An environment simulation device for robot mobility performance testing

Abstract

The utility model discloses an environment simulation device of robot moving performance test, including road surface simulation unit, passageway unit, stack lifting unit and control unit, the stack lifting unit includes support frame and lifting mechanism, the road surface simulation unit includes several layers vertical distribution's road surface environment simulation layer, and each road surface environment simulation layer is suspended in the support frame top through lifting mechanism respectively, and each road surface environment simulation layer constitutes different form's simulation road surface form respectively, and the lifting mechanism can drive each road surface environment simulation layer vertical lifting alone, and the road surface environment simulation layer is stacked in the support frame layer by layer, and also can separate lifting the road surface environment simulation layer layer by layer, the passageway unit can be docked with the road surface environment simulation layer stacked on the support frame, forms the passageway between the road surface environment simulation layer and robot, reduces space occupancy, and quickly replaces test sample, and effectively improves test efficiency.

Description

Technical Field

[0001] This utility model relates to the field of robot performance testing technology, specifically to an environmental simulation device for testing robot mobility performance. Background Technology

[0002] For robots such as wheeled robots, quadruped robots, tracked robots, and humanoid robots that need to move on roads, the chassis posture stability and mobility under different road surface conditions directly affect the reliability of the robot's task execution. Conventional service robots and inspection robots need to move on different road surfaces, such as cement roads, tile roads, asphalt concrete roads, uphill, downhill, and steps. Various emergency rescue robots or field operation robots even need to move on gravel roads, dirt roads, or soft soil roads with shrubs when working. Therefore, testing the mobility performance of robots in different road surface environments and evaluating their dynamic response capabilities, stability control accuracy, and mobility under different road surface conditions is of great importance for improving the adaptability of robots to complex terrains and optimizing their application scenarios.

[0003] In existing technologies, laboratories are typically divided into multiple areas, each with different types of road surfaces for robot testing. However, existing testing solutions have a large space requirement; the more types of road surfaces to be tested, the larger the required laboratory area becomes. Furthermore, after a robot completes testing one type of road surface, it needs to be manually operated or autonomously navigated to another area before it can test the next type of road surface, which is time-consuming and labor-intensive, and cannot achieve rapid and continuous testing.

[0004] Therefore, how to provide robots with a testing environment with multiple road surface types within a limited space, reduce space occupancy, and improve testing efficiency has become an urgent problem to be solved in this field. Utility Model Content

[0005] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide an environmental simulation device for testing robot mobility performance with low space occupancy and high testing efficiency.

[0006] To achieve the above objectives, this utility model provides an environmental simulation device for testing robot mobility performance, comprising a road surface simulation unit, a channel unit, a stacking and lifting unit, and a control unit.

[0007] The stacking and lifting unit includes a support frame and a lifting mechanism. The road surface simulation unit includes several vertically distributed road surface environment simulation layers. Each road surface environment simulation layer is suspended above the support frame by the lifting mechanism. Each road surface environment simulation layer constitutes a different form of simulated road surface state. The lifting mechanism can drive each road surface environment simulation layer to rise and fall vertically on the support frame one by one, and can also lift and separate the road surface environment simulation layers one by one. The channel unit can dock with the road surface environment simulation layers stacked on the support frame to form a channel between the road surface environment simulation layers and the robot. The control unit can control the working status of the road surface simulation unit, the channel unit and the stacking and lifting unit.

[0008] Furthermore, the lifting mechanism includes vertical support rods, racks, drive gears, and a drive motor. The vertical support rods are respectively located at the four corners of the support frame. The racks are distributed along the height direction of the vertical support rods. The drive gears are respectively located at the four corners of the road surface environment simulation layer and mesh with the racks. The drive motor is connected to the drive gears.

[0009] Furthermore, the channel unit includes a ramp, a moving mechanism, and a lifting mechanism. The moving mechanism and the lifting mechanism are configured in an L-shape. The first end of the ramp is connected to the moving mechanism, and the second end is connected to the lifting mechanism. The lifting mechanism can adjust the slope of the ramp, and the moving mechanism can drive the ramp to move.

