrasonic sensor.

[0013] The angle detection mechanism further includes a first simulated obstacle and a second simulated obstacle, the first simulated obstacle being inserted into the second insertion hole and the second simulated obstacle being inserted into the third insertion hole.

[0014] In some possible implementations, the base plate is provided with two second insertion holes, which are respectively disposed on opposite sides of the limiting groove along a first direction, and the third insertion hole is disposed opposite to the limiting groove along a second direction. The first direction and the second direction are perpendicular to each other and are both parallel to the base plate.

[0015] One of the inner walls of the second insertion hole opposite to the third insertion hole and the inner wall of the third insertion hole opposite to the second insertion hole are configured to, in conjunction with the location of the transmitting end of one of the ultrasonic sensors in the first test piece, define the first reference detection range of the ultrasonic sensor.

[0016] The inner wall of the other second insertion hole opposite to the third insertion hole and the inner wall of the third insertion hole opposite to the second insertion hole are configured to, in conjunction with the location of the transmitting end of the other ultrasonic sensor in the first test piece, define the second reference detection range of the ultrasonic sensor.

[0017] The angle detection mechanism includes two first simulated obstacles, which are inserted into two second insertion holes in a one-to-one correspondence.

[0018] In some possible implementations, the third insertion hole is configured as an oblong hole, and the long axis of the third insertion hole is parallel to the first direction.

[0019] In some possible implementations, the height dimensions of the first simulated obstacle in the third direction and the height dimensions of the second simulated obstacle in the third direction are both greater than the maximum detection range height of the ultrasonic sensor in the third direction, which is perpendicular to the base plate.

[0020] In some possible implementations, the detection unit further includes at least one set of distance measuring mechanisms, which are configured one-to-one with at least one ultrasonic sensor on the first test piece;

[0021] The distance measuring mechanism includes a third simulated obstacle and at least two fourth insertion holes opened on the base plate. The at least two fourth insertion holes are arranged sequentially at intervals along the direction corresponding to the emission axis of the ultrasonic sensor. The third simulated obstacle is configured to be inserted into the at least two fourth insertion holes sequentially.

[0022] In some possible implementations, the center distance between any two adjacent fourth insertion holes is equal;

[0023] And / or, the height of the third simulated obstacle in the third direction is less than the minimum detection height of the corresponding ultrasonic sensor in the third direction, which is perpendicular to the base plate.

[0024] In some possible implementations, the detection unit further includes a semi-suspended detection mechanism, which includes a second support frame, a fixing block, and a fourth simulated obstacle;

[0025] The second support frame is connected to the side of the base plate facing the limiting component and is located on the side of the base plate away from the limiting groove along the second direction, which is parallel to the base plate. The fixing block is disposed on the side of the second support frame away from the base plate. One end of the fourth simulated obstacle is detachably inserted into the fixing block, and the other end of the fourth simulated obstacle is suspended relative to the base plate and is located within the detection range of the corresponding ultrasonic sensor.

[0026] In some possible implementations, the fourth simulated obstacle is parallel to the base plate;

[0027] The fourth simulated obstacle gradually tilts towards the limiting groove from the end closest to the fixed block to the end furthest from the fixed block.

[0028] The beneficial effects of this application are as follows: The testing device provided in this application has a first support frame for placing a second part to be tested, which is detachably mounted on a base plate. The second part to be tested can be a housing with an ultrasonic sensor installed. Additionally, a limiting assembly is configured on the base plate with a limiting groove to accommodate a first part to be tested, which can be a fully assembled robot. The ultrasonic sensors on both the first and second parts to be tested can be tested separately by the testing unit. In other words, the testing device provided in this application can test ultrasonic sensors at different assembly stages during robot assembly to ensure the installation accuracy of the ultrasonic sensors, enabling the assembled ultrasonic sensors to provide the required obstacle avoidance and detection functions, and ensuring the reliability and consistency of the ultrasonic sensors in complex environments. Attached Figure Description

[0029] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 A partial three-dimensional structural schematic diagram of the test apparatus in some embodiments is shown;

[0031] Figure 2 A three-dimensional structural schematic diagram of the test apparatus in use is shown in some embodiments;

[0032] Figure 3 A top view of the test apparatus in another usage state in some embodiments is shown;

[0033] Figure 4 A top view of the test apparatus in use is shown in some embodiments;

[0034] Figure 5 A schematic diagram of the test apparatus in use is shown in some embodiments;

[0035] Figure 6 A partial three-dimensional structural schematic diagram of the test apparatus in use is shown in some embodiments;

[0036] Figure 7 A three-dimensional structural schematic diagram of another part of the test apparatus in some embodiments is shown.

