Detection device

Abstract

The utility model discloses a kind of detection equipment, it is related to detection equipment technical field, and wherein, detection equipment includes base, bearing assembly, detection mechanism and calibration mechanism.Bearing assembly is located at base, including the bearing part for bearing robot to be detected.Testing mechanism is located at base, for the detection of the test position height and rotational speed of barrier wheel.Calibration mechanism is located at base, for the calibration and detection of the sensor of robot to be detected.By integrating barrier detection and multi-sensor calibration function on base, robot to be detected can continuously execute barrier wheel performance detection and each sensor calibration operation after completing positioning in bearing part, without disassembling or shifting host computer in the middle, avoid positioning deviation caused by repeated clamping and equipment switching.Detection and calibration are based on same space reference, improve data consistency and test stability.

Description

Technical Field

[0001] This utility model relates to the field of testing equipment technology, and in particular to a testing device. Background Technology

[0002] In existing technologies, the performance testing and calibration of intelligent main units such as robotic vacuum cleaners typically need to be completed step-by-step on multiple independent devices. This is especially true for obstacle-crossing capability testing and sensor calibration (such as down-view sensors and edge sensors), which rely on different dedicated testing platforms. Because the main unit needs to be repeatedly disassembled and moved to different devices for testing, the operation is not only cumbersome and inefficient, but also susceptible to sensor status changes due to mechanical vibration or human factors, affecting calibration consistency. Furthermore, the lack of unified benchmarks between different devices leads to positioning deviations in each stage of testing and calibration, resulting in significant cumulative errors and reducing overall calibration accuracy and testing reliability.

[0003] Existing solutions lack an integrated, unified testing environment, making it impossible to achieve multi-item collaborative testing and calibration of the main unit at a fixed workstation, thus hindering the improvement of production efficiency and product performance. Therefore, there is an urgent need for an integrated testing device that can integrate obstacle crossing testing and multi-sensor calibration functions to improve testing accuracy, reduce equipment switching, and enhance automation and operational efficiency. Utility Model Content

[0004] The main purpose of this invention is to propose a testing device that addresses the problems in the prior art where the testing of a robot's obstacle-crossing performance and sensor calibration requires changing equipment and repeatedly moving the host unit, resulting in low testing efficiency, inconsistent positioning references, and compromised calibration accuracy.

[0005] To achieve the above objectives, the testing equipment proposed in this utility model includes:

[0006] Base;

[0007] A support assembly, disposed on the base, includes a support portion for supporting the robot to be tested;

[0008] A testing mechanism, located on the base, is used to test the height and rotation speed of the obstacle-crossing wheels of the robot under test, which are placed on the support unit; and,

[0009] A calibration mechanism, located on the base, is used to calibrate and test the sensors of the robot under test, which are placed on the support.

[0010] In one embodiment, the carrier component further includes a positioning structure, the positioning structure comprising:

[0011] A positioning protrusion, located at the top of the supporting portion, is used for positioning and engaging with a positioning hole on the bottom of the robot to be tested; and,

[0012] A clamping part is provided on the side of the support part. The clamping part is movably provided in the longitudinal direction in the direction of approaching and moving away from the support part, and is used to abut against the side of the robot to be tested during the stroke of approaching the support part.

[0013] In one embodiment, the top of the support portion is provided with a plurality of connection holes, and the positioning protrusion is detachably installed in the corresponding connection hole.

[0014] In one embodiment, the clamping part is also movably disposed in the vertical direction.

[0015] In one embodiment, the detection mechanism is disposed on one side of the support portion in the lateral direction;

[0016] The bearing portion includes:

[0017] A support plate for supporting the main body of the robot to be tested, wherein the side edge of the support plate is provided with a clearance groove corresponding to the obstacle-crossing wheels of the robot to be tested; and,

[0018] A movable plate is disposed in the clearance groove. The movable plate is movably disposed in the vertical direction so that the obstacle-crossing wheels of the robot under test can be suspended in the air when it moves downward.

[0019] In one embodiment, the detection mechanism further includes a distance detection component, the distance detection component comprising:

[0020] The first drive device has a first drive unit that is movably disposed in the lateral direction;

[0021] The mounting base is fixedly connected to the first drive unit;

[0022] A first ranging device and a second ranging device are mounted on the mounting base and spaced apart longitudinally. The first ranging device is used to measure the height of the obstacle-crossing wheel at its initial position, and the second ranging device is used to measure the height of the obstacle-crossing wheel at its final obstacle-crossing position.

[0023] The third ranging device is installed on the mounting base and is used to measure the position of the outer side of the swing arm connected to the obstacle-crossing wheel when the obstacle-crossing wheel is in the obstacle-crossing stop position.

[0024] In one embodiment, the detection mechanism includes a rotational speed detection component, the rotational speed detection component comprising:

[0025] An encoder, connected to the base, the encoder having a rotating shaft; and,

[0026] A transmission gear, coaxially connected to the rotating shaft, is used to mesh with the obstacle-crossing wheels of the robot to be tested.

[0027] In one embodiment, the rotational speed detection component further includes:

[0028] The second drive device is mounted on the base and has a second drive section that is movably arranged in the longitudinal direction.

[0029] The fixed base is fixedly connected to the second drive unit;

[0030] A movable seat is vertically movably disposed relative to the fixed seat, and the movable seat is provided with guide holes extending vertically; and,

[0031] The guide buffer mechanism includes a guide post extending vertically and passing through the guide hole, and an elastic element sleeved on the outer periphery of the guide post, wherein the elastic element is disposed between the fixed seat and the movable seat.

[0032] In one embodiment, the detection device further includes:

[0033] The housing has a light-transmitting opening, and the base is disposed inside the housing; and...

[0034] A light-shielding plate is movably disposed at the light-transmitting opening for opening and closing the light-transmitting opening.

[0035] In one embodiment, the calibration mechanism includes a first calibration mechanism and a second calibration mechanism. The first calibration mechanism is used to perform edge calibration and detection on a first sensor located on the side of the robot under test, and the second calibration mechanism is used to perform downward-view calibration and detection on a second sensor located at the bottom of the robot under test.

[0036] In one embodiment, the first calibration mechanism includes:

[0037] A first seat body is movably mounted laterally to the base and is located on the side where the support portion is located laterally; and,

[0038] The calibration target group is configured to be movable in the vertical direction, so as to have a first detection position and a second detection position in its movement stroke. In the first detection position, the calibration target group is offset from the first sensor in the horizontal direction, and in the second detection position, the calibration target group is aligned with the first sensor in the horizontal direction.

[0039] In one embodiment, the edge calibration target group includes a first connecting seat and a plurality of first target surfaces connected to the first connecting seat. The plurality of first target surfaces are configured with different reflectivities and are arranged at intervals along the circumference of the first connecting seat. The first connecting seat is rotatably configured about a rotation axis extending laterally, so that the plurality of first target surfaces can be sequentially aligned with the first sensor laterally.