[0010] Furthermore, the first end of the ramp slab is provided with a docking mechanism, and the road surface environment simulation layer is provided with a guide mechanism for connecting the docking mechanism.

[0011] Furthermore, the road surface environment simulation layer includes a placement groove, in which a road surface simulation object is contained.

[0012] Furthermore, the road surface simulation includes one or more of the following: asphalt concrete road surface, asphalt macadam road surface, lime stabilized soil road surface, cement stabilized soil road surface, stone slab road surface, gravel road surface, mud road surface, cement road surface, shrub-covered soft soil road surface, sloping road surface, and steps.

[0013] Furthermore, at least one road surface environment simulation layer is provided with a road surface simulation body circulation conveyor belt, which includes rollers respectively built into both sides of the road surface environment simulation layer and a road surface environment simulation belt sleeved on the rollers, and a number of road surface simulation bodies are distributed on the road surface environment simulation belt.

[0014] Furthermore, the road surface simulation body's circulating conveyor belt is distributed at an angle.

[0015] The environmental simulation device for testing robot mobility performance provided by this utility model consists of several layers of road environment simulation layers that form different simulated road surface shapes and are vertically distributed. This effectively reduces the space required for laying various types of road surfaces and compresses multiple simulated road surfaces into the area occupied by a single road environment simulation layer, thus effectively reducing space occupancy. At the same time, the stacking and lifting unit can lower and stack the road environment simulation layers onto the support frame layer by layer through individual control of each road environment simulation layer, so as to quickly replace test samples. This allows the simulated road surface shape formed by each road environment simulation layer to be used for robot mobility performance testing, effectively improving testing efficiency. Attached Figure Description

[0016] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0017] Figure 1 This is a side view schematic diagram of the environmental simulation device for testing the robot's mobility performance in this utility model;

[0018] Figure 2 This is a top view schematic diagram of the environmental simulation device for testing the robot's mobility performance in this utility model;

[0019] Figure 3 This is a schematic diagram of the working state of the environmental simulation device for testing the robot's mobility performance in this utility model;

[0020] Figure 4 and Figure 5 This is a schematic diagram of the structure of the road surface simulation body circulating conveyor belt in this utility model;

[0021] Figure 6 This is a schematic diagram showing the adjustment state of the circulating conveyor belt of the road surface simulation body in this utility model;

[0022] Figure 7 This is a schematic diagram of the cooperation structure between the docking mechanism and the guiding structure in this utility model.

[0023] Figure label:

[0024] 1. Road surface simulation unit; 101. First road surface environment simulation layer; 102. Second road surface environment simulation layer; 11. Road surface environment simulation layer; 111. Installation trough; 112. Road surface simulation body; 12. Road surface simulation body circulating conveyor belt; 121. Roller; 122. Road surface environment simulation belt; 123. Roller shaft; 124. Telescopic rod; 13. Guide mechanism; 131. Guide sleeve; 132. Mounting cavity; 133. Second permanent magnet;

[0025] 2. Channel unit; 21. Ramp plate; 22. Moving mechanism; 23. Lifting mechanism; 24. Docking mechanism; 241. Conical guide column; 242. First permanent magnet;

[0026] 3. Stacking and lifting unit; 31. Support frame; 32. Lifting mechanism; 321. Vertical support rod; 322. Rack; 323. Drive gear; 324. Rotary shaft. Detailed Implementation

[0027] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the following description, in conjunction with specific illustrations, further elaborates on this utility model.

[0028] See Figures 1 to 2 The image shown is an example of an environmental simulation device for testing the mobility performance of a robot provided by this utility model.

[0029] As shown in the figure, the environmental simulation device for testing the robot's mobility performance in this example mainly includes a road surface simulation unit 1, a channel unit 2, a stacking and lifting unit 3, and a control unit.