[0037] Explanation of key component symbols:

[0038] 100 - Base plate; 110 - First insertion hole;

[0039] 200 - Limiting component; 201 - Limiting groove; 210 - Limiting plate;

[0040] 310 - First support frame; 311 - First support plate; 312 - First support rod;

[0041] 400 - Detection unit; 410 - Angle detection mechanism; 411 - Second insertion hole; 412 - Third insertion hole; 413 - First simulated obstacle; 414 - Second simulated obstacle;

[0042] 420 - Distance measuring mechanism; 421 - Fourth connector; 422 - Third simulated obstacle;

[0043] 430 - Semi-suspension detection mechanism; 431 - Second support frame; 4311 - Second support plate; 4312 - Second support rod; 4313 - Connecting plate; 432 - Fixing block; 4321 - Assembly hole; 433 - Fourth simulated obstacle;

[0044] 1000 - First component to be tested; 2000 - Second component to be tested; 3000 - Ultrasonic sensor;

[0045] A1 - First reference detection range; A2 - Second reference detection range;

[0046] X - First direction; Y - Second direction; Z - Third direction. Detailed Implementation

[0047] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0048] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0049] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0050] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0051] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0052] like Figures 1 to 3 As shown, this embodiment provides a testing device for repeatedly testing the ultrasonic sensor 3000 installed on the robot during the robot's assembly process. The robot can be a lawnmower robot. In this embodiment, the testing device may have a first direction X, a second direction Y, and a third direction Z that are perpendicular to each other.

[0053] In some embodiments, the testing device may include a base plate 100, a limiting component 200, a first support frame 310, and a detection unit 400. The base plate 100 serves as a mounting carrier within the testing device, and other structural components of the testing device can be attached to the base plate 100 for installation. In some embodiments, the base plate 100 may be simultaneously parallel to a first direction X and a second direction Y.

[0054] In some embodiments, the limiting component 200 protrudes from one side of the base plate 100 and defines a limiting groove 201 on one side of the base plate 100 for accommodating the first test piece 1000. In the embodiment, the limiting groove 201 may be disposed adjacent to one side of the base plate 100 along the second direction Y. The first test piece 1000 may be the complete robot after assembly.

[0055] In some embodiments, the first support frame 310 may protrude from the side of the base plate 100 facing the limiting component 200, and the first support frame 310 may be detachably disposed relative to the base plate 100. Furthermore, the first support frame 310 may be located in the limiting groove 201. The first support frame 310 may be configured to support a second test piece 2000. The second test piece 2000 may be a housing on which an ultrasonic sensor 3000 is installed during robot assembly. In this embodiment, the position of the ultrasonic sensor 3000 when the second test piece 2000 is placed on the first support frame 310 may be consistent with the position of the ultrasonic sensor 3000 when the first test piece 1000 is placed in the limiting groove 201. Accordingly, the position of the first support frame 310 on the base plate 100 and the height of the first support frame 310 relative to the base plate 100 may be set according to the position of the ultrasonic sensor 3000 on the robot as a whole.

[0056] In this embodiment, the detection unit 400 may be configured on the base plate 100, and the detection unit 400 may be configured to perform detection range testing and / or anti-false triggering testing on the ultrasonic sensor 3000 on the first test piece 1000 and the ultrasonic sensor 3000 on the second test piece 2000, respectively.

[0057] During use, the first support frame 310 can be detachably installed on the base plate 100, and the installed second test piece 2000 can be placed on the first support frame 310. The detection range test and / or anti-false trigger test of the ultrasonic sensor 3000 on the second test piece 2000 can be performed through the detection unit 400. Afterwards, the first support frame 310 can be removed, the assembled robot can be placed in the limiting groove 201, and the detection range test and / or anti-false trigger test of the ultrasonic sensor 3000 on the second test piece 2000 can be performed through the detection unit 400.

[0058] Therefore, the testing device provided in this application embodiment can test the ultrasonic sensor 3000 at different assembly stages during robot assembly. This allows for multi-stage testing of the ultrasonic sensor 3000 in the robot to ensure the installation accuracy of the ultrasonic sensor 3000, so that the assembled ultrasonic sensor 3000 can provide the required obstacle avoidance and detection functions, and ensure the reliability and consistency of the ultrasonic sensor 3000 in complex environments.