[0040] In one embodiment, the first calibration mechanism further includes a lateral adjustment mechanism, the lateral adjustment mechanism comprising:

[0041] A lead screw and nut assembly includes a laterally extending lead screw and a nut threadedly engaged with the lead screw. The lead screw is rotatably mounted on the machine base about its axis, and a handwheel is provided at one end of the lead screw.

[0042] A guide structure is longitudinally spaced from the lead screw and nut assembly. The guide structure includes a guide rail extending laterally and a slider that slides with the guide rail. The slider is fixedly connected to the nut and connected to the first seat body to drive the first seat body to move laterally.

[0043] In one embodiment, the second calibration mechanism includes:

[0044] The second seat is movably mounted to the base in the vertical direction and is located on the side where the supporting part is in the longitudinal direction; and,

[0045] The downward-viewing calibration target group is located below the support unit and has a clearance groove. The downward-viewing calibration target group is rotatably arranged around a rotation axis extending vertically, so that it has a third detection position and a fourth detection position during its active stroke. In the third detection position, the downward-viewing calibration target group is aligned with the clearance groove vertically upward. In the fourth detection position, the downward-viewing calibration target group is aligned with the second sensor vertically upward.

[0046] In one embodiment, the downward-looking calibration target group includes a second connecting seat and a plurality of second target surfaces connected to the second connecting seat. The plurality of second target surfaces are configured with different reflectivities and are arranged at intervals along the circumference of the second connecting seat. The second connecting seat is rotatably configured about a rotation axis extending in the vertical direction, so that the plurality of second target surfaces can be sequentially aligned with the second sensor in the vertical direction.

[0047] In one embodiment, the support portion extends outward on one side near the downward-looking calibration target group to form clearance areas on both sides of the extension portion. The extension portion is used to support the robot to be tested, and the clearance areas are aligned vertically with the second sensor.

[0048] In one embodiment, the base is provided with a hollowed-out region, and the hollowed-out region is aligned with the clearance region in the up-down direction.

[0049] The technical solution provided by the present utility model has at least the following advantages:

[0050] By integrating the obstacle-surmounting detection function and the calibration functions of multiple sensors on a single detection device, the robot to be detected can continuously perform the obstacle-surmounting wheel performance detection and the calibration operations of each sensor after completing one positioning on the bearing portion, so that the entire test process does not need to disassemble or transfer the main body midway, thereby avoiding positioning deviations caused by repeated clamping and device switching; meanwhile, external operation intervention is reduced, so that each detection and calibration are carried out based on the same spatial reference, the data consistency and collaborative accuracy between each functional module are improved, and further the stability of test results is guaranteed; the whole process is completed at a fixed station, so as to realize multi-item linked operation, thereby shortening the debugging cycle. Brief Description of the Drawings

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the drawings to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present utility model. For those of ordinary skill in the art, on the premise of no creative work, other drawings can also be obtained according to the structures shown in these drawings.

[0052] Figure 1 and Figure 2 are schematic structural views of an embodiment of the detection device provided by the present utility model;

[0053] Figure 3 is Figure 1 a schematic structural view of the internal structure of the detection device in the drawing;

[0054] Figure 4 and Figure 5 are Figure 3 schematic structural views of the bearing assembly in the drawing;

[0055] Figure 6 is Figure 3 a schematic structural view of the distance detection assembly in the drawing;

[0056] Figure 7 is Figure 3 a schematic structural view of the rotational speed detection assembly in the drawing;

[0057] Figure 8 is Figure 3 a schematic structural view of the first calibration mechanism in the drawing;

[0058] Figure 9 is Figure 3 A schematic diagram of the second calibration mechanism.

[0059] Explanation of icon numbers:

[0060] 1. Base; 1a. Hollowed-out area; 2. Bearing component; 21. Bearing part; 21a. Connecting hole; 211. Bearing plate; 212. Movable plate; 213. Extension part; 22. Positioning protrusion; 23. Clamping part; 2b. Clearance area; 3. Detection mechanism; 31. Distance detection component; 311. First drive device; 312. Mounting base; 313. First distance measuring device; 314. Second distance measuring device; 315. Third distance measuring device; 32. Rotation speed detection component; 321. Encoder; 322. Transmission gear; 323. Second drive device; 324. Fixed base; 325. Movable base; 326. Guide buffer mechanism; 3261. Guide column 3262, Elastic element; 4, Calibration mechanism; 41, First calibration mechanism; 411, First base; 412, Edge calibration target group; 4121, First connecting seat; 4122, First target surface; 413, Lateral adjustment mechanism; 4131, Screw and nut assembly; 41311, Screw; 41312, Nut; 41313, Handwheel; 4132, Guide structure; 41321, Guide rail; 41322, Slider; 42, Second calibration mechanism; 421, Second base; 422, Downward calibration target group; 422a, Clear slot; 4221, Second connecting seat; 4222, Second target surface; 5, Housing; 5a, Light-transmitting opening; 6, Light-shielding plate.

[0061] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0062] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0063] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0064] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0065] This utility model proposes a testing device that integrates a bearing component 2, a testing mechanism 3, and a calibration mechanism 4 on a base 1, enabling the robot to be tested to complete multiple functional tests and calibration operations after a single clamping and positioning, thus avoiding the cumbersome operation and error accumulation caused by repeated disassembly and transfer.

[0066] Please see Figures 1 to 3 In one embodiment of this utility model, the testing device includes a base 1, a support component 2, a testing mechanism 3, and a calibration mechanism 4. The support component 2 is disposed on the base 1 and includes a support part 21 for supporting the robot to be tested. The testing mechanism 3 is disposed on the base 1 and is used to detect the test position height and rotation speed of the obstacle-crossing wheels of the robot to be tested, which are placed on the support part 21. The calibration mechanism 4 is disposed on the base 1 and is used to calibrate and test the sensors of the robot to be tested, which are placed on the support part 21.

[0067] Specifically, the base 1 serves as the basic support structure for the entire testing equipment, used for installing and fixing other functional components.

[0068] The support assembly 2 is mounted on the base 1 and includes a support section 21 for placing the robot under test. The structure of the support section 21 is adapted to the outline of the robot under test, and it can stably support the entire machine to ensure that it remains stationary during the testing and calibration process. Once the robot under test is positioned on the support section 21, it does not need to be moved again, so that subsequent testing and calibration operations can be performed continuously with the same reference.

[0069] The detection mechanism 3 is set on the base 1 and corresponds to the position of the support part 21. It is used to detect the position height and rotation speed of the obstacle-crossing wheels of the robot to be tested, which are placed on the support part 21, during the test.

[0070] It should be noted that the detection mechanism 3 can employ non-contact or contact sensing elements such as displacement sensors, photoelectric encoders 321, and laser ranging modules to collect dynamic parameters of the obstacle-crossing wheel during the simulated obstacle crossing process. These dynamic parameters include the height and distance of the obstacle-crossing wheel at its initial position, its stopping position during obstacle crossing, and its final position after obstacle crossing.

