CN109656232B - Road sweeper, control method of road sweeper and upper controller test system - Google Patents
Road sweeper, control method of road sweeper and upper controller test system Download PDFInfo
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- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
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Abstract
The invention discloses a sweeping machine, a control method of the sweeping machine and a loading controller test system. Wherein, this system includes: installing a control screen and sending a control instruction; the loading system simulation board card is used for sending a simulation signal and a switching value signal and simulating the action of a loading system of the sweeping machine; the loading controller is respectively connected with the loading control screen and the loading system simulation board card and is used for processing the control instruction and converting the analog signal and the switching value signal into a driving signal so as to control the loading system simulation board card to work, wherein the loading system simulation board card returns a feedback signal; and the upper computer is used for acquiring a control instruction sent by the loading control screen, a feedback signal returned by the loading system simulation board card and an action picture of the loading system of the sweeping machine, and analyzing the loading action of the loading system of the sweeping machine corresponding to the action picture, the control instruction of the control screen and the feedback signal so as to determine whether the function of the loading controller is normal.
Description
Technical Field
The invention relates to the technical field of control of sweeping machines, in particular to a sweeping machine, a control method of the sweeping machine and a test system of an upper controller.
Background
The upper-mounted controller is a core component of a test system of the upper-mounted controller in the upper-mounted operation of the sweeping machine, whether the function of the upper-mounted controller is abnormal or not can be verified in the current mode that the upper-mounted controller does not have a mode, the current mode is that a real vehicle platform is built firstly, then programming and function verification of the upper-mounted controller are carried out, the function verification can be carried out only when a sample vehicle comes out, and under the development mode, workers of four parts of machinery, hydraulic pressure, vehicles and electricity need to participate simultaneously in the debugging stage, the system development efficiency is low, the personnel cost is high, and the time consumption is long.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a sweeping machine, a control method of the sweeping machine and a loading controller test system, which at least solve the technical problems of high development cost, long time consumption and low efficiency in the debugging of the loading controller of the sweeping machine in the related technology.
According to an aspect of an embodiment of the present invention, there is provided a system for testing an on-board controller of a sweeping machine, including: installing a control screen and sending a control instruction; the loading system simulation board card is used for sending a simulation signal and a switching value signal and simulating the action of a loading system of the sweeping machine; the loading controller is respectively connected with the loading control screen and the loading system simulation board card and is used for processing the control instruction and converting the analog signal and the switching value signal into a driving signal so as to control the loading system simulation board card to work, wherein the loading system simulation board card returns a feedback signal; and the upper computer is used for collecting a control instruction sent by the loading control screen, a feedback signal returned by the loading system simulation board card and an action picture of the loading system of the sweeping vehicle, and analyzing the loading action of the loading system of the sweeping vehicle corresponding to the action picture, the control instruction of the control screen and the feedback signal so as to determine whether the function of the loading controller is normal.
Further, the simulation board card of the loading system comprises: the control bus CAN module is connected with a fan and an oil pump power unit on the sweeping machine and transmits a received control instruction to the fan and the oil pump power unit; the electromagnetic pneumatic control valve block is used for acquiring a first action of the upper mounting system to obtain a first action signal; the electromagnetic hydraulic control valve block is used for acquiring a second action of the upper mounting system to obtain a second action signal; the signal lamp module is used for acquiring a third action of the upper system to obtain a third action signal; and the actuating mechanism module is used for receiving the first action signal, the second action signal and the third action signal for collection, and determining the feedback signal according to the first action signal, the second action signal and the third action signal.
Further, the simulation board card of the loading system further comprises: and the power supply module is used for providing electric energy for the upper controller.
Further, the upper controller includes: the analog input and switching value input interface is used for acquiring analog signals and switching value signals; and the high-side drive and low-side drive output interface is used for converting the analog signals and the switching value signals into drive signals and transmitting the drive signals to the loading system analog board card so as to drive the loading system analog board card to simulate the action of a loading system of the sweeping vehicle.
Further, the upper controller further includes: the control bus CAN interface is used for being connected with a CAN module of the upper system simulation board card and transmitting a control instruction to the upper computer through a CAN bus; and the power interface is used for receiving electric energy.
Further, the system for testing the upper controller of the sweeping machine further comprises: and the PC is connected with the upper loading controller and the upper loading system simulation board card, transmits first CAN information sent by the upper loading controller to the upper computer, and transmits second CAN information sent by the upper loading system simulation board card to the upper computer.
