CN114967636A - Simulation detection method for robot power supply controller - Google Patents

Abstract

The invention discloses a simulation detection method for a robot power controller, which comprises the following steps: the analog ADC sampling module controls a power supply port of the robot power supply controller to generate an analog signal and collects the analog signal; the processing module judges whether the robot power supply controller meets the preset requirement or not according to the analog signal acquired by the analog ADC sampling module; the processing module outputs simulation detection data through the display module, and the simulation detection data comprise a judgment conclusion that whether the processing module meets the preset requirements on the robot power supply controller. According to the technical scheme, whether the power supply controller meets the factory design requirements or not can be verified on the premise that the power supply controller is not detached, the mode of manually recording data can be replaced, and the test quality and the test efficiency of a product can be greatly improved.

Description

Simulation detection method for robot power supply controller

Technical Field

The invention relates to the technical field of simulation detection, in particular to a simulation detection method for a robot power supply controller.

Background

With the development of science and technology and social economy, robots are more and more commonly used, such as sweeping robots, nursing robots and the like. In order to ensure the normal operation of the robot, a power supply controller is arranged on the robot, and the power supply controller of the robot controls a battery pack to provide power for the robot. When leaving the factory, the power supply controller needs to be tested to simulate the actual use condition, and the prior manual test and record are generally carried out by testers, so that the efficiency is low.

Disclosure of Invention

Therefore, a simulation detection method for a robot power controller needs to be provided, so that the problem of low efficiency of testing the robot power controller is solved.

In order to achieve the above object, the present invention provides a simulation detection method for a robot power controller, comprising the steps of:

the analog ADC sampling module controls a power supply port of the robot power supply controller to generate an analog signal and collects the analog signal;

the processing module judges whether the robot power supply controller meets the preset requirement or not according to the analog signal acquired by the analog ADC sampling module;

the processing module outputs simulation detection data through the display module, and the simulation detection data comprise a judgment conclusion that whether the processing module meets the preset requirements on the robot power supply controller.

Further, the method also comprises the following steps:

the processing module sends an instruction to the robot power controller through the data communication module, the instruction comprises an instruction for reading internal diagnosis information of the robot power controller, the internal diagnosis information of the power controller comprises one or more of electric quantity of a battery pack, charging voltage of the battery pack, charging current of the battery pack, discharging current of the battery pack, charging time of the battery pack and discharging time of the battery pack, and the simulation detection data further comprises the internal diagnosis information of the robot power controller.

Further, the instruction also comprises a simulation module starting detection instruction and/or a data communication module detection instruction and/or an automatic charging communication module detection instruction and/or a simulation module awakening detection instruction;

the detection instruction of the starting simulation module is used for detecting whether the starting simulation module is abnormal or not, the detection instruction of the data communication module is used for detecting whether the data communication module is abnormal or not, the detection instruction of the automatic charging communication module is used for detecting whether the automatic charging communication module is abnormal or not, and the detection instruction of the awakening simulation module is used for detecting whether the awakening simulation module is abnormal or not.

Further, the power supply port comprises an emergency charging port and/or an automatic charging port and/or a battery pack port and/or a 24V output port and/or a power output port and/or a 12V input port.

Further, the method also comprises the following steps:

the processing module controls the automatic charging port to be opened or closed through the automatic charging communication module.

Further, the method also comprises the following steps:

and the processing module controls the robot power supply controller to supply power to the load module through the power output port.

Further, the method also comprises the following steps:

the processing module switches an emergency charging port, an automatic charging port or a battery pack port through the relay module.

Further, the method also comprises the following steps:

and when the processing module outputs abnormal simulation detection data through the display module, the processing module also sends out an alarm through the alarm module.

Further, the method also comprises the following steps:

and the processing module wakes up the robot power controller through the wake-up simulation module.

Further, the method also comprises the following steps:

the processing module controls an ammeter of the robot power supply controller to carry out zero value calibration through the current calibration module, and the ammeter of the robot power supply controller is used for detecting current of the power supply port.

The robot power supply controller is characterized in that the processing module controls a power supply port of the power supply controller to generate an analog signal according to the parameter to simulate the actual use of the power supply controller, the processing module judges whether the power supply controller meets the preset requirement or not according to the analog signal, the analog signal can be voltage or current, whether the power supply controller meets the standard or not is judged according to the value of the analog signal, and the robot power supply controller is output to the display module to be consulted by a user according to the preset requirement. Therefore, the simulation detection system can verify whether the power supply controller meets the factory design requirements on the premise of not disassembling the power supply controller, not only can replace a mode of manually recording data, but also can greatly improve the test quality and the test efficiency of products.

Drawings

FIG. 1 is a schematic structural diagram of a simulation inspection system in this embodiment;

fig. 2 is a schematic structural diagram of the simulation detection system and the robot power controller in this embodiment;

FIG. 3 is a schematic structural diagram of a second DC-DC module, a third DC-DC module and a fourth DC-DC module in the present embodiment;

FIG. 4 is a diagram of one of the display frames of the display module according to the embodiment;

FIG. 5 is a second display frame of the display module of the present embodiment;

fig. 6 is a flowchart of the simulation test system in this embodiment.

Description of reference numerals:

10. simulating a test system;

101. an analog ADC sampling module;

102. a processing module;

103. a display module;

104. a relay module;

1041. a first relay; 1042. a second relay; 1043. a third relay; 1044. a fourth relay;

105. an automatic charging communication module;

106. a data communication module;

107. an alarm module; 1071. an OK lamp; 1072. an NG lamp; 1073. a buzzer;

108. a load module;

109. an AC adapter;

110. an anti-reverse module;

111. a first DC-DC module;

112. a second DC-DC module;

113. a key module;

114. awakening the simulation module;

115. starting a simulation module;

20. a robot power controller;

201. a 16PIN interface;

202. a third DC-DC module;

203. and the DC-DC module IV.