[0059] like Figures 1 to 3 As shown, in some embodiments, the limiting component 200 may include multiple limiting plates 210. The multiple limiting plates 210 protrude from the same side of the base plate 100 and are all perpendicular to the base plate 100. The multiple limiting plates 210 can cooperate to form a limiting groove 201 for accommodating the first test piece 1000. In embodiments, the limiting plates 210 can be non-detachably connected to the base plate 100 by means of bonding, integral molding, or hot-melt connection. Of course, the limiting plates 210 can also be detachably connected to the base plate 100 by means of plug-in or screw connection.

[0060] In some embodiments, the limiting component 200 may include three limiting plates 210, which are respectively disposed on three adjacent side positions of the limiting groove 201. One limiting plate 210 may be located on one side of the limiting groove 201 parallel to the first direction X. The side of the limiting groove 201 opposite to the limiting plate 210 may be configured as an opening and located at the edge of the base plate 100, so as to facilitate the placement and removal of the first test piece 1000 into the limiting groove 201. The other two limiting plates 210 may be disposed on two side positions of the limiting groove 201 parallel to the second direction Y. When the second test piece 2000 is placed in the limiting groove 201, the periphery of the second test piece 2000 may abut against each limiting plate 210.

[0061] In some embodiments, the limiting groove 201 may be located at the center of the base plate 100 along the first direction X. Furthermore, the center point of the limiting groove 201 in the first direction X may be located on the centerline of the base plate 100 in the first direction X.

[0062] like Figure 1 , Figure 2 and Figure 6As shown, in some embodiments, the first support frame 310 may include a first support plate 311 and a plurality of first support rods 312. The plurality of first support rods 312 are spaced apart on the same side of the base plate 100 and can all be connected to the first support plate 311 by means of bonding, screwing, bolting, snap-fitting, or integral molding. The end of the first support rod 312 away from the first support plate 311 can be inserted into the base plate 100 to achieve a detachable connection between the first support frame 310 and the base plate 100. The base plate 100 may have a plurality of first insertion holes 110 for the insertion of the first support rods 312, and the plurality of first insertion holes 110 may be located in the area of ​​the limiting groove 201. The ends of the plurality of first support rods 312 away from the first support plate 311 can be inserted one-to-one into the plurality of first insertion holes 110. Furthermore, when the first support frame 310 is installed on the base plate 100, the first support plate 311 may be parallel to the base plate 100. When the first support rod 312 is inserted into the first insertion hole 110, the first support rod 312 can be tightly fitted with the inner wall of the first insertion hole 110, which can improve the connection stability between the first support frame 310 and the base plate 100.

[0063] In some embodiments, the first support plate 311 may be a right-angled quadrilateral plate structure. The first support frame 310 may include four first support rods 312, which are arranged corresponding to the four corner positions of the first support plate 311. The base plate 100 may have four first insertion holes 110, which are distributed at the four corner positions of the right-angled quadrilateral. When the first support frame 310 is installed on the base plate 100, the ends of the four first support rods 312 away from the first support plate 311 are inserted into the four first insertion holes 110 respectively.

[0064] In other embodiments, the first support plate 311 may also be a plate-like structure with a circular or pentagonal shape. The first support frame 310 may include two, four, or five first support rods 312, which can provide effective and reliable support for the first support plate 311. The multiple first support rods 312 may be evenly distributed on one side of the first support plate 311. Correspondingly, the base plate 100 may have a number of first insertion holes 110 equal to the number of first support rods 312.

[0065] In other embodiments, the end of the first support rod 312 away from the first support plate 311 can also be detachably connected to the base plate 100 by means of snap-fit ​​or screw connection.

[0066] like Figure 1 , Figures 4 to 6As shown, in some embodiments, the detection unit 400 includes an angle detection mechanism 410. The angle detection mechanism 410 may include a second insertion hole 411 and a third insertion hole 412 formed on the base plate 100. Additionally, the angle detection mechanism 410 also includes a first simulated obstacle 413 and a second simulated obstacle 414.