[0071] This specification does not limit the specific structural form and sensing method of the detection mechanism 3. It can be configured with corresponding sensing modules according to actual detection needs, such as linear Hall elements, capacitive displacement sensors, or visual recognition units, to achieve accurate capture of the obstacle-crossing wheel's motion state. The installation position and detection angle of the detection mechanism 3 can be adaptively adjusted according to the actual layout of the obstacle-crossing wheel, and this specification does not limit this aspect in the embodiments.

[0072] Furthermore, it should be noted that the functional configuration of the testing mechanism 3 and the calibration mechanism 4 is not limited to obstacle-crossing wheels or specific sensors. They can also be extended to perform testing on other parts of the robot to be tested that require functional verification, or to perform calibration operations on other types of sensors, such as inertial measurement units, cliff sensors, collision sensors, etc., so that the testing equipment has a wider range of adaptability and application flexibility, thereby meeting the comprehensive testing needs of robots of different models or functional configurations during the production and debugging process.

[0073] The calibration mechanism 4 is located on the base 1 and corresponds to the workstation arrangement of the support unit 21. It is used to perform calibration operations on one or more sensors mounted on the robot to be inspected. The sensors include detection units for environmental perception such as downward-looking sensors and edge sensors, and may also include other types of sensing devices, such as infrared proximity sensors, ultrasonic sensors, or vision modules. Based on the working principle and installation position of various sensors, the calibration mechanism 4 configures corresponding reference benchmarks or excitation signal sources, such as setting standard reflective surfaces, distance targets, or grating marks, so that each sensor can receive stable and predictable feedback signals at its current position, thereby completing calibration processes such as zero-point calibration, gain adjustment, response threshold setting, or spatial coordinate system alignment. By performing continuous calibration of multiple sensors at a fixed workstation, a unified benchmark is achieved, reducing errors introduced by position changes, thus ensuring the accuracy and consistency of the collaborative work of the sensing units of the robot to be inspected.

[0074] This specification does not limit the specific implementation of the calibration mechanism 4. It can be a fixed calibration module or configured as an adjustable calibration component to adapt to the detection direction and working distance of different sensors. The reference structure or signal transmitting device used for calibration can be integrated into a specific area of ​​the base 1, or it can be set up independently and triggered by the control system. The specific arrangement can be adjusted according to the actual model requirements, and this specification does not limit this aspect.

[0075] By integrating the obstacle-surmounting detection function and the calibration functions of multiple sensors on one detection device, the robot to be detected can continuously perform the performance detection of obstacle-surmounting wheels and the calibration operations of each sensor after completing one positioning on the bearing portion 21, so that the entire test process does not require disassembly or transfer of the main unit midway, thereby avoiding positioning deviations caused by repeated clamping and equipment switching; at the same time, external operation intervention is reduced, so that all detections and calibrations are performed based on the same spatial reference, the data consistency and collaboration accuracy between various functional modules are improved, and further the stability of test results is guaranteed; the entire process is completed at a fixed station, so as to realize multi-item linked operation, which can shorten the debugging cycle.

[0076] Further, in order to solve the problem of reference offset caused by unstable positioning of the robot to be detected during the detection and calibration process, please refer to Figures 4 to 5 , in this embodiment, the bearing assembly 2 further includes a positioning structure, the positioning structure includes a positioning convex portion 22 and a clamping portion 23, the positioning convex portion 22 is arranged on the top of the bearing portion 21, and is used for positioning and matching with the positioning hole at the bottom of the robot to be detected. The clamping portion 23 is arranged on the side of the bearing portion 21, the clamping portion 23 is movably arranged in the direction close to and away from the bearing portion 21 along the longitudinal direction, and is used for abutting against the side portion of the robot to be detected during the stroke of approaching the bearing portion 21.

[0077] It is understandable that the outer shape of the positioning convex portion 22 can be set to fit the positioning hole at the bottom of the robot to be detected. The positioning hole can utilize the existing screw hole of the robot to be detected, and there is no need to additionally process a special hole position. The positioning convex portion 22 is inserted into the positioning hole to realize the preliminary positioning of the robot to be detected in the front-rear and left-right directions, so as to limit its translational degree of freedom in the horizontal plane, and ensure that the whole machine accurately falls on the detection station in a preset posture.

[0078] In addition, the clamping portion 23 is arranged on the side of the bearing portion 21, and is movably mounted on the base 1 or the supporting structure of the bearing assembly 2 along the longitudinal direction, so that it can move in the direction close to and away from the bearing portion 21. After the robot to be detected completes the preliminary positioning through the positioning convex portion 22, the clamping portion 23 moves in the approaching direction until its end abuts against the side surface of the robot to be detected, so as to apply a lateral constraint to the robot body. Thus, through the combined action of the positioning convex portion 22 and the clamping portion 23, the robot to be detected is fixed in the horizontal direction, preventing it from displacing due to vibration or action of internal components during the detection process.

[0079] This specification does not limit the specific driving mode of the clamping portion 23, which can be manual knob adjustment, cylinder driving or cam structure pushing, and can also adopt the pre-pressing mode of the elastic member 3262 to realize the clamping action, and the specific structure can be flexibly configured according to the automation degree of the equipment.

[0080] Furthermore, the contact end of the clamping part 23 may be provided with a buffer pad or a contoured contact surface to adapt to the outer shell contour of different models and avoid damaging the surface. The number and arrangement of the clamping parts 23 can be set to one side or symmetrical double sides according to the shape characteristics of the robot to be tested; the specific form is not limited in the embodiments of this specification.

[0081] By cooperating with the positioning protrusion 22 and the clamping part 23, the robot under test can be quickly positioned and reliably fixed on the bearing part 21, thereby restricting its degree of freedom in the horizontal direction and preventing displacement caused by the start and stop of its own moving parts or external operation interference during the testing process. This allows obstacle crossing detection and sensor calibration to be carried out continuously based on the same mechanical reference, reducing measurement fluctuations caused by changes in the host position and improving data consistency between multiple tests.

[0082] Furthermore, to address the positioning compatibility issues caused by differences in the location of the bottom positioning holes or the height of the robot body among different models under inspection, please refer to [link to relevant documentation]. Figure 4 In this embodiment, the top of the support portion 21 is provided with a plurality of connection holes 21a, and the positioning protrusion 22 is detachably installed in the corresponding connection hole 21a; and / or, the clamping portion 23 is also movably provided in the vertical direction.

[0083] It should be noted that the connecting holes 21a can be arranged according to a preset array or according to the screw hole distribution pattern of common models, which can cover the bottom holes of various robots to be inspected.

[0084] The positioning protrusion 22 is detachably installed in the corresponding connecting hole 21a, for example, by means of threaded engagement, snap-fit ​​connection, or interference fit. When it is necessary to adapt to different models of robots to be inspected, the positioning protrusion 22 is removed and reinstalled into the connecting hole 21a corresponding to the screw hole position of the robot model, so that the positioning protrusion 22 can be accurately inserted into the positioning hole of the target model, realizing quick switching positioning between different models.