Detailed Description

In order to explain in detail possible application scenarios, technical principles, practical embodiments, and the like of the present application, the following detailed description is given with reference to the accompanying drawings in conjunction with the listed embodiments. The embodiments described herein are merely for more clearly illustrating the technical solutions of the present application, and therefore, the embodiments are only used as examples, and the scope of the present application is not limited thereby.

Referring to fig. 1 to 5, the present embodiment provides a simulation detection system for a robot power controller, which includes an analog ADC sampling module 101, a processing module 102, and a display module 103. The simulation ADC sampling module 101 is used for being connected with a power supply port of the robot power controller 20, the simulation ADC sampling module 101 controls the power supply port of the robot power controller 20 to generate a simulation signal, and the simulation signal is collected and is analog voltage or analog current. The processing module 102 is connected to the analog ADC sampling module 101, and the processing module 102 is configured to determine whether the robot power controller 20 meets a preset requirement according to the analog signal. The display module 103 is connected to the processing module 102, and the processing module 102 is configured to output simulation detection data through the display module 103, where the simulation detection data includes a judgment conclusion that whether the processing module 102 meets a preset requirement for the robot power controller 20, for example: the robot power controller 20 meets the preset requirements and may be represented by a code, such as numeral 0; or: the robot power controller 20 does not meet the predetermined requirements and may be indicated by a code, such as numeral 1.

In the technical scheme, the processing module controls the power supply port of the power supply controller to generate an analog signal according to the parameter so as to simulate the actual use of the power supply controller, the processing module judges whether the power supply controller meets the preset requirement or not according to the analog signal, the analog signal can be voltage or current, whether the analog signal meets the standard or not is judged according to the numerical value of the analog signal, and the robot power supply controller meets the preset requirement and is output to the display module for the user to look up. Therefore, the simulation detection system can verify whether the power supply controller meets the factory design requirements on the premise of not disassembling the power supply controller, not only can replace a mode of manually recording data, but also can greatly improve the test quality and the test efficiency of a product.

In this embodiment, the simulation detection data includes one or more of a determination conclusion whether the power controller meets a preset requirement, a value of the analog signal, a type of the power supply port, a voltage state of the power supply port, a current state of the power supply port, an electric quantity of the battery pack, a charging state of the battery pack (e.g., uncharged, in automatic charging, in emergency charging, fully charged, charging voltage, charging current), a charging time of the battery pack, a discharging current of the battery pack, and a signal check of the data communication module. When the processing module 102 outputs the simulation test data through the display module 103, a simulation test report can be formed from the multiple simulation test data, so that the user can view and analyze the simulation test report.

Referring to fig. 2, in the present embodiment, the power supply port is a port through which the robot power controller 20 communicates with an external device. The power supply ports comprise an emergency charging port and/or an automatic charging port and/or a battery pack port and/or a 24V (Volt, chinese translated to Volt, belonging to voltage unit) output port and/or a power output port and/or a 12V (Volt, voltage unit) input port, and the power supply port can be a combination of one or more of the above seven power supply ports. Preferably, the power supply port has the seven ports, so that the analog ADC sampling module 101 can obtain analog signals from the emergency charging port, the automatic charging port, the battery pack port, the 24V output port, the power output port, the 12V output port, and the 12V input port, and then send the analog signals to the processing module 102, and the processing module 102 can determine whether the robot power controller 20 meets the preset requirement by determining whether the change of the analog voltage is consistent with the preset requirement.

Suppose one: the theoretical value of the voltage value of the emergency charging port is 24V, when the analog voltage of the emergency charging port fluctuates in the interval of 20V to 28V, the processing module 102 determines that the emergency charging port is normal, and when the analog voltage of the emergency charging port is smaller than 20V (excluding 20V) or larger than 28V (excluding 28V), the processing module 102 determines that the emergency charging port is abnormal; if an abnormal condition occurs, it indicates that the robot power controller 20 does not meet the preset requirements.

Assume two: the theoretical value of the voltage value of the 12V output port is 12V, when the analog voltage of the 12V output port fluctuates in a range from 9V to 16V, the processing module 102 determines that the 12V output port is normal, and when the analog voltage of the 12V output port is smaller than 9V (excluding 9V) or larger than 16V (excluding 16V), the processing module 102 determines that the 12V output port is abnormal; if an abnormal condition occurs, it indicates that the robot power controller 20 does not meet the preset requirement.

The rest of the power supply ports are similar, and are not described herein, and the detection of other modules can also be applied to the above determination method.

Referring to fig. 2, in the present embodiment, the 24V output port and the power output port may be two ports on a DC-DC module three 202 of the robot power controller 20, the DC-DC module three 202 has one input end and is connected to the output end of the DC-DC module one 111, the 24V output port of the DC-DC module three 202 is connected to the input end of the DC-DC module two 112, and the power output port of the DC-DC module three 202 is connected to the power motor of the robot. And the power motor drives the robot to move. The robot generally comprises a left wheel and a right wheel, wherein the left wheel is connected with a power motor, the right wheel is also connected with a power motor, and the robot power controller 20 supplies power to the two power motors through a power output port.