[0030] The stacking and lifting unit 3 includes a support frame 31 and a lifting mechanism 32. The road surface simulation unit 1 includes several vertically distributed road surface environment simulation layers 11. Each road surface environment simulation layer 11 is suspended above the support frame 31 by the lifting mechanism 32. Each road surface environment simulation layer 11 constitutes a different form of simulated road surface. The lifting mechanism 32 can drive each road surface environment simulation layer 11 to rise and fall vertically on its own, stacking the road surface environment simulation layers 11 one by one onto the support frame 31. It can also lift and separate the road surface environment simulation layers 11 one by one. The channel unit 2 can connect with the road surface environment simulation layers 11 stacked on the support frame 31, forming a channel between the road surface environment simulation layers 11 and the robot. The control unit can control the working status of the road surface simulation unit 1, the channel unit 2 and the stacking and lifting unit 3. It can effectively reduce the space required for various road surface paving, compress various simulated road surfaces into the area occupied by one road surface environment simulation layer, reduce the space occupancy rate, and support the rapid replacement of test samples during the test, thereby improving the test efficiency.

[0031] Among them, the lifting mechanism 32 in the stacking lifting unit 3 is set on the support frame 31, which can drive the road surface simulation unit 1 to move vertically along the height direction, stack the road surface environment simulation layer 11 on the support frame 31, and provide the robot with a simulation test environment for the corresponding road surface shape.

[0032] Combination Figure 1 and Figure 2 Specifically, the lifting mechanism 32 includes vertical support rods 321, rack 322, drive gear 323 and drive motor. The four vertical support rods 321 are respectively arranged at the four corners of the support frame 31, and the rack 322 is arranged inside the vertical support rods 321 and distributed along the height direction of the vertical support rods 321.

[0033] Correspondingly, drive gears 323 are respectively set at the four corners of each road environment simulation layer 11. Specifically, the road environment simulation layer 11 is distributed between four vertical support rods 321. The two end areas of the two end faces of the road environment simulation layer 11 are respectively connected to drive gears 323 through rotating shafts 324, and each drive gear 323 meshes with the rack 322 on the corresponding vertical support rod 321. Each drive gear 323 is independently connected to a drive motor, thus forming an independent drive unit on each road environment simulation layer 11. When the drive motor drives the four drive gears 323 of each road environment simulation layer 11 to rotate synchronously, the drive gears 323 move vertically along the rack 322, which can drive the entire road environment simulation layer 11 to rise and fall along the vertical support rods 321.

[0034] In this way, several road environment simulation layers 11 are vertically distributed. Each road environment simulation layer 11 is connected to the vertical support rod 321 through an independent drive unit to realize the individual lifting and lowering control of each road environment simulation layer 11. This allows the lifting mechanism 32 to lower each road environment simulation layer 11 layer by layer and stack it on the support frame 31 so that each road environment simulation layer 11 can be used to test the robot's mobility performance in different road environments and quickly change the simulated road surface shape.

[0035] Combination Figure 1 and Figure 3 As an example, the lifting mechanism 32 lowers the bottom first road environment simulation layer 101 onto the support frame 31, and uses the simulated road surface formed by the first road environment simulation layer 101 for robot mobility performance testing. Then, the lifting mechanism 32 lowers the second road environment simulation layer 102, which is vertically distributed above the first road environment simulation layer 101, onto the first road environment simulation layer 101, and uses the simulated road surface formed by the second road environment simulation layer 102 for robot mobility performance testing. This process is repeated to achieve the layer-by-layer stacking of each road environment simulation layer 11, so as to quickly change the simulated road surface form and improve testing efficiency.

[0036] Correspondingly, the lifting mechanism 32 can also lift and separate the road environment simulation layer 11 from the support frame 31 layer by layer to change the simulated road surface shape.

[0037] Here, when any road environment simulation layer 11 is stacked on the support frame 31 for robot mobility performance testing, it is necessary to ensure that the height space between the road environment simulation layer 11 and the road environment simulation layer 11 above it can meet the robot's movement, so as to ensure the safety of the testing process.

[0038] Furthermore, since the four vertical support rods 321 are respectively set at the four corners of the support frame 31, the road environment simulation layer 11 is suspended and distributed in the open area between the four vertical support rods 321, so that the area of ​​the road environment simulation layer 11 is unobstructed, so as to ensure the robot's movement space and the visibility of the testing process, and make it easy for staff to clearly observe the robot's movement status from multiple angles.