[0085] In addition to being movable longitudinally, the clamping part 23 is also designed to be movable vertically, making its height adjustable. The vertical adjustment of the clamping part 23 can be achieved through a slide rail with locking screws, a telescopic sleeve, or an electric push rod. By adjusting the height of the clamping part 23, its clamping end can correspond to the side wall position of different machine models, ensuring effective clamping of robots of different thicknesses or shell structures, and avoiding poor contact or insufficient clamping force caused by clamping too high or too low.

[0086] By setting a detachable positioning protrusion 22 and an adjustable clamping part 23, the bearing component 2 can flexibly adapt to the differences in positioning hole position and body height of different models of robots to be inspected, thereby enabling rapid model changeover and stable clamping when multiple models are produced on the same inspection equipment.

[0087] Specifically, please refer to Figures 4 to 5 In this embodiment, the detection mechanism 3 is disposed on one side of the support portion 21 in the lateral direction. The support portion 21 includes a support plate 211 and a movable plate 212. The support plate 211 supports the main body of the robot to be tested. The side edge of the support plate 211 is provided with a clearance groove, which corresponds to the obstacle-crossing wheels of the robot to be tested. The movable plate 212 is disposed in the clearance groove and is movably disposed in the vertical direction so that the obstacle-crossing wheels of the robot to be tested can be suspended in the air when moving downward.

[0088] Thus, when performing sensor calibration, the movable plate 212 is in an elevated state, and its top surface is flush or nearly flush with the top surface of the support plate 211, so that the robot under test is supported by the support plate 211 and the movable plate 212 together, and the whole machine is in a stable and horizontal calibration posture, thereby ensuring that each sensor completes calibration in its actual working posture.

[0089] When switching to obstacle-crossing wheel performance testing, the movable plate 212 moves downward, exiting the bearing surface height, causing the obstacle-crossing wheel to sink and suspend in the air, creating sufficient space for movement below the obstacle-crossing wheel. This suspended state allows the obstacle-crossing wheel to be driven by the swing arm, freely moving to the initial position, obstacle-crossing stop position, and end position, thus enabling complete acquisition of its height changes at different stages.

[0090] This manual does not limit the specific driving method and guide structure 4132 of the movable plate 212. It can be a sliding fit guide rail 41321, a guide post 3261 with a limiting groove, or a rotating and flipping structure to achieve clearance. The shape and size of the clearance groove can be designed according to the space size of the obstacle-crossing wheel, and the specific form can be adjusted according to the actual model. This manual does not limit the embodiments in this way.

[0091] By setting a clearance groove with a movable plate 212 on the support plate 211, the obstacle-crossing wheel can switch between the suspended state under the detection condition and the stable support under the calibration condition. This allows the obstacle-crossing wheel to have sufficient room to move during the detection process while keeping the overall positioning of the robot under test unchanged. This facilitates the simulation of real obstacle-crossing actions and the accurate acquisition of its motion parameters. At the same time, it ensures the stability of the whole machine and that all sensors are in normal working position during the calibration process. The whole process does not require adjustment of the host machine position, thereby improving the continuity of process transitions.

[0092] Specifically, please refer to Figure 6 In this embodiment, the detection mechanism 3 further includes a distance detection component 31, which includes a first driving device 311, a mounting base 312, a first distance measuring device 313, a second distance measuring device 314, and a third distance measuring device 315. The first driving device 311 has a first driving part that is movably arranged laterally. The mounting base 312 is fixedly connected to the first driving part. The first distance measuring device 313 and the second distance measuring device 314 are mounted on the mounting base 312 and are spaced apart longitudinally. The first distance measuring device 313 is used to measure the height of the obstacle-crossing wheel at its initial position, and the second distance measuring device 314 is used to measure the height of the obstacle-crossing wheel at its obstacle-crossing end position. The third distance measuring device 315 is mounted on the mounting base 312 and is used to measure the position of the outer side of the swing arm connected to the obstacle-crossing wheel when the obstacle-crossing wheel is in the obstacle-crossing stop position.

[0093] In the actual testing process, the robot to be tested can first be placed in a calibration state. The reference heights of the obstacle-crossing wheels at the initial position and the end position of obstacle crossing are recorded by the first ranging device 313 and the second ranging device 314, respectively, as the initial zero point. During subsequent obstacle crossing tests, the height data at the corresponding positions are collected again to calculate the deviation from the initial zero point during the actual movement. The third ranging device 315 records the lateral displacement of the swing arm at the obstacle crossing stop position in a similar manner, thereby reflecting the rotation angle or deformation of the swing arm under force.

[0094] The first ranging device 313, the second ranging device 314, and the third ranging device 315 are movable laterally along the mounting base 312. This allows the ranging devices to retract into a clearance area when ranging is not required or when other tests (such as rotational speed testing) are needed, thus avoiding interference with the subsequent testing mechanism 3. Simultaneously, this movable structure facilitates adjustment of the relative positions of each ranging device to the measured part to obtain the optimal measurement distance and angle.

[0095] This specification does not limit the specific structure of the first drive device 311. It can be driven by a motor in conjunction with a lead screw, cylinder, linear motor, or cam, etc. The ranging device can use non-contact measuring elements such as laser displacement sensor, infrared sensor, or ultrasonic sensor. The specific type can be selected according to the accuracy requirements and environmental conditions. This specification does not limit this in the embodiments.

[0096] By setting a laterally movable mounting base 312 and configuring multi-directionally distributed ranging devices on the mounting base 312, the height changes of the obstacle-crossing wheel at the initial position and the end position of obstacle crossing, as well as the lateral displacement of the connected swing arm at the obstacle-crossing stop position, can be measured stepwise or continuously. This allows for the acquisition of multiple key parameters during the obstacle crossing process based on the same clamping state. This enables obstacle crossing performance testing to be completed while the entire machine remains stationary, reducing positional deviations caused by repeated disassembly and assembly. At the same time, the ranging devices can be moved out of the testing area along with the mounting base 312 to avoid subsequent speed testing or other operating spaces, and to prevent interference with other testing modules.

[0097] Specifically, please refer to Figure 7 In this embodiment, the detection mechanism 3 includes a rotation speed detection component 32, which includes an encoder 321 and a transmission gear 322. The encoder 321 is connected to the base 1 and has a rotating shaft. The transmission gear 322 is coaxially connected to the rotating shaft and is used to mesh with the obstacle-crossing wheels of the robot to be tested.

[0098] Understandably, encoder 321 can be a rotary encoder 321, used to acquire the angular displacement and rotation frequency of the shaft in real time.