Referring to fig. 2 and 3, in this embodiment, the 12V output port and the 12V input port may be two ports on a DC-DC module four 203 of the robot power controller 20, a DC-DC module three 202 inputs a voltage of 24V to an input terminal of a DC-DC module two 112, the DC-DC module two 112 converts the voltage of 24V into a voltage of 12V, and transmits the voltage to the 12V input port through an output terminal thereof, and then the 12V output port is used for connecting with components such as a sensor, a screen, a controller, and a light controller on the robot.

In this embodiment, the robot has automatic charging mode, and the robot can track the position of filling electric pile automatically and be connected with filling electric pile, fills electric pile and supplies power to the battery package of robot. The user can send a charging starting signal to the robot through the program, the robot receives an automatic charging instruction and then automatically tracks the position of the charging pile and is connected with the charging pile, or the robot automatically tracks the position of the charging pile and is connected with the charging pile after finishing work.

Referring to fig. 1 and fig. 2, in the present embodiment, the simulation detection system further includes an automatic charging communication module 105. The automatic charging communication module 105 is connected to the processing module 102, and the processing module 102 is configured to activate an automatic charging logic of the robot power controller 20 through the automatic charging communication module 105, that is, control an automatic charging port to be opened or closed. One automatic charging communication module 105 is provided in the simulation test system, and the other automatic charging communication module 105 is connected to the robot power controller 20 through a wire. The processing module 102 may activate the automatic charging logic of the robot power controller 20 through the automatic charging communication module 105, so as to simulate the robot to perform automatic charging.

Preferably, the automatic charging communication module 105 is an infrared transceiving communication module, which has high sensitivity and high anti-interference capability, and does not react to ambient light, electromagnetic interference, interference of power supply voltage, and the like. In some embodiments, the automatic charging communication module 105 may also be a bluetooth module, a Wi-Fi (wireless communication technology) module, an RFID (Radio Frequency Identification) module, or the like.

Referring to fig. 2, in the embodiment, the robot has an emergency charging mode, which is a safety measure to prevent the robot from being unable to charge and affecting the use of the user. When a charging electrode fault of the charging pile or an automatic charging function fault of the vehicle occurs, the charging scheme is changed from an automatic charging mode to an emergency charging mode. The emergency charging mode is that the emergency charging line matched with the charging pile is used for connecting the emergency charging port of the charging pile with the emergency charging port of the robot and charging the robot battery pack. The power of the simulation detection system is output to the emergency charging port, so that the emergency charging port generates charging voltage, and the purpose of simulating automatic charging is achieved. The power of the simulation detection system is output and converted through the relay module 104 to charge the battery pack.

Referring to fig. 2, in the present embodiment, the power output port is connected to a load module 108, the load module 108 is connected to the power output port, and the processing module 102 is configured to perform a discharging aging test on the power controller through the load module 108. The load module 108 may be a resistor or a plurality of resistors, and the plurality of resistors may be connected in series or in parallel. For example, two 10 ohm resistors may be used in parallel, each having 100 watts of power; three 10 ohm resistors, each 120 watts in power, may be used in parallel.

In some embodiments, the load module may be an electric device such as a motor, which may rapidly consume electric energy from a battery pack of the robot.

Referring to fig. 2, in this embodiment, the emergency charging port, the automatic charging port, or the battery pack port is not generally turned on at the same time, the simulation detection system further includes a relay module 104, the relay module 104 is configured to switch the emergency charging port, the automatic charging port, or the battery pack port, and the relay module 104 controls one of the emergency charging port, the automatic charging port, and the battery pack port to be turned on, and controls the other two of the emergency charging port, the automatic charging port, and the battery pack port to be turned off. A relay is an electric control device that generates a predetermined step change in a controlled amount in an electric output circuit when a change in an input amount (excitation amount) meets a predetermined requirement. The relay module 104 is actually used as a switch, and functions as a switching circuit in the circuit.

In some embodiments, the relay module may be replaced by an SSR solid state relay module, an MOS (MOSFET, translated into a MOSFET) switch module, a high power IGBT (Insulated Gate Bipolar Transistor, translated into an Insulated Gate Bipolar Transistor) switch module, etc., which may implement the function of the switching circuit.

Referring to fig. 1 and fig. 2, in the present embodiment, the simulation test system further includes a data communication module 106. The data communication module 106 is connected to the processing module 102. The processing module 102 is configured to send an instruction to the robot power controller 20 through the data communication module 106, where the instruction includes an instruction to read internal diagnostic information of the robot power controller 20, and the simulation test data further includes the internal diagnostic information of the robot power controller 20. Data between the processing module 102 and the robot power controller 20 are transmitted through the data communication module 106, a command of the processing module 102 is transmitted to the robot power controller 20 through the data communication module 106, and a command of the robot power controller 20 may also be transmitted to the processing module 102 through the data communication module 106. When the processing module 102 sends a command to the robot power controller 20, the robot power controller 20 receives the command and performs a corresponding action.

For example, the processing module 102 sends an instruction of an automatic charging activation signal (e.g., an infrared signal) to the robot power controller 20 through the data communication module 106, so that the power controller is in an automatic charging mode, then the automatic charging communication module 105 requests a handshake, and after the request is valid, the simulation detection system outputs power to an automatic charging port, thus completing an automatic charging logic.

Referring to fig. 2, in the embodiment, after the self-diagnosis, the power controller sends self-diagnosis information to the processing module 102 through the data communication module 106, and the processing module 102 may further check the modules or ports. The robot power controller 20 has an internal self-diagnosis function, and can diagnose whether the voltage change condition of each power supply port is normal, whether the voltage change condition of the 16PIN interface 201 is normal, whether the voltage change condition of the DC-DC three-module is normal, whether the voltage change condition of the DC-DC four-module is normal, and the like. However, the self-diagnosis result of the robot power controller 20 is not very accurate, so that the simulation test system needs to be diagnosed again, and the diagnosis of the simulation test system is more accurate.