[0039] The stacked lifting unit 3 thus constitutes a vertically distributed road environment simulation layer 11 that is suspended above the support frame 31 by the lifting mechanism 32. This can effectively reduce the space required for various road surface pavings and compress various simulated road surface forms into the area occupied by one road environment simulation layer, thus effectively reducing the space occupancy rate.

[0040] Meanwhile, the lifting mechanism 32 thus formed can flexibly increase or decrease the number of road environment simulation layers 11 in the height direction. By increasing or decreasing the number of road environment simulation layers 11, the type of simulated road surface can be quickly expanded or adjusted, thereby providing the robot with a variety of simulated road surface forms to improve the accuracy of test results without increasing the plane space occupancy rate.

[0041] Furthermore, each road surface environment simulation layer 11 constitutes a different form of simulated road surface, so that each road surface environment simulation layer 11 can provide different test samples for the robot when it is stacked on the support frame 31.

[0042] Combination Figure 1 and Figure 2 Specifically, the road surface environment simulation layer 11 includes a placement trough 111, which contains several road surface simulation bodies 112.

[0043] Here, the specific road surface simulation body 112 is not limited and can be set according to the testing requirements. As an example, the road surface simulation body 112 includes one or more of the following: asphalt concrete road surface, asphalt macadam road surface, lime stabilized soil road surface, cement stabilized soil road surface, stone slab road surface, gravel road surface, soil road surface, cement road surface, shrub-covered soft soil road surface, uphill / downhill road surface with different angles / materials, and steps with different step lengths / heights / inclinations / materials. By coordinating and arranging various road surface simulation bodies 112, different forms of simulated road surface morphology can be constructed for each road surface environment simulation layer 11.

[0044] Combination Figure 4 and Figure 5In order to improve the diversity of test samples and the accuracy of test results, at least one road environment simulation layer 11 is provided with a road simulation body circulating conveyor belt 12, so that the road simulation body circulating conveyor belt 12 forms a dynamic simulated road surface shape to simulate the scenario of the robot moving in a dynamic road environment, thereby testing the robot's dynamic response capability, stability control accuracy and travel capability under dynamic road surface shape.

[0045] Preferably, a road surface simulation body circulation conveyor belt 12 is provided in the bottommost first road surface environment simulation layer 101 to ensure the safety of the road surface simulation unit 1 and the stacking lifting unit 3.

[0046] Combination Figure 4 and Figure 5 Specifically, the road surface simulation conveyor belt 12 includes rollers 121 and a road surface environment simulation belt 122. The two sets of rollers 121 are respectively built into both sides of the first road surface environment simulation layer 101 through roller shafts 123. The road surface environment simulation belt 122 is sleeved on the two sets of rollers 121. The rollers 121 are also connected to a drive motor, so that the drive motor drives the rollers 121 to rotate, which can drive the road surface environment simulation belt 122 to move around the rollers 121 in a circular motion, thereby forming a dynamic simulated road surface shape.

[0047] Furthermore, several road surface simulation bodies 112, such as sand and soft soil, are distributed on the outer surface of the road surface environment simulation zone 122. The road surface simulation bodies 112 are fixedly set on the road surface environment simulation zone 122 and can move synchronously with the road surface environment simulation zone 122 to increase the complexity of the dynamic simulated road surface morphology, so as to form a new simulated road surface morphology and thus improve the accuracy of the test results.

[0048] In addition, the road surface simulation circulating conveyor belt 12 can also be distributed at an angle to form a dynamic sloping road surface, testing the robot's mobility on the slope.

[0049] Combination Figure 5 and Figure 6 Specifically, the roller 121 on the side away from the robot has telescopic rods 124, such as hydraulic telescopic rods, at the bottom of both ends of the roller shaft 123. The telescopic rods 124 extend and drive the roller 121 to rise synchronously, thereby adjusting the distribution angle of the road surface simulation body circulating conveyor belt 12 to form a dynamic sloping road surface.

[0050] The road surface simulation unit 1 thus formed can generate various simulated road surface morphologies to improve the diversity of test samples and the accuracy of test results.