[0067] In some embodiments, the robot may be equipped with two ultrasonic sensors 3000. Both ultrasonic sensors 3000 are positioned close to the front end of the robot along the second direction Y, and are located on opposite sides of the robot along the first direction X. The two ultrasonic sensors 3000 can form two fan-shaped detection areas, creating an overlapping detection area in front of the robot.

[0068] In some embodiments, the base plate 100 may have two second insertion holes 411, and the angle detection mechanism 410 may be configured with two first simulated obstacles 413. The two second insertion holes 411 may be respectively disposed on opposite sides of the limiting groove 201 along the first direction X, and may be symmetrically arranged about the limiting groove 201. The third insertion hole 412 may be spaced apart from the limiting groove 201 along the second direction Y, and the third insertion hole 412 may be coaxially arranged with the limiting groove 201. In the embodiment, the inner wall of one of the second insertion holes 411 facing away from the third insertion hole 412 and the inner wall of the third insertion hole 412 facing away from the second insertion hole 411 may, in conjunction with the location of the transmitting end of the relative position ultrasonic sensor 3000, define the first reference detection range A1 of the ultrasonic sensor 3000.

[0069] In some embodiments, the inner wall of the other second insertion hole 411 facing away from the third insertion hole 412, and the inner wall of the third insertion hole 412 facing away from the second insertion hole 411, can cooperate with the location of the transmitting end of the ultrasonic sensor 3000 to define the second reference detection range A2 of the ultrasonic sensor 3000. Furthermore, the first reference detection range A1 and the second reference detection range A2 intersect at an intersection point P, wherein the intersection point P can be located on the side of the third insertion hole 412 facing the limiting groove 201. It is understood that the sector angles corresponding to the first reference detection range A1 and the second reference detection range A2 are equal and less than 180°.

[0070] In some embodiments, two first simulated obstacles 413 can be inserted into two second insertion holes 411 in a one-to-one correspondence, and are tightly fitted with the inner walls of the second insertion holes 411. On the one hand, this ensures that the first simulated obstacles 413 are securely inserted into the second insertion holes 411, reducing the risk of the first simulated obstacles 413 tipping over. On the other hand, it also allows the outer walls of the first simulated obstacles 413 to be nearly on the same cylindrical surface as the inner walls of the second insertion holes 411, so as to perform detection range testing on the ultrasonic sensors 3000 on the first test piece 1000 and the second test piece 2000.

[0071] In some embodiments, the second simulated obstacle 414 may be inserted into the third insertion hole 412, and the second simulated obstacle 414 is tightly fitted to at least a portion of the outer inner wall of the third insertion hole 412. This ensures that the second simulated obstacle 414 is securely inserted into the third insertion hole 412, reducing the risk of the second simulated obstacle 414 tipping over and ensuring the smooth conduct of the test.

[0072] In some embodiments, the third insertion hole 412 may be configured as an oblong hole. The major axis of the third insertion hole 412 may be parallel to the first direction X. Accordingly, the second simulated obstacle 414 may have a certain range of movement in the first direction X. Thus, the position of the second simulated obstacle 414 in the first direction X can be adjusted as needed to accommodate errors in the detection range of the ultrasonic sensor 3000.

[0073] In this embodiment, the first simulated obstacle 413 and the second simulated obstacle 414 have the same height. In some embodiments, the height of the first simulated obstacle 413 and the second simulated obstacle 414 is greater than the height dimension of the detection range of the ultrasonic sensor 3000 in the third direction Z, so that the first simulated obstacle 413 and the second simulated obstacle 414 completely cover the detection range of the ultrasonic sensor 3000 in the third direction Z, so as to observe whether there are blind spots or angular deviations in the ultrasonic waves generated by the ultrasonic sensor 3000 at different height positions.

[0074] In other embodiments, when the robot is equipped with an ultrasonic sensor 3000, the second insertion hole 411 and the first simulated obstacle 413 can be arranged as a group. The inner wall of the second insertion hole 411 facing away from the third insertion hole 412 and the inner wall of the third insertion hole 412 facing away from the second insertion hole 411 can cooperate with the location of the transmitting end of the ultrasonic sensor 3000 to define the reference detection range of the ultrasonic sensor 3000.