Referring to fig. 2, in the present embodiment, the processing module 102 reads internal diagnostic information of the robot power controller 20, such as battery pack capacity, power controller monitoring data, battery voltage, battery charging current, battery discharging current, etc., through the data communication module 106.

Preferably, the data communication module 106 is an RS485 module, and has the advantages of effective noise suppression capability, high data transmission rate, good data transmission reliability, and the like. The RS485 modules are generally divided into two paths, the first path of RS485 module is connected with the FICM port of the power supply controller, and the second path of RS485 module is connected with the HBOX port of the power supply controller. In some embodiments, the data communication module 106 may also be a TCP (Transmission Control Protocol) module, a CAN (Controller Area Network) module, a UART (Universal Asynchronous Receiver/Transmitter) module, and the like.

Referring to fig. 1 and fig. 2, in the present embodiment, the simulation detection system further includes an alarm module 107, and the alarm module 107 is connected to the processing module 102. When the simulation detection system detects that the robot power controller 20 is abnormal, the alarm module 107 sends a prompt to a user. The alarm module 107 comprises a buzzer 1073 and/or a warning lamp, i.e. the alarm module 107 has one or more of a buzzer 1073, a warning lamp. Buzzer 1073 can send out alarm sound and remind the user, and the alarm lamp can send the light and remind the user, avoids the user to omit unusual incident. The alarm lamp comprises an OK lamp 1071 or an NG lamp 1072, wherein the OK lamp 1071 is lighted to indicate that the simulation detection result is normal, and the NG (not good) lamp is lighted to indicate that the simulation detection result is abnormal. The voltage used by the OK lamp 1071 and the NG lamp 1072 is generally 12V, so that they are connected to the 12V output port.

Referring to fig. 1 and fig. 2, in the present embodiment, the simulation test system may preset a test process, and a user may automatically perform a simulation test operation after starting the simulation test system 10. However, in order for the user to select the required simulation item, the simulation detection system further includes a key module 113, where the key module 113 is configured to receive an operation instruction input by the user to implement functions of selecting a menu item, manually starting a test, and automatically starting a test. The key module 113 is an implementation manner of human-computer interaction, and the key module 113 includes a selection key and a confirmation key. The selection key can be an entity key or a touch screen key, and the confirmation key can be an entity key or a touch screen key. The user selects the items of the simulation test or other functions by selecting keys, and the user determines the selected items of the simulation test by determining keys. For example, the user selects one or more power supply ports from an emergency charging port and/or an automatic charging port and/or a battery pack port and/or a 24V output port and/or a power output port and/or a 12V input port by selecting a key, and then simulation detection is started by confirming the key, and an analog signal appears at the tested power supply port.

Referring to fig. 1, in the present embodiment, the simulation test system further includes a power supply circuit. The power supply circuit is connected to the processing module 102, and the power supply circuit is used for being connected to an external power supply, and the external power supply provides electric energy required by operation to the simulation detection system through the power supply circuit. The external power source may be a battery built in the simulation test system 10 or a commercial power source in a room. Generally, the external power supply is a mains supply, namely mains supply which is called power frequency Alternating Current (AC), and mains supplies all over the world have different voltage standards, and China generally has 220V. The power supply circuit comprises an alternating current adapter 109, an anti-reverse connection module 110 and a first DC-DC module 111. The input end of the alternating current adapter 109 is used for being connected with an external power supply, the output end of the alternating current adapter 109 is respectively connected with the input end of the first DC-DC module 111 and the relay module 104 through the reverse connection prevention module 110, and the output end of the first DC-DC module 111 is connected with the processing module 102.

Referring to fig. 1, the ac adapter 109 can convert the input ac power into dc power and supply the processing module 102 and other modules with the dc power. For example, the input parameter of the AC adapter 109 may be AC (alternating current) 100-. The first DC-DC module 111 can convert the electric energy of one voltage value into the electric energy of another voltage value in the DC circuit for the modules such as the processing module 102. After the commercial power passes through the ac adapter 109, the DC-DC module one 111 provides the direct current to the processing module 102 and the relay module 104.

Referring to fig. 2, in the present embodiment, the simulation test system further includes a second DC-DC module 112. The input end of the second DC-DC module 112 is connected with the reverse connection prevention module 110 or the 24V output port, and the output end of the second DC-DC module 112 is connected with the 12V input port. The second DC-DC module 112 converts the 24V voltage into 12V voltage, and can supply power to components such as a sensor, a screen, a controller and a light controller on the robot.

Referring to fig. 1, in the embodiment, the reverse connection preventing module 110 can prevent a user from performing a wrong operation, for example, the positive electrode and the negative electrode of the power supply are connected reversely, and the wrong operation not only damages the circuit, but also may cause a danger to the user when the wrong operation is serious. The reverse connection prevention module 110 may employ a diode protection, a fuse protection, or a MOS transistor protection. In some embodiments, the reverse-connect prevention module 110 may not be provided.

Referring to fig. 1 and fig. 2, in the present embodiment, the simulation detection system further includes a WAKE-up simulation module 114, and a PCTR1 pin of the WAKE-up simulation module 114 is connected to a WAKE (chinese translation WAKE) _ I0 pin of the robot power controller 20. The processing module 102 wakes up the robot power controller 20 through the wake-up simulation module 114 to prevent the robot power controller 20 from being in a sleep state. Wherein, starting the wake-up simulation module 114 can be realized by a wake-up button. When the wake-up simulation module 114 is activated, the wake-up simulation module 114 transmits an instantaneous wake-up signal to the robot power controller 20 through the data communication module 106 to allow the robot power controller 20 to be activated.