[0099] When the robot under inspection completes its positioning and the obstacle-crossing wheel is suspended in the air, the transmission gear 322 engages with the teeth of the obstacle-crossing wheel under driving or guiding action. During the rotation of the obstacle-crossing wheel, its motion is transmitted to the transmission gear 322 through the teeth, driving the encoder 321 shaft to rotate synchronously. The encoder 321 outputs pulse signals or angle data accordingly, thereby calculating the actual rotation speed, rotation direction, and cumulative rotation angle of the obstacle-crossing wheel.

[0100] This manual does not limit the meshing method between the transmission gear 322 and the obstacle-crossing wheel. The module, number of teeth, and outer diameter of the transmission gear 322 can be adapted according to the tooth profile parameters of common obstacle-crossing wheels. Multiple specifications of transmission gears 322 can also be configured to accommodate different machine models. The specific selection can be determined according to actual needs. The encoder 321 can be installed on the lateral side of the bearing part 21 for easy docking with the side of the obstacle-crossing wheel. Its height is adjustable to adapt to the installation height of obstacle-crossing wheels of different models. This manual does not limit this aspect in the embodiments.

[0101] The encoder 321 is coaxially connected to the transmission gear 322, and the transmission gear 322 is directly meshed with the obstacle-crossing wheel to realize the mechanical coupling transmission of the rotational motion of the obstacle-crossing wheel. This allows the rotational state of the obstacle-crossing wheel to be accurately reflected to the encoder 321, thus obtaining a continuous and stable speed signal.

[0102] For details, please continue reading Figure 7In this embodiment, the speed detection component 32 further includes a second drive device 323, a fixed base 324, a movable base 325, and a guide buffer structure. The second drive device 323 is mounted on the base 1 and has a second drive portion that is movably arranged longitudinally. The fixed base 324 is fixedly connected to the second drive portion. The movable base 325 is movably arranged vertically relative to the fixed base 324, and the movable base 325 is provided with a guide hole extending vertically. The guide buffer mechanism 326 includes a guide post 3261 extending vertically and passing through the guide hole, and an elastic member 3262 sleeved on the outer periphery of the guide post 3261, the elastic member 3262 being disposed between the fixed base 324 and the movable base 325.

[0103] Specifically, the second drive unit of the second drive device 323 is used to drive the subsequent components to move closer to or away from the obstacle-crossing wheel. The second drive device 323 can adopt common drive forms such as cylinders, electric push rods, or lead screw modules, and the specific structure is not limited in the embodiments of this specification. The fixed base 324 is fixedly connected to the second drive unit, serving as the supporting foundation for the speed detection component 32, and moves synchronously with the second drive unit.

[0104] The movable seat 325 is movably disposed relative to the fixed seat 324 in the vertical direction and has guide holes extending vertically. The guide buffer mechanism 326 includes a guide post 3261 and an elastic element 3262. The guide post 3261 is fixed to the fixed seat 324 in the vertical direction and passes through the guide hole of the movable seat 325, serving as a guide for vertical movement. The elastic element 3262 is sleeved on the outer periphery of the guide post 3261 and disposed between the fixed seat 324 and the movable seat 325. It adopts an elastic structure such as a compression spring, rubber pad, or elastic sleeve to provide preload and absorb impact.

[0105] When the second drive device 323 drives the fixed seat 324 to move longitudinally, the movable seat 325 first contacts the outer circumference of the obstacle-crossing wheel or the end face of the gear teeth. During the contact process, the movable seat 325 is subjected to force to compress the elastic element 3262 downward along the guide post 3261, generating a buffer to allow the transmission gear 322 to have a certain floating stroke in the vertical direction. This allows it to automatically adapt to the actual installation height of the obstacle-crossing wheel, avoiding gear tooth breakage or motor overload caused by hard impact. After the transmission gear 322 aligns with the gear tooth gap, the elastic element 3262 releases the preload, pushing the movable seat 325 upward, so that the transmission gear 322 can smoothly mesh.

[0106] By setting a second drive device 323 to drive the fixed seat 324 to feed longitudinally, and configuring a guide post 3261 and an elastic element 3262 between the fixed seat 324 and the movable seat 325, the transmission gear 322 can float up and down and buffer during the meshing process, so as to complete the smooth meshing even with assembly errors and reduce mechanical impact; at the same time, this structure can make obstacle-crossing wheels of different heights compatible, enhance the versatility of the equipment, and ensure the continuity and accuracy of speed signal acquisition.

[0107] Furthermore, to address the issue of measurement data distortion caused by ambient light interference and the influence of the transparent casing on light signal transmission during the calibration process of the robot's sensors, please refer to [link to relevant documentation]. Figures 1 to 2 In this embodiment, the detection device further includes a housing 5 and a light-shielding plate 6. The housing 5 is provided with a light-transmitting opening 5a, and the base 1 is disposed inside the housing 5. The light-shielding plate 6 is movably disposed at the light-transmitting opening 5a and is used to open and close the light-transmitting opening 5a.

[0108] Understandably, the base 1 is located inside the housing 5, and the mounting and supporting components 2, the detection mechanism 3, and the calibration mechanism 4 are all located inside the housing 5. The light-shielding plate 6 is movably disposed at the light-transmitting opening 5a and can move relative to the light-transmitting opening 5a to achieve opening or closing. The light-shielding plate 6 can be driven by sliding, flipping, or pushing and pulling, and its driving source can be manual operation, cylinder, motor, or electromagnetic device. The specific implementation method is not limited in the embodiments of this specification.

[0109] In the initial stage of sensor calibration, the light-shielding plate 6 is closed, and the light-transmitting opening 5a is sealed, creating a low-light or no-light environment (i.e., a dark field state) inside the casing 5. Under these conditions, the robot under test activates its built-in light-emitting sensors, such as infrared sensors, laser ranging modules, or optical coding sensors. The light beam emitted by the sensors passes through the robot's transparent casing, acts on a fixed reference surface, and returns. Since external light is blocked, the collected feedback signal mainly reflects the effect of the transparent casing on light intensity attenuation, scattering, or refraction. This allows the measurement of the deviation introduced by the casing, which is then recorded as a compensation parameter in the control system.

[0110] Subsequently, the light-shielding plate 6 is opened, and the light-transmitting port 5a is opened, allowing external ambient light or simulated lighting sources to enter the housing 5, forming a calibration environment that simulates the actual use environment. Under this light condition, the control system calls the previously acquired compensation parameters to correct the original sensor signal, and uses the reflectivity target surface set by the calibration mechanism 4 as a reference to complete the formal calibration of the sensor.

[0111] Understandably, the reflectivity target surface can be configured with areas of different reflective properties to simulate real-world usage scenarios such as floors, carpets, and dark walls, so that the sensor can establish accurate response thresholds and distance relationships under various background conditions.

[0112] By setting a light-transmitting port 5a in the housing 5 and configuring a movable light-shielding plate 6, the lighting environment in the detection space can be switched. This allows for the measurement of the interference of the transparent housing on the sensor signal under dark conditions, and the calibration can be completed in normal light conditions by combining this compensation value, so that the sensor calibration results are closer to the actual use conditions. The entire process is carried out continuously at the same station without disassembling the main unit, so as to ensure the consistency of the reference and improve the calibration accuracy and environmental adaptability.