[0075] During testing, the detection range of the two ultrasonic sensors 3000 can be tested using the second simulated obstacle 414 and two first simulated obstacles 413 to confirm whether the detection ranges of the two ultrasonic sensors 3000 respectively cover the corresponding first reference detection range A1 and second reference detection range A2. If the detection ranges of both ultrasonic sensors 3000 cover the corresponding first reference detection range A1 and second reference detection range A2, it indicates that the installation of both ultrasonic sensors 3000 meets the requirements. If the detection range of one ultrasonic sensor 3000 does not completely cover the corresponding reference detection range, it indicates that the installation of that ultrasonic sensor 3000 does not meet the requirements and needs to be re-adjusted and installed.

[0076] like Figure 1 and Figure 5 As shown, in this embodiment, the detection unit 400 further includes at least one set of distance measuring mechanisms 420. In some embodiments, the detection unit 400 may include two sets of distance measuring mechanisms 420, which may be configured one-to-one with two ultrasonic sensors 3000 on the robot.

[0077] In other embodiments, the detection unit 400 may also include one or three sets of equal distance measuring mechanisms 420, the number of which is equal to the number of ultrasonic sensors 3000 on the robot. Furthermore, at least one set of distance measuring mechanisms 420 may be configured to correspond one-to-one with each ultrasonic sensor 3000 on the robot.

[0078] In some embodiments, each group of distance measuring mechanisms 420 includes three fourth insertion holes 421 formed on the base plate 100. The three fourth insertion holes 421 in the same group can be arranged sequentially along the transmission axis direction of the corresponding ultrasonic sensor 3000. In addition, the distance measuring mechanism 420 also includes a third simulated obstacle 422. During the test, the third simulated obstacle 422 can be inserted into the three fourth insertion holes 421 in sequence and protrude from the side of the base plate 100 facing the limiting groove 201.

[0079] For example, during the test, the third simulated obstacle 422 can first be inserted into the fourth connector 421 closest to the corresponding ultrasonic sensor 3000 to test the detection accuracy, response time, and error tolerance of the ultrasonic sensor 3000 at this distance. Afterwards, it can be sequentially inserted into the fourth connector 421 at the far end, and the performance of the corresponding ultrasonic sensor 3000 at the corresponding distance can be tested respectively.

[0080] In the embodiment, when the third simulated obstacle 422 is inserted into the fourth insertion hole 421, it can be tightly fitted with the inner wall of the fourth insertion hole 421, thereby ensuring the insertion stability of the third simulated obstacle 422 and reducing the possibility of the third simulated obstacle 422 tipping over during the test.

[0081] In other embodiments, each set of distance measuring mechanisms 420 may also include two, four, or five or more fourth insertion holes 421, that is, each set of distance measuring mechanisms 420 includes at least two fourth insertion holes 421. The at least two fourth insertion holes 421 may be arranged sequentially at intervals along the transmission axis direction of the corresponding ultrasonic sensor 3000.

[0082] In some embodiments, the center distance between any two adjacent fourth insertion holes 421 is set to be equal. Therefore, by using a uniform distance variation, it is convenient to quantitatively compare the testing accuracy, response time, and error tolerance of the ultrasonic sensor 3000 at various distances.

[0083] In some embodiments, the height H2 of the third simulated obstacle 422 along the third direction Z is less than the minimum height of the detection range of the corresponding ultrasonic sensor. In some embodiments, the third simulated obstacle 422 can be mounted on the base plate 100 via a third support frame (not shown), that is, the third support frame is mounted on the side of the base plate 100 facing the limiting component 200, and the third simulated obstacle 422 is disposed on the side of the third support frame away from the base plate 100. The height of the third support frame can be set to 3 cm. This avoids interference from near-ground false echoes generated by the base plate 100 on the anti-false triggering test of the corresponding ultrasonic sensor 3000, ensuring the accuracy of the test.

[0084] like Figure 1 , Figure 3 and Figure 7 As shown, in some embodiments, the detection unit 400 further includes a semi-suspension detection mechanism 430. The semi-suspension detection mechanism 430 includes a second support frame 431, a fixing block 432, and a fourth simulated obstacle 433. The second support frame 431 is detachably mounted on the side of the base plate 100 facing the limiting assembly 200. When the second support frame 431 is mounted on the base plate 100, the second support frame 431 is coaxial with the limiting groove 201 along the first direction X and is located on the side of the third insertion hole 412 opposite to the limiting groove 201.