Referring to fig. 1 and fig. 2, in the present embodiment, the simulation test system 10 further includes a START simulation module 115, and a PCTR2 pin of the START simulation module 115 is connected to a START (chinese translation START) _ SKT pin of the robot power controller 20. The processing module 102 activates a plurality of modules, such as the analog ADC sampling module 101, the load module 108, the automatic charging communication module 105, the data communication module 106, and the like, through the activation simulation module 115. It should be noted that, the starting of the simulation module 115 may be realized by a start button.

Referring to fig. 1 and fig. 2, in the present embodiment, the display module 103 includes a display screen, and the display screen receives the signal sent from the processing module 102 and forms an image, for example, displays a simulation test report for a user to view. The Display screen may be an OLED (Organic Light-Emitting Diode, chinese translation to Organic Light-Emitting semiconductor) Display screen, an LCD (Liquid Crystal Display, chinese translation to Liquid Crystal Display) Display screen, an LED (Light-Emitting Diode, chinese translation to Light-Emitting Diode) Display screen, or the like. Preferably, the display screen is a display screen of the LCD 2004, and has the advantages of rich interfaces, smooth and stable operation, and better display screen.

In some embodiments, the display module 103 further includes a printer that can print out simulation test data or simulation test reports.

In this embodiment, the processing module 102 is an electronic component with a data processing function, including but not limited to: a Micro Control Unit (MCU), a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a Digital Signal Processor (DSP), and the like.

In this embodiment, the robot may be a sweeping robot, a greeting robot, a nurse robot, or the like. Preferably, the robot is a floor sweeping robot, which is also called an automatic cleaner, intelligent dust collection, a robot dust collector, and the like, and is one of intelligent household appliances, and can automatically complete floor cleaning work in a room by means of certain artificial intelligence. The sweeping robot generally adopts a brush sweeping and vacuum mode, and sundries on the ground are firstly absorbed into the garbage storage box, so that the function of cleaning the ground is achieved. It is worth mentioning that the greeting robot is applied in a business place, and when a guest passes by, the greeting robot can actively call the guest: "you are just! Welcome you to go, "when a guest leaves, the robot would say: "you are good and welcome the next time; the greeting robot can also perform talent programs such as singing, telling stories, backing poems and the like. It is worth mentioning that the nurse robot is applied to medical institutions, and can transport medical equipment and equipment, and can be used for sending rice, medical records and medicines for patients.

Referring to fig. 2, in the present embodiment, the simulation test system has a 20PIN interface, an ADC 0PIN of the 20PIN interface is connected to the emergency charging port of the robot power controller 20, an ADC1 PIN of the 20PIN interface is connected to the automatic charging port of the robot power controller 20, an ADC4 PIN of the 20PIN interface is connected to the positive electrode (BAT +) of the battery pack port of the robot power controller 20, an ADC5 PIN of the 20PIN interface is connected to the 24V output port of the robot power controller 20, an ADC 6PIN of the 20PIN interface is connected to the power output port of the robot power controller 20, an ADC 6PIN of the 20PIN interface is further connected to the load module 108, an ADC7 PIN of the 20PIN interface is connected to the 12V output port of the robot power controller 20, an ADC8 PIN of the 20PIN interface is connected to the 12V input port of the robot power controller 20, an ADC9 PIN of the 20PIN interface is reserved for connecting to another power supply port, the 20PIN interface GND PIN is connected to ground. It should be noted that the ADC0 pin-ADC 8 pin belong to the analog ADC sampling module 101.

Referring to fig. 2, in the present embodiment, the REY1 PIN and the REY2 PIN of the 20PIN interface are respectively connected to the relay module 104. The relay module 104 includes a first relay 1041, a second relay 1042, a third relay 1043, and a fourth relay 1044. The PWR + PIN of the 20PIN interface is connected with the public end of the first relay 1041, the normally open end of the first relay 1041 is connected with the emergency charging port, the normally closed end of the first relay 1041 is connected with the public end of the second relay 1042, the normally open end of the second relay 1042 is connected with the automatic charging port, the normally closed end of the second relay 1042, the public end of the third relay 1043 and the public end of the fourth relay 1044 are respectively connected with the anode (BAT +) of the battery pack port, and the normally open end of the third relay 1043 and the normally open end of the fourth relay 1044 are respectively connected with the battery pack. It should be noted that the battery pack is a power source on the robot and supplies electric energy for the operation (traveling, cleaning, etc.) of the robot. It should be noted that the first relay 1041 and the fourth relay 1044 are connected in parallel, and the second relay 1042 and the third relay 1043 are connected in parallel, so that the logic switching between the automatic charging and the emergency charging can be completed.

Referring to fig. 2, in the present embodiment, the robot power controller 20 has a 16PIN interface 201 for connecting with the simulation detection system. The 485B-FICM PIN of the 20PIN interface is connected with the 485B-FICM PIN of the 16PIN interface 201, the 485B-HBOX PIN of the 20PIN interface is connected with the 485B-HBOX PIN of the 16PIN interface 201, the 485A-FICM PIN of the 20PIN interface is connected with the 485A-FICM PIN of the 16PIN interface 201, and the 485A-HBOX PIN of the 20PIN interface is connected with the 485A-HBOX PIN of the 16PIN interface 201.