[0113] Specifically, please refer to Figures 8 to 9 In this embodiment, the calibration mechanism 4 includes a first calibration mechanism 41 and a second calibration mechanism 42. The first calibration mechanism 41 is used to perform edge calibration and detection on the first sensor located on the side of the robot to be tested, and the second calibration mechanism 42 is used to perform downward calibration and detection on the second sensor located at the bottom of the robot to be tested.

[0114] Specifically, the first calibration mechanism 41 and the second calibration mechanism 42 perform calibration and detection functions for sensors at different locations. It is understood that the first sensor is an infrared proximity sensor or a laser ranging module, used to detect the distance to lateral obstacles. The second calibration mechanism 42 is located on the bottom of the robot under test and is used to perform downward-looking calibration and detection of the second sensor mounted on its bottom surface. The second sensor is a cliff detection sensor, a ground recognition sensor, or a coding-assisted optical sensor.

[0115] Both the first calibration mechanism 41 and the second calibration mechanism 42 are equipped with a reference target surface, which serves as a calibration reference standard. During the calibration process, the robot to be tested is first positioned on the carrier 21, the sensor to be calibrated is activated, causing it to emit a detection signal (such as infrared light, laser, or ultrasound) to the corresponding reference target surface and receive the return signal. The distance measurement value or response intensity at this time is recorded as reference data.

[0116] Subsequently, the sensor is switched to measure other target surfaces with different reflectivities, such as high-reflectivity, low-reflectivity, or textured simulated surfaces, to obtain the corresponding signal responses. The control system compares the current measurement value with the calibration data under the aforementioned reference target surface to determine whether the deviation is within the allowable error range, thereby verifying the sensor's linearity, sensitivity, and environmental adaptability, and achieving parameter correction.

[0117] By setting up separate first calibration mechanism 41 and second calibration mechanism 42, independent and accurate calibration of the side and bottom sensors of the robot to be inspected can be achieved, thereby enabling the calibration of multi-directional sensing units to be completed in the same inspection process.

[0118] Specifically, because the side sensors of the robot under test need to measure compensation parameters in an unobstructed state during calibration, and also need to be aligned with the calibration target at a specific distance to complete the formal calibration, please refer to [link to relevant documentation]. Figure 8 In this embodiment, the first calibration mechanism 41 includes a first base 411 and an extended calibration target group 412. The first base 411 is movably mounted laterally on the base 1 and is located on the side of the bearing portion 21 in the lateral direction. The extended calibration target group 412 is movably arranged vertically to have a first detection position and a second detection position during its movement. In the first detection position, the extended calibration target group 412 is laterally offset from the first sensor, and in the second detection position, the extended calibration target group 412 is laterally aligned with the first sensor.

[0119] The calibration target assembly 412 is mounted on the first base 411 and is movably installed vertically, allowing its height to be adjusted. The calibration target assembly 412 has two key positions during its movement: a first detection position and a second detection position. In the first detection position, the calibration target assembly 412 is moved downwards or laterally, offset laterally from the first sensor, thus not being in the sensor's detection optical path, providing the sensor with unobstructed free space. In this state, the first sensor can emit light and collect no-load signals to measure compensation parameters such as optical path offset and attenuation caused by the transparent outer shell or internal structure of the fuselage.

[0120] At the second detection position, the edge calibration target group 412 rises or moves to the position corresponding to the first sensor, aligning its calibration surface with the sensor's detection direction to form a preset detection distance. In this state, the sensor transmits a signal to the edge calibration target group 412 and receives reflected feedback. The control system compares the measured distance value with the known physical distance to determine whether the deviation is within the allowable range, thereby completing zero-point calibration or response threshold setting.

[0121] By setting the first calibration mechanism 41 as a structure that can move laterally and enabling the edge calibration target group 412 to be adjusted vertically, it is possible to flexibly switch between non-detection and detection positions. This allows the calibration work to be completed step by step while keeping the robot under test in a fixed position. The entire process is carried out continuously at the same workstation without adjusting the host posture, thereby reducing positioning fluctuations caused by repeated clamping and ensuring that the acquisition of compensation parameters and formal calibration are based on the same reference.

[0122] For details, please continue reading Figure 8 In this embodiment, the edge calibration target group 412 includes a first connecting seat 4121 and a plurality of first target surfaces 4122 connected to the first connecting seat 4121. The plurality of first target surfaces 4122 are set with different reflectivities and are arranged at intervals along the circumference of the first connecting seat 4121. The first connecting seat 4121 is rotatably arranged around a rotation axis extending laterally, so that the plurality of first target surfaces 4122 can be sequentially aligned with the first sensor in the lateral direction.

[0123] Multiple first target surfaces 4122 are connected to the first connecting base 4121 and are arranged at intervals along its circumference. Each first target surface 4122 has different reflectivity characteristics to simulate various obstacle surfaces encountered in actual use environments. For example, one first target surface 4122 is a white target surface with 79% reflectivity, and its size can be set to 10×10cm, serving as a reference calibration surface to establish the standard ranging response of the sensor; another first target surface 4122 is a black target surface with 2.5% reflectivity, used to test the sensor's recognition capability and signal stability in low-reflectivity scenarios; and yet another first target surface 4122 is a gray target surface with 18% reflectivity, used to supplement calibration data under medium-low reflectivity conditions.

[0124] By controlling the first connecting seat 4121 to rotate around the rotation axis, multiple first target surfaces 4122 can be rotated sequentially to a position laterally aligned with the first sensor, i.e., the aforementioned second detection position. Each switch only requires rotating a preset angle to accurately deliver the target surface into the sensor's detection range, thereby achieving rapid switching and continuous testing under different reflectivity conditions.

[0125] By integrating multiple first target surfaces 4122 with different reflectivities onto a rotatable first connecting seat 4121, orderly switching of each target surface can be achieved, thereby enabling the sensor to complete the response verification of high-reflectivity, medium-reflectivity, and low-reflectivity surfaces in the same detection process. Combined with the adjustment functions of avoidance position and calibration position, the sensor can first acquire compensation parameters and then complete the comparison test on multiple standard target surfaces, thereby improving the calibration coverage and environmental adaptability.

[0126] This specification does not limit the number, arrangement order, or specific reflectivity value of the first target surface 4122. The types of target surfaces can be increased or decreased according to actual calibration requirements. The target surface shape can be square, circular, or rectangular, and the size can also be adjusted according to the sensor's field of view. The rotation angle of the first connecting seat 4121 can be set with a limit structure or coded feedback to ensure positioning accuracy. The specific implementation method is not limited in the embodiments of this specification.