[0085] In some embodiments, the second support frame 431 may include a second support plate 4311, a second support rod 4312, and a connecting plate 4313. One end of the second support rod 4312 may be connected to the second support plate 4311 by means of screwing, bonding, snap-fitting, or integral molding. The end of the second support rod 4312 away from the second support plate 4311 may be connected to the connecting plate 4313 by means of screwing, bonding, snap-fitting, or integral molding. The connecting plate 4313 may be inserted into a recess in the base plate 100 and may be detachably connected to the base plate 100 by means of screwing or snap-fitting.

[0086] In some embodiments, the second support plate 4311 may be a right-angled quadrilateral plate structure, and four second support rods 4312 may be provided, with the four second support rods 4312 being arranged one-to-one at the four corner positions of the second support plate 4311.

[0087] In other embodiments, the second support frame 431 may also include two, three, or five equal numbers of second support rods 4312. Multiple second support rods 4312 may be evenly distributed on one side of the second support plate 4311.

[0088] In other embodiments, the second support plate 4311 may also be a plate-like structure such as a circle or a pentagon.

[0089] In some embodiments, the fixing block 432 can be fixedly disposed on the side of the second support plate 4311 away from the second support rod 4312 by means of screw connection, bonding or heat fusion connection. In the embodiment, the position coordinate of the center point of the fixing block 432 in the first direction X can be consistent with the position coordinate of the central axis of the limiting groove 201 parallel to the second direction Y in the first direction X, that is, the fixing block 432 and the limiting groove 201 are coaxially disposed.

[0090] In some embodiments, the fixing block 432 has a mounting hole 4321 on each of its two opposite sides along the first direction X, and they are symmetrically arranged. Furthermore, the axis of the mounting hole 4321 can be inclined relative to the first direction X. Specifically, the mounting hole 4321 can gradually tilt towards the limiting groove 201 from one end near the center of the fixing block 432 to the end away from the center of the fixing block 432. During the test, one end of the fourth simulated obstacle 433 can be sequentially inserted into two mounting holes 4321, so that the fourth simulated obstacle 433 is sequentially within the detection range of the corresponding ultrasonic sensor 3000, allowing the two ultrasonic sensors 3000 to be tested sequentially for semi-suspended obstacles, thus achieving the test of the ultrasonic sensor 3000's resistance to false triggering by non-target interference. The fourth simulated obstacle 433 can be parallel to the base plate 100. It is understood that when the fourth simulated obstacle 433 is inserted into a mounting hole 4321, the fourth simulated obstacle 433 is inclined relative to the first direction X. Specifically, the fourth simulated obstacle 433 gradually tilts towards the limiting groove 201 from the end near the fixed block 432 to the end away from the fixed block 432. Furthermore, the angle between the fourth simulated obstacle 433 and the first direction X can be set to 10°.

[0091] In this embodiment, the fourth simulated obstacle 433 can simulate complex targets such as partial obstructions, low-lying cables, and suspended obstacles to test the detection strength and frame drop probability of the ultrasonic sensor 3000 in the edge area.

[0092] In some embodiments, each simulated obstacle can be made of polyvinyl chloride (PVC) pipe, which has the characteristics of strong echo reflection ability, and is easy to process, low in cost and lightweight.

[0093] In other embodiments, the simulated obstacles may also be made of acrylonitrile-butadiene-styrene (ABS) tubing.

[0094] During use, the first support frame 310 can be detachably installed on the base plate 100, and the installed second test piece 2000 can be placed on the first support frame 310. The detection range and anti-false triggering tests of the two ultrasonic sensors 3000 can be performed respectively through the angle detection mechanism 410, the distance measurement mechanism 420, and the semi-suspended detection mechanism 430. Afterwards, the first support frame 310 can be removed, and the assembled robot can be placed in the limiting groove 201. The detection range and anti-false triggering tests of the two ultrasonic sensors 3000 can be performed again through the angle detection mechanism 410, the distance measurement mechanism 420, and the semi-suspended detection mechanism 430. In other words, multi-stage testing of the ultrasonic sensors 3000 on the robot can be achieved, ensuring the installation accuracy of the ultrasonic sensors 3000, and thus ensuring that the ultrasonic sensors 3000 can provide the required detection function.

[0095] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0096] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A test device, characterized by include: Base plate; A limiting component protrudes from one side of the base plate and defines a limiting groove on one side of the base plate for accommodating the first test piece; A first support frame is detachably installed on the side of the base plate facing the limiting component and located in the limiting groove. The first support frame is configured to place the second test piece. The detection unit is configured to perform detection range testing and / or anti-false triggering testing on the ultrasonic sensor on the first test piece and the ultrasonic sensor on the second test piece, respectively, wherein the position of the ultrasonic sensor on the first test piece is consistent with the position of the ultrasonic sensor on the second test piece.