Referring to fig. 4, after the test, the simulation test system generates a test report through the display module 103, and the user can intuitively obtain whether each simulation test data meets the preset requirement from the test report. 1 to 8 are the status reported for each individual option on the menu, OK indicates a test pass, NG indicates a test fail, and it can be seen that the statuses shown in fig. 3 for 1 to 8 are all test fail. The IOCheck indicates whether the voltage diagnosis of the power supply port is normal, followed by 10 numbers, 10 numbers being shown as 0 or 1, respectively, 0 indicating normal, and 1 indicating abnormal. The numbers from 2 nd to 10 th after the IOCheck sequentially indicate the conditions of the data communication module 106, the reserved power supply port, the 12V output port, the 12V input port, the power output port, the emergency charging port, the automatic charging port, the battery pack port and the 24V output port. For example, the numbers from 2 nd digit to 10 th digit after IOCheck are 100000000, which indicates that the reserved power supply port is abnormal, the 12V output port is normal, the 12V input port is normal, the power output port is normal, the emergency charging port is normal, the automatic charging port is normal, the battery pack port is normal, and the 24V output port is normal.

Referring to fig. 5, the display module may further display the following working interface, wherein: firstly, inputting a voltage value of an alternating current adapter; input current value of the AC adapter; on means that the power supply controller is powered, and off means that the power supply controller is not powered; fourthly, collecting the internal voltage value; collecting the internal charging current value; sixthly, collecting the discharge current value of the battery pack; seventhly, monitoring states of the collected power supply controller; checking signals of the data communication module; ninthly, starting key inspection; results of signal checking by the data communication module at the r;

the arrow indicates the selected current item.

The simulation detection system has the following advantages: 1. the closed-loop hardware simulation of the robot power controller is realized under the condition that an internal control board and a drive board of the robot power controller are not disassembled; 2. the detection efficiency of the power supply controller of the test robot is greatly improved; 3. reliability and function safety verification of the robot power supply controller are accelerated; 4. the functions of production line automation, fault problem analysis, test report output and the like are realized.

Referring to fig. 1 to 6, the present embodiment provides a simulation detection method for a robot power controller, which is applied to a simulation detection system of a robot power controller according to any one of the above embodiments, and the simulation detection system is shown in fig. 1 to 5. Referring to fig. 6, the simulation testing method includes the following steps:

step S101, the analog ADC sampling module 101 controls a power supply port of the robot power controller 20 to generate an analog signal, and collects the analog signal, where the analog signal is an analog voltage or an analog current.

In step S102, the processing module 102 determines whether the robot power controller 20 meets a preset requirement according to the analog signal collected by the analog ADC sampling module 101.

In step S103, the processing module 102 outputs simulation detection data through the display module 103, where the simulation detection data includes a judgment conclusion that the processing module 102 judges whether the robot power controller 20 meets a preset requirement. For example: the robot power controller 20 meets the preset requirements and may be represented by a code, such as numeral 0; or: the robot power controller 20 does not meet the predetermined requirements and may be indicated by a code, such as numeral 1.

In the technical scheme, the processing module controls the power supply port of the power supply controller to generate an analog signal according to the parameter so as to simulate the actual use of the power supply controller, the processing module judges whether the power supply controller meets the preset requirement or not according to the analog signal, the analog signal can be voltage or current, whether the analog signal meets the standard or not is judged according to the numerical value of the analog signal, and the robot power supply controller meets the preset requirement and is output to the display module for the user to look up. Therefore, the simulation detection system can verify whether the power supply controller meets the factory design requirements on the premise of not disassembling the power supply controller, not only can replace a mode of manually recording data, but also can greatly improve the test quality and the test efficiency of products.

In this embodiment, the simulation detection method further includes the following steps: the processing module 102 sends an instruction to the robot power controller 20 through the data communication module 106, the instruction includes an instruction to read internal diagnostic information of the robot power controller 20, the internal diagnostic information of the power controller includes one or more of an electric quantity of a battery pack, a charging voltage of the battery pack, a charging current of the battery pack, a discharging current of the battery pack, a charging time of the battery pack, and a discharging time of the battery pack, and the simulation test data further includes the internal diagnostic information of the robot power controller 20. The processing module 102 may further determine whether the internal parameters meet preset requirements, and output the determination result through the display module. For example, the processing module 102 sends an instruction for reading internal diagnostic information of the robot power controller 20 through the data communication module 106, the robot power controller sends the electric quantity of the battery pack to the processing module 102 through the data communication module 106, and the processing module 102 may determine whether the electric quantity of the battery pack meets a preset requirement, and output a structure that whether the electric quantity of the battery pack meets the preset requirement through the display module.

In this embodiment, the simulation detection method further includes the following steps: the instruction sent by the processing module 102 to the robot power controller 20 through the data communication module 106 further includes a simulation module starting detection instruction and/or a data communication module detecting instruction and/or an automatic charging communication module detecting instruction and/or a simulation module awakening detection instruction; the start simulation module detection instruction is used for detecting whether the start simulation module 115 is abnormal, the data communication module detection instruction is used for detecting whether the data communication module is abnormal, the automatic charging communication module detection instruction is used for detecting whether the automatic charging communication module 105 is abnormal, and the wake-up simulation module detection instruction is used for detecting whether the wake-up simulation module 114 is abnormal.

Specifically, the processing module 102 sends a START simulation module detection instruction to the robot power controller 20 through the data communication module 106, the processing module 102 simulates a START key input signal to the robot power controller 20, waits for a key state change and a hardware port change in the robot power controller 20, and then the processing module 102 acquires and analyzes data state information in the robot power controller 20 through the data communication module 106 and determines whether the voltage change of the START _ SKT PIN of the 16PIN interface 201 is consistent with the requirement or not by combining the acquired voltage change of the START _ SKT PIN. If the robot power controller 20 is awakened by the start-up simulation module, it indicates that the start-up simulation module 115 is normal. The simulation detection method can judge whether the start simulation module 115 works normally, and if the start simulation module 115 shows abnormal performance, the user can be prompted through the alarm module 107 and input the abnormal performance into the simulation test report.