[0051] Combination Figure 1 and Figure 2To ensure that the robot can move stably to the road environment simulation layer 11, the device also includes a channel unit 2. The channel unit 2 can dock with the road environment simulation layer 11 stacked on the support frame 31 for testing, forming a channel between the road environment simulation layer 11 and the robot, so that the robot can move from the ground to the road environment simulation layer 11 through the channel unit 2.

[0052] Specifically, the channel unit 2 includes a ramp 21, a moving mechanism 22 and a lifting mechanism 23. The moving mechanism 22 and the lifting mechanism 23 are configured in an L-shape. The first end of the ramp 21 is connected to the moving mechanism 22, and the second end is connected to the lifting mechanism 23.

[0053] Furthermore, the lifting mechanism 23 is preferably composed of a hydraulic rod. The slope of the ramp slab 21 can be adjusted by the extension and retraction of the hydraulic rod. The moving mechanism 22 can drive the ramp slab 21 to move, so that the lifting mechanism 23 and the moving mechanism 22 cooperate to ensure that the ramp slab 21 can be raised or lowered and moved to dock with the road environment simulation layer 11 stacked on the support frame 31.

[0054] Combination Figure 1 For example, if the first road surface environment simulation layer 101 is placed on the support frame 31, the simulated road surface shape formed by the first road surface environment simulation layer 101 is used for the robot's mobility performance test. The lifting mechanism 23 adjusts the slope of the ramp plate 21 to match the height of the first road surface environment simulation layer 101, and the moving mechanism 22 drives the ramp plate 21 to move so that the end of the ramp plate 21 is precisely connected with the first road surface environment simulation layer 101. The robot can move onto the first road surface environment simulation layer 101 through the ramp plate 21.

[0055] Combination Figure 3 Furthermore, if the second road environment simulation layer 102 is lowered and stacked on the first road environment simulation layer 101, the simulated road surface formed by the second road environment simulation layer 102 is used for the robot's mobility performance test. The lifting mechanism 23 adjusts the slope of the ramp 21 to match the height of the second road environment simulation layer 102, and the moving mechanism 22 drives the ramp 21 to move so that the end of the ramp 21 is precisely connected with the second road environment simulation layer 102, and the robot can move to the second road environment simulation layer 102 through the ramp 21.

[0056] In order to improve the docking accuracy and efficiency between the road environment simulation layer 11 and the ramp slab 21, a docking mechanism 24 is provided at the first end of the ramp slab 21, and a guide mechanism 13 is provided on the road environment simulation layer 11 to connect the docking mechanism 24, so that the guide mechanism 13 can cooperate with the docking mechanism 24 to guide the ramp slab 21 to dock quickly with the environment simulation layer 11.

[0057] Combination Figure 7Specifically, the docking mechanism 24 includes a tapered guide post 241 disposed at the end of the ramp slab 21. The surface of the tapered guide post 241 is also provided with a first permanent magnet 242. The guiding mechanism 13 includes a guide sleeve 131 disposed at the end of the road surface environment simulation layer 11 corresponding to the docking mechanism 24. The guide sleeve 131 has an installation cavity 132 adapted to the tapered guide post 241 inside, and the inner surface of the installation cavity 132 is provided with a second permanent magnet 133 that attracts the first permanent magnet 242.

[0058] In this way, when the lifting mechanism 23 and the moving mechanism 22 work together to adjust the slope of the ramp 21 and move the ramp 21 closer to the road environment simulation layer 11 for docking, the second permanent magnet 133 of the guide mechanism 13 will generate an attractive force on the first permanent magnet 242 of the docking mechanism 24, so that the tapered guide post 241 can be inserted into the guide sleeve 131. At the same time, the tapered guide post 241 can tolerate a large horizontal error, and the position is corrected by the inclined plane, and it is precisely inserted into the installation cavity 132 of the guide sleeve 131 to achieve blind insertion, thereby providing docking accuracy and efficiency.

[0059] The channel unit 2 thus formed can quickly and accurately dock with the road environment simulation layer 11 stacked on the support frame 31, forming a channel between the road environment simulation layer 11 and the robot, so that the robot can move from the ground to the road environment simulation layer 11 through the channel unit 2 to provide accuracy of test results.