2. The test device of claim 1, wherein, The limiting component includes multiple limiting plates, which protrude from the same side of the base plate and cooperate to form the limiting groove. The limiting groove is located near the side of the base plate along a second direction, which is parallel to the base plate. And / or, the first support frame includes a first support plate and a plurality of first support rods, the first support plate is connected to the same end of the plurality of first support rods, and a plurality of first insertion holes are provided on the base plate in the area of ​​the limiting groove, and the ends of the plurality of first support rods away from the first support plate are inserted into the plurality of first insertion holes one by one.

3. The test device of claim 1, wherein, The detection unit includes an angle detection mechanism, which includes a second insertion hole and a third insertion hole opened on the base plate. The inner wall of the second insertion hole facing away from the third insertion hole and the inner wall of the third insertion hole facing away from the second insertion hole are configured to, in conjunction with the location of the corresponding ultrasonic sensor transmitter, define the reference detection range of the ultrasonic sensor. The angle detection mechanism further includes a first simulated obstacle and a second simulated obstacle, the first simulated obstacle being inserted into the second insertion hole and the second simulated obstacle being inserted into the third insertion hole.

4. The test device of claim 3, wherein, The base plate is provided with two second insertion holes, which are respectively located on opposite sides of the limiting groove along the first direction. The third insertion hole is arranged opposite to the limiting groove along the second direction. The first direction and the second direction are perpendicular to each other and are both parallel to the base plate. One of the inner walls of the second insertion hole opposite to the third insertion hole and the inner wall of the third insertion hole opposite to the second insertion hole are configured to, in conjunction with the location of the transmitting end of one of the ultrasonic sensors in the first test piece, define the first reference detection range of the ultrasonic sensor. The inner wall of the other second insertion hole opposite to the third insertion hole and the inner wall of the third insertion hole opposite to the second insertion hole are configured to, in conjunction with the location of the transmitting end of the other ultrasonic sensor in the first test piece, define the second reference detection range of the ultrasonic sensor. The angle detection mechanism includes two first simulated obstacles, which are inserted into two second insertion holes in a one-to-one correspondence.

5. The test device of claim 4, wherein, The third insertion hole is configured as an oblong hole, and the long axis of the third insertion hole is parallel to the first direction.

6. The test device according to any one of claims 3 to 5, characterized in that The height dimensions of the first simulated obstacle in the third direction and the height dimensions of the second simulated obstacle in the third direction are both greater than the maximum detection range height of the ultrasonic sensor in the third direction, which is perpendicular to the base plate.

7. The test device of claim 1, wherein, The detection unit further includes at least one set of distance measuring mechanisms, and the at least one set of distance measuring mechanisms is configured to correspond one-to-one with at least one ultrasonic sensor on the first test piece; The distance measuring mechanism includes a third simulated obstacle and at least two fourth insertion holes opened on the base plate. The at least two fourth insertion holes are arranged sequentially at intervals along the direction corresponding to the emission axis of the ultrasonic sensor. The third simulated obstacle is configured to be inserted into the at least two fourth insertion holes sequentially.

8. The test device of claim 7, wherein, The center distance between any two adjacent fourth insertion holes is equal; And / or, the height of the third simulated obstacle in the third direction is less than the minimum detection height of the corresponding ultrasonic sensor in the third direction, which is perpendicular to the base plate.

9. The test device of claim 1, wherein, The detection unit also includes a semi-suspended detection mechanism, which includes a second support frame, a fixing block, and a fourth simulated obstacle. The second support frame is connected to the side of the base plate facing the limiting component and is located on the side of the base plate away from the limiting groove along the second direction, which is parallel to the base plate. The fixing block is disposed on the side of the second support frame away from the base plate. One end of the fourth simulated obstacle is detachably inserted into the fixing block, and the other end of the fourth simulated obstacle is suspended relative to the base plate and is located within the detection range of the corresponding ultrasonic sensor.

10. The test device of claim 9, wherein, The fourth simulated obstacle is parallel to the base plate; The fourth simulated obstacle gradually tilts towards the limiting groove from the end closest to the fixed block to the end furthest from the fixed block.

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