Specifically, the processing module 102 sends a data communication module detection instruction to the robot power controller 20 through the data communication module 106, and because the data communication modules 106 are provided on both the simulation detection system and the robot power controller 20, the processing module 102 sends an instruction to the two paths of data communication modules 106, and obtains and analyzes a data packet responded by the robot power controller 20 through the protocol instruction set data. If the processing module 102 can acquire the data packet responded by the robot power controller, it indicates that the data communication module 106 is normal; if the processing module 102 does not obtain the data packet responded by the robot power controller, it indicates that the data communication module 106 is abnormal; the other different modules also use the judgment method to detect the command, and the response indicates normal.

Specifically, the processing module 102 sends an automatic charging communication module detection instruction to the robot power controller 20 through the data communication module 106, and takes the automatic charging communication module as an infrared transceiving communication module for illustration, the processing module 102 transmits an infrared receiving tube of the robot power controller 20 through an infrared digital signal, waits for a state change of an infrared transceiving signal of the robot power controller 20 and a change of a hardware port, and the processing module 102 acquires and analyzes internal data state information of the robot power controller 20 through the data communication module 106, and determines whether the automatic charging communication module 105 is abnormal by combining whether voltage changes of an IR _ RXD pin, an IR _ TXD pin, and an IR _5V pin on a collection simulation detection system are consistent with requirements. Therefore, the processing module can judge whether the automatic charging communication module is abnormal or not and inform a user through the display module.

Specifically, the processing module 102 sends a WAKE-up simulation module detection instruction to the robot power controller 20 through the data communication module 106, the processing module 102 simulates a pulse input signal to the device to be tested, waits for a change in a state of a WAKE-up signal inside the robot power controller 20 and a change in a pin WAKE _ I0, and the processing module 102 obtains and analyzes whether the state information of data inside the robot power controller 20 and the voltage change of the pin WAKE _ I0 are consistent with requirements through the protocol instruction set data. Therefore, the processing module can judge whether the awakening simulation module is abnormal or not and inform a user through the display module.

In this embodiment, the specific steps of the processing module sending the instruction to the robot power controller through the data communication module are as follows: and selecting a test configuration file through a key module and confirming to import the test configuration file into a corresponding functional module for automatic detection. The test configuration file comprises one or more of a data communication module detection file, a starting simulation module detection file, a waking simulation module detection file, an automatic charging communication module detection file, a current calibration file, an emergency charging port detection file and an automatic charging port detection file. For example: selecting a data communication module detection file through a key module, and sending a data communication module detection instruction to the robot power controller 20 through the data communication module 106 by the processing module 102; selecting a number to start a simulation module detection file through a key module, and sending a simulation module detection starting instruction to the robot power controller 20 through the data communication module 106 by the processing module 102; selecting a number of wake-up simulation module detection files through the key module, and sending a wake-up simulation module detection instruction to the robot power controller 20 through the data communication module 106 by the processing module 102; the processing module 102 sends an automatic charging communication module detection command … … to the robot power controller 20 through the data communication module 106 by selecting an automatic charging communication module detection file through the key module

In the present embodiment, for example, when detecting the power supply port, the ADC sampling module 101 samples the power supply port. For example, when an emergency charging port detection file is selected through the key module, the processing module 102 sends an emergency charging port detection instruction to the analog ADC sampling module 101, the analog ADC sampling module 101 applies a working voltage to the emergency charging port to enable the robot power controller 20 to supply power to the battery pack, and waits for information such as a battery voltage state, a port voltage state, a charging current state, and a charging state (uncharged, in automatic charging, in emergency charging, full) of the robot power controller 20, and the processing module 102 acquires and analyzes data state information inside the robot power controller 20 through protocol instruction set data, and collects whether a voltage change of the emergency charging port on the robot power controller 20 is consistent with a requirement. Therefore, the processing module can judge whether the emergency charging port is abnormal or not and inform a user through the display module.

In this embodiment, the simulation detection method further includes the following steps: the power supply port comprises an emergency charging port and/or an automatic charging port and/or a battery pack port and/or a 24V output port and/or a power output port and/or a 12V input port. Preferably, the power supply port has seven ports, so that the analog ADC sampling module 101 can obtain analog signals on the emergency charging port, the automatic charging port, the battery pack port, the 24V output port, the power output port, the 12V output port, and the 12V input port, and then send the analog signals to the processing module 102, and the processing module 102 can determine whether the robot power controller 20 meets the preset requirement by determining whether the change of the analog voltage is consistent with the preset requirement.

In this embodiment, the simulation detection method further includes the following steps: the processing module 102 controls the automatic charging port to be opened or closed through the automatic charging communication module 105. The automatic charging communication module 105 is connected to the processing module 102, and the processing module 102 is configured to activate an automatic charging logic of the robot power controller 20 through the automatic charging communication module 105, that is, control an automatic charging port to be opened or closed. One automatic charging communication module 105 is provided in the simulation test system, and the other automatic charging communication module 105 is connected to the robot power controller 20 through a wire. The processing module 102 may activate the automatic charging logic of the robot power controller 20 through the automatic charging communication module 105, so as to simulate the robot to perform automatic charging.