[0127] Furthermore, to achieve precise setting of the detection distance between the side sensor and the calibration target, please refer to [link / reference needed]. Figure 8In this embodiment, the first calibration mechanism 41 further includes a lateral adjustment mechanism 413. The lateral adjustment mechanism 413 includes a lead screw and nut assembly 4131 and a guide structure 4132. The lead screw and nut assembly 4131 includes a laterally extending lead screw 41311 and a nut 41312 threadedly engaged with the lead screw 41311. The lead screw 41311 is rotatably mounted on the base 1 around its axis, and a handwheel 41313 is provided at one end of the lead screw 41311. The guide structure 4132 is longitudinally spaced from the lead screw and nut assembly 4131. The guide structure 4132 includes a laterally extending guide rail 41321 and a slider 41322 slidably engaged with the guide rail 41321. The slider 41322 is fixedly connected to the nut 41312 and connected to the first base 411 to drive the first base 411 to move laterally.

[0128] Because a handwheel 41313 is provided at one end of the lead screw 41311, manually rotating the handwheel 41313 can drive the lead screw 41311 to rotate. The nut 41312 is threadedly engaged with the lead screw 41311 and connected to the first seat 411. When the lead screw 41311 rotates, the nut 41312 moves along its axial direction, thereby causing the first seat 411 to move laterally closer to or further away from the bearing part 21. This lead screw 41311 and nut 41312 structure can achieve continuous and stable linear adjustment, and the adjustment accuracy is determined by the lead of the lead screw 41311, thus meeting the distance control requirements of high-precision calibration.

[0129] The slider 41322 is fixedly connected to the nut 41312 and synchronously connected to the first seat 411 to provide guiding support for the movement of the first seat 411, ensuring that its movement trajectory is straight and avoiding deflection or jamming.

[0130] This manual does not limit the specific parameters of the lead screw 41311 or the structural form of the handwheel 41313, nor does it limit the specific types of the guide rail 41321 and the slider 41322. Common guide structures 4132 such as linear guide rail 41321 and cylindrical guide rod can be selected according to the actual spatial layout and accuracy requirements. The specific implementation method is not limited in the embodiments of this manual.

[0131] By rotating the handwheel 41313 to drive the lead screw 41311, the first base 411 and its extended calibration target group 412 are moved laterally, thereby accurately setting the physical distance between the first sensor and the target surface. This distance serves as a known benchmark and is used to compare with the values ​​measured by the sensor to complete the calibration of the ranging accuracy.

[0132] Specifically, please refer to Figure 9In this embodiment, the second calibration mechanism 42 includes a second base 421 and a downward-looking calibration target group 422. The second base 421 is movably mounted on the base 1 in the vertical direction and is located on one side of the support portion 21 in the longitudinal direction. The downward-looking calibration target group 422 is located below the support portion 21 and has a clearance groove 422a. The downward-looking calibration target group 422 is rotatably arranged around a rotation axis extending in the vertical direction so that it has a third detection position and a fourth detection position in its active stroke. In the third detection position, the downward-looking calibration target group 422 is aligned with the clearance groove 422a in the vertical direction. In the fourth detection position, the downward-looking calibration target group 422 is aligned with the second sensor in the vertical direction.

[0133] Thus, at the third detection position, the clearance slot 422a and the second sensor are aligned vertically. The light beam emitted by the sensor passes through the clearance slot 422a, with no reflective surface in front, forming a free light path. In this state, the sensor's no-load signal is acquired to obtain the initial deviation caused by the transparent outer shell of the fuselage and to generate compensation parameters.

[0134] At the fourth detection position, the downward-looking calibration target group 422 rotates until its calibration surface is directly below the second sensor, forming a preset physical distance. The sensor emits signals to the target surface and receives feedback. The control system compares the measured value with the known distance to complete the calibration of the ranging accuracy.

[0135] This specification does not limit the shape, size, or reflectivity configuration of the clearance slot 422a or the target group, nor does it limit the specific arrangement of the rotation axis. It can be flexibly adjusted according to the sensor layout and calibration requirements. The specific implementation form is not limited in the embodiments of this specification.

[0136] By coordinating the lifting and lowering of the second seat 421 with the rotation of the downward-looking calibration target group 422, the on / off control of the optical path and the calibration of the standard distance can be realized, thus enabling the extraction of compensation parameters and formal calibration to be completed step by step while the main unit remains stationary.

[0137] For details, please continue reading Figure 9 In this embodiment, the downward calibration target group 422 includes a second connecting seat 4221 and a plurality of second target surfaces 4222 connected to the second connecting seat 4221. The plurality of second target surfaces 4222 are configured with different reflectivities and are arranged at intervals along the circumference of the second connecting seat 4221. The second connecting seat 4221 is rotatably configured about a rotation axis extending in the vertical direction, so that the plurality of second target surfaces 4222 can be sequentially aligned with the second sensor in the vertical direction.

[0138] Specifically, each second target surface 4222 has different reflectivity characteristics to simulate the actual ground environment. For example, one second target surface 4222 is a gray target surface with 18% reflectivity, and its size can be set to 15×15cm, serving as a reference calibration surface; another second target surface 4222 is a black target surface with 2.5% reflectivity, used to test the sensor's working stability on low-reflectivity surfaces; and yet another second target surface 4222 is a white target surface with 79% reflectivity, used to verify the ranging accuracy under high-reflectivity conditions.

[0139] By controlling the second connecting seat 4221 to rotate around the rotation axis, multiple second target surfaces 4222 can be rotated sequentially to positions aligned with the second sensor in the vertical direction, i.e., the aforementioned fourth detection position. Each rotation by a preset angle can accurately deliver the target surface into the sensor's detection range.

[0140] By integrating multiple second target surfaces 4222 with different reflectivities onto a rotatable second connecting seat 4221, orderly switching of each target surface can be achieved, thereby enabling the sensor to complete the response verification of high-reflectivity, medium-reflectivity, and low-reflectivity ground at the same workstation; combined with the unobstructed optical path provided by the clearance slot 422a, compensation parameter acquisition and multi-condition calibration can be achieved in steps, improving the sensor's adaptability and ranging reliability in complex ground environments.

[0141] This specification does not limit the number, arrangement order, specific size, or reflectivity value of the second target surface 4222, which can be adjusted according to actual calibration requirements; the rotation angle of the second connecting seat 4221 can be set with a positioning groove or coded feedback to ensure repeatability accuracy, and the specific structural form is not limited in the embodiments of this specification.

[0142] Further, please refer to Figure 4 In this embodiment, the supporting part 21 extends outward in a partial manner to the side near the downward calibration target group 422, so as to form a clearance area 2b on both sides of the extension part 213. The extension part 213 is used to support the robot to be tested, and the clearance area 2b is aligned with the second sensor vertically.