[0060] Furthermore, the device also includes a control unit, which can control the working state of the drive motor and hydraulic rod, thereby adjusting the working state of the road simulation unit 1, the channel unit 2 and the stacking and lifting unit 3.

[0061] Here, the control unit can be constructed from an existing PLC.

[0062] The road environment simulation device for testing robot mobility performance provided by this utility model has several layers of road environment simulation layers 11 that constitute different forms of simulated road surface shapes and are vertically distributed. This can effectively reduce the space required for laying various types of road surfaces and compress multiple simulated road surfaces into the area occupied by one layer of road environment simulation layer 11, which can effectively reduce the space occupancy rate. At the same time, the stacking and lifting unit 2 can lower and stack the road environment simulation layers 11 one by one onto the support frame 31 through individual control of each layer of road environment simulation layer 11, so as to quickly replace the test sample. This allows the simulated road surface shape formed by each layer of road environment simulation layer to be used for robot mobility performance testing, effectively improving testing efficiency.

[0063] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. An environmental simulation device for testing the mobility performance of a robot, characterized in that, It includes a road surface simulation unit, a channel unit, a stacking and lifting unit, and a control unit. The stacking and lifting unit includes a support frame and a lifting mechanism. The road surface simulation unit includes several vertically distributed road surface environment simulation layers. Each road surface environment simulation layer is suspended above the support frame by the lifting mechanism. Each road surface environment simulation layer constitutes a different form of simulated road surface. The lifting mechanism can drive each road surface environment simulation layer to rise and fall vertically on its own, stacking the road surface environment simulation layers one by one onto the support frame. It can also lift and separate the road surface environment simulation layers one by one. The channel unit can dock with the road surface environment simulation layers stacked on the support frame, forming a channel between the road surface environment simulation layers and the robot. The control unit can control the working status of the road surface simulation unit, the channel unit, and the stacking and lifting unit.

2. The environmental simulation device for testing robot mobility performance according to claim 1, characterized in that, The lifting mechanism includes vertical support rods, racks, drive gears, and a drive motor. The vertical support rods are respectively located at the four corners of the support frame. The racks are distributed along the height direction of the vertical support rods. The drive gears are respectively located at the four corners of the road environment simulation layer and mesh with the racks. The drive motor is connected to the drive gears.

3. The environmental simulation device for testing robot mobility performance according to claim 1, characterized in that, The channel unit includes a ramp, a moving mechanism, and a lifting mechanism. The moving mechanism and the lifting mechanism are configured in an L-shape. The first end of the ramp is connected to the moving mechanism, and the second end is connected to the lifting mechanism. The lifting mechanism can adjust the slope of the ramp, and the moving mechanism can drive the ramp to move.

4. The environmental simulation device for testing robot mobility performance according to claim 3, characterized in that, The ramp slab is provided with a docking mechanism at its first end, and the road surface environment simulation layer is provided with a guide mechanism for connecting the docking mechanism.

5. The environmental simulation device for testing robot mobility performance according to claim 1, characterized in that, The road surface environment simulation layer includes a placement groove, in which a road surface simulation object is contained.

6. The environmental simulation device for testing robot mobility performance according to claim 5, characterized in that, The road surface simulation includes one or more of the following: asphalt concrete road surface, asphalt macadam road surface, lime stabilized soil road surface, cement stabilized soil road surface, stone slab road surface, gravel road surface, soil road surface, cement road surface, shrub-covered soft soil road surface, sloping road surface, and steps.

7. The environmental simulation device for testing robot mobility performance according to claim 5, characterized in that, At least one road surface environment simulation layer is provided with a road surface simulation body circulation conveyor belt. The road surface simulation body circulation conveyor belt includes rollers respectively built into both sides of the road surface environment simulation layer and a road surface environment simulation belt sleeved on the rollers. A number of road surface simulation bodies are distributed on the road surface environment simulation belt.

8. The environmental simulation device for testing robot mobility performance according to claim 7, characterized in that, The road surface simulation conveyor belt is distributed at an angle.

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