In this embodiment, the simulation detection method further includes the following steps: the processing module 102 controls the robot power controller 20 to supply power to the load module 108 through the power output port, so as to perform a discharging aging test of the robot power controller 20. The load module 108 may be a resistor or a plurality of resistors, and the plurality of resistors may be connected in series or in parallel. For example, two 10 ohm resistors may be used in parallel, each having 100 watts of power; three 10 ohm resistors, each 120 watts in power, may be used in parallel.

In this embodiment, the simulation detection method further includes the following steps: the processing module 102 switches an emergency charging port, an automatic charging port, or a battery pack port through the relay module 104. The relay module 104 controls one of the emergency charging port, the automatic charging port and the battery pack port to be opened, and controls the other two of the emergency charging port, the automatic charging port and the battery pack port to be closed, so that the power of the simulation detection system is output to the required power supply port.

In this embodiment, the simulation detection method further includes the following steps: when the processing module 102 outputs abnormal simulation detection data through the display module 103, an alarm is also issued through the alarm module 107. The abnormal simulation detection data may include one or more of an abnormality of the robot power controller 20, an abnormality of the power supply port, an abnormality of the data communication module 106, an abnormality of the alarm module 107, an abnormality of the key module 113, and an abnormality of the start simulation module 115. The alarm module 107 can visually reflect the operating status of a plurality of other modules and issue an alarm to alert the user.

In this embodiment, the simulation detection method further includes the following steps: the processing module 102 wakes up the robot power controller 20 through the wake-up simulation module 114. The processing module 102 sends a wake-up simulation module detection instruction to the robot power controller 20 through the data communication module 106, and the processing module 102 simulates a pulse input signal to the device to be tested and waits for the robot power controller 20 to start.

In this embodiment, since the current meter is affected by temperature and vibration, the pointer has a certain probability of deviating from the zero point. The simulation detection method also comprises the following steps: the processing module 102 controls the galvanometer of the robot power controller 20 to perform zero value calibration through the current calibration module, so that the measurement is more accurate. The galvanometer of the robot power controller 20 is configured to detect currents at the respective power supply ports, for example, a charging current at the automatic charging port, a charging current at the emergency charging port, and a discharging current at the power output port.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase "an embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or related to other embodiments specifically defined. In principle, in the present application, the technical features mentioned in the embodiments can be combined in any manner to form a corresponding implementable technical solution as long as there is no technical contradiction or conflict.

It should be noted that, although the above embodiments have been described herein, the invention is not limited thereto. Therefore, based on the innovative concepts of the present invention, the technical solutions of the present invention can be directly or indirectly applied to other related technical fields by making changes and modifications to the embodiments described herein, or by using equivalent structures or equivalent processes performed in the content of the present specification and the attached drawings, which are included in the scope of the present invention.

Claims (10)

1. A simulation detection method for a robot power controller is characterized by comprising the following steps:

the analog ADC sampling module controls a power supply port of the robot power supply controller to generate an analog signal and collects the analog signal;

the processing module judges whether the robot power supply controller meets the preset requirement or not according to the analog signal acquired by the analog ADC sampling module;

the processing module outputs simulation detection data through the display module, and the simulation detection data comprise a judgment conclusion that whether the processing module meets the preset requirements on the robot power supply controller.

2. The simulation detection method for the robot power supply controller according to claim 1, further comprising the steps of:

the processing module sends an instruction to the robot power controller through the data communication module, the instruction comprises an instruction for reading internal diagnosis information of the robot power controller, the internal diagnosis information of the power controller comprises one or more of electric quantity of a battery pack, charging voltage of the battery pack, charging current of the battery pack, discharging current of the battery pack, charging time of the battery pack and discharging time of the battery pack, and the simulation detection data further comprises the internal diagnosis information of the robot power controller.

3. The simulation detection method for the robot power supply controller according to claim 2, wherein the instruction further comprises a start simulation module detection instruction and/or a data communication module detection instruction and/or an automatic charging communication module detection instruction and/or a wake-up simulation module detection instruction;

the starting simulation module detection instruction is used for detecting whether the starting simulation module is abnormal or not, the data communication module detection instruction is used for detecting whether the data communication module is abnormal or not, the automatic charging communication module detection instruction is used for detecting whether the automatic charging communication module is abnormal or not, and the awakening simulation module detection instruction is used for detecting whether the awakening simulation module is abnormal or not.

4. A simulation test method for a robot power supply controller according to claim 1 or 2, characterized in that the power supply ports comprise emergency charging ports and/or automatic charging ports and/or battery pack ports and/or 24V output ports and/or power output ports and/or 12V input ports.

5. A simulation detection method for a robot power supply controller according to claim 4, characterized by further comprising the steps of:

the processing module controls the automatic charging port to be opened or closed through the automatic charging communication module.

6. The simulation detection method for the robot power supply controller according to claim 4, further comprising the steps of:

and the processing module controls the robot power supply controller to supply power to the load module through the power output port.

7. The simulation detection method for the robot power supply controller according to claim 4, further comprising the steps of:

the processing module switches an emergency charging port, an automatic charging port or a battery pack port through the relay module.

8. A simulation test method for a robot power supply controller according to claim 1 or 2, characterized by further comprising the steps of:

and when the processing module outputs abnormal simulation detection data through the display module, the processing module also sends out an alarm through the alarm module.

9. A simulation test method for a robot power supply controller according to claim 1, 2 or 3, characterized by further comprising the steps of:

and the processing module wakes up the robot power controller through the wake-up simulation module.

10. A simulation test method for a robot power supply controller according to claim 1, 2 or 3, characterized by further comprising the steps of:

the processing module controls an ammeter of the robot power supply controller to carry out zero value calibration through the current calibration module, and the ammeter of the robot power supply controller is used for detecting current of the power supply port.

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