[0143] It should be noted that the support portion 21 extends outward in a partial manner to form an extension portion 213 on the side near the downward-facing calibration target group 422. This extension portion 213 is arranged laterally to support the rollers under the front of the robot under test. The robot under test typically has support rollers in the center of the front bottom to maintain the stability of the overall posture, while the second sensors are distributed on both sides of the rollers. By providing the extension portion 213, it can contact and cooperate with the support rollers to provide stable support and prevent the robot from tilting forward or swaying.

[0144] Clearance areas 2b are naturally formed on both sides of the extension 213, and these clearance areas 2b are arranged corresponding to the second sensor in the vertical direction. When the robot to be tested is positioned on the support 21, the second sensor faces the clearance area 2b below, and the light beam or signal emitted by the sensor can propagate vertically downward without being blocked by the structure of the support 21.

[0145] When the current-view calibration target group 422 rotates to align the calibration surface with the second sensor, the calibration surface is located within the clearance area 2b, at a preset distance directly below the sensor, thus enabling accurate distance comparison and response calibration. Simultaneously, in the third detection position, the clearance slot 422a aligns with the clearance area 2b, further ensuring an unobstructed state.

[0146] This specification does not limit the specific dimensions, extension length, or cross-sectional shape of the extension 213. It can be adapted to the roller position and body contour of different models. The width and depth of the clearance area 2b can also be adjusted according to the sensor's field of view and installation position. The specific structural form is not limited in the embodiments of this specification.

[0147] By providing an extension 213 to support the front rollers of the robot under test in the bearing section 21, and forming clearance areas 2b on both sides, the second sensor has sufficient detection space, so that the downward calibration operation can be completed under the premise of ensuring the stable support of the whole machine; thereby achieving a coordinated layout of structural support and optical detection, and improving the stability and reliability of the calibration process.

[0148] Further, please refer to Figure 3 In this embodiment, the base 1 is provided with a hollow area 1a, and the hollow area 1a and the clearance area 2b are aligned vertically and upwardly.

[0149] Thus, when the robot to be tested is positioned on the support part 21, the beam emitted by its second sensor passes through the open area 2b and the hollow area 1a in sequence, forming a continuous and unobstructed vertical light path.

[0150] The cutout area 1a can be rectangular, circular, or polygonal, for example, a space of 50cm × 50cm × 60cm, which is sufficient to cover the sensor's field of view and the activity space of the calibration target group. This manual does not limit the specific shape, size, or position of the cutout area 1a, and it can be adaptively designed according to the sensor layout and detection range of different models of robots to be tested.

[0151] The hollowed-out area 1a ensures that the downward-looking calibration target group 422 is not interfered with by the base 1 during lifting or rotation. Furthermore, the beam path remains unobstructed when switching between the third and fourth detection positions, avoiding measurement errors caused by structural obstruction. This allows for multi-stage downward-looking calibration without changing the host's attitude, ensuring that compensation parameter acquisition and formal calibration are performed under real working conditions.

[0152] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A testing device, characterized in that, include: Base (1); A support component (2) is disposed on the base (1) and includes a support part (21) for supporting the robot to be tested; The testing mechanism (3), located on the base (1), is used to test the test position height and rotation speed of the obstacle-crossing wheels of the robot under test, which are placed on the support (21); and, A calibration mechanism (4) is provided on the base (1) for calibrating and testing the sensors of the robot to be tested, which are placed on the support (21).

2. The detection device as described in claim 1, characterized in that, The supporting component (2) further includes a positioning structure, the positioning structure comprising: A positioning protrusion (22) is provided on the top of the bearing portion (21) for positioning and engaging with the positioning hole on the bottom of the robot to be tested; and, A clamping part (23) is provided on the side of the support part (21). The clamping part (23) is movably provided in the longitudinal direction in the direction of approaching and away from the support part (21) for abutting against the side of the robot to be tested during the stroke near the support part (21).

3. The detection device as described in claim 2, characterized in that, The top of the support part (21) is provided with a plurality of connecting holes (21a), and the positioning protrusion (22) is detachably installed in the corresponding connecting hole (21a).

4. The detection device as described in claim 2, characterized in that, The clamping part (23) is also movably provided in the vertical direction.

5. The detection device as described in claim 1, characterized in that, The detection mechanism (3) is located on one side of the bearing part (21) in the horizontal direction; The supporting part (21) includes: A support plate (211) is provided for supporting the main body of the robot to be tested. A clearance groove is provided on the side edge of the support plate (211), and the clearance groove corresponds to the obstacle-crossing wheels of the robot to be tested; and... An active plate (212) is provided in the clearance groove. The active plate (212) is movably provided in the vertical direction so that the obstacle-crossing wheels of the robot under test can be suspended in the air when it moves downward.

6. The detection device as described in claim 5, characterized in that, The detection mechanism (3) further includes a distance detection component (31), which includes: The first drive unit (311) has a first drive section that is movably disposed in the lateral direction; Mounting base (312) is fixedly connected to the first drive unit; A first ranging device (313) and a second ranging device (314) are mounted on the mounting base (312) and spaced apart longitudinally. The first ranging device (313) is used to measure the height of the obstacle-crossing wheel at its initial position, and the second ranging device (314) is used to measure the height of the obstacle-crossing wheel at its final obstacle-crossing position. The third ranging device (315) is installed on the mounting base (312) and is used to measure the position of the outer side of the swing arm connected to the obstacle-crossing wheel when the obstacle-crossing wheel is in the obstacle-crossing stop position.

7. The detection device as described in claim 5, characterized in that, The detection mechanism (3) includes a rotational speed detection component (32), which includes: An encoder (321) is connected to the base (1), the encoder (321) having a rotating shaft; and, The transmission gear (322) is coaxially connected to the rotating shaft and is used to mesh with the obstacle-crossing wheel of the robot to be tested.

8. The detection device as described in claim 7, characterized in that, The rotational speed detection component (32) also includes: The second drive unit (323) is mounted on the base (1) and has a second drive section that is movably arranged in the longitudinal direction; The mounting base (324) is fixedly connected to the second drive unit; A movable base (325) is movably disposed vertically relative to the fixed base (324), and the movable base (325) is provided with guide holes extending vertically; and, The guide buffer mechanism (326) includes a guide post (3261) extending vertically and passing through the guide hole, and an elastic member (3262) sleeved on the outer periphery of the guide post (3261), wherein the elastic member (3262) is disposed between the fixed seat (324) and the movable seat (325).

9. The detection device as described in claim 1, characterized in that, The detection equipment also includes: The housing (5) is provided with a light-transmitting opening (5a), and the base (1) is disposed inside the housing (5); and, A light-shielding plate (6) is movably disposed at the light-transmitting opening (5a) for opening and closing the light-transmitting opening (5a).

10. The detection device as described in claim 1, characterized in that, The calibration mechanism (4) includes a first calibration mechanism (41) and a second calibration mechanism (42). The first calibration mechanism (41) is used to perform edge calibration and detection on the first sensor located on the side of the robot to be tested, and the second calibration mechanism (42) is used to perform downward calibration and detection on the second sensor located at the bottom of the robot to be tested.

Images