According to another aspect of the embodiment of the invention, a sweeping machine is further provided, and the sweeping machine comprises the upper controller testing system of the sweeping machine.
According to another aspect of the embodiments of the present invention, there is provided a control method of a road sweeper, which is applied to the system for testing an on-board controller of the road sweeper, the control method including: acquiring a control instruction, wherein the control instruction is used for controlling the action of the simulation loading system; collecting an analog signal and a switching value signal; converting the analog signal and the switching value signal into a driving signal, and controlling an uploading system analog board card to work according to the driving signal and the control instruction, wherein the uploading system analog board card simulates the action of an uploading system of the sweeping vehicle and returns a feedback signal; acquiring an action picture of an upper system of the analog sweeping machine and the feedback signal; and analyzing the loading action of the loading system of the sweeping machine corresponding to the action picture, the control instruction and the feedback signal to determine whether the function of the loading controller is normal.
Further, converting the analog signal and the switching value signal into the driving signal includes: converting the analog signal and the switching value signal into a high-side driving signal; or converting the analog signal and the switching value signal into a low-side driving signal.
According to another aspect of the embodiment of the present invention, there is further provided a processor, configured to run a program, where the program executes the control method of the sweeping machine described in any one of the above when running.
In the embodiment of the invention, a control instruction is sent through an upper control screen, an analog signal and a switching value signal are sent through an upper system simulation board card, the action of an upper system of the sweeping machine is simulated, the control instruction is processed through an upper controller, the analog signal and the switching value signal are converted into driving signals to control the upper system simulation board card to work, wherein the upper system simulation board card returns a feedback signal, and an upper computer collects the control instruction sent by the upper control screen, the feedback signal returned by the upper system simulation board card and the action picture of the upper system of the sweeping machine, and analyzes the upper action of the upper system of the sweeping machine corresponding to the action picture, the control instruction of the control screen and the feedback signal to determine whether the function of the upper controller is normal. In the embodiment, the loading action of the loading system can be simulated through the loading system simulation board card, whether the control function of the loading controller is normal or not is judged through the upper computer, the physical sweeping machine does not need to be developed, the state of the function of the loading controller can be confirmed only through the simulation action, the development mode of the loading controller is simplified, the personnel cost is reduced, the development period is shortened, the development efficiency of the system is greatly improved, and the technical problems that the efficiency is low due to the fact that the development cost is high and the time consumption is long when the loading controller of the sweeping machine is debugged in the related art are solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic diagram of an on-board controller testing system of a sweeping vehicle according to an embodiment of the present invention;
fig. 2 is a flowchart of a control method of a sweeping machine according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The following embodiments of the present invention may be applied to a sweeping machine, and particularly, for a new energy sweeping machine, it is necessary to determine whether the functions of the upper controller are normal, and at this time, it is necessary to determine whether the upper controller is normal through a test system. This application just can verify that the facial make-up controller is normally compared for need developing the entity sweeping machine among the correlation technique, and development efficiency is low, and characteristics with high costs, and this application can simulate the facial make-up action of facial make-up system through the simulation integrated circuit board, and then compares the facial make-up action and whether unanimous in the instruction that sends to confirm whether the facial make-up controller is normal, simplified the test mode of facial make-up control, improved verification efficiency. The present application is illustrated below by means of various examples.
Fig. 1 is a schematic diagram of an on-board controller testing system of a sweeping machine according to an embodiment of the present invention, and as shown in fig. 1, the system may include:
the control screen 11 is installed and sends a control instruction;
the loading system simulation board card 12 is used for sending a simulation signal and a switching value signal and simulating the action of a loading system of the sweeping machine;
the loading controller 13 is respectively connected with the loading control screen and the loading system simulation board card and is used for processing the control instruction and converting the analog signal and the switching value signal into a driving signal so as to control the loading system simulation board card to work, wherein the loading system simulation board card returns a feedback signal;
and the upper computer 14 is used for acquiring a control instruction sent by the loading control screen, a feedback signal returned by the loading system simulation board card and an action picture of the loading system of the sweeping machine, and analyzing the loading action of the loading system of the sweeping machine corresponding to the action picture, the control instruction of the control screen and the feedback signal so as to determine whether the function of the loading controller is normal.
The loading controller test system of the sweeping machine can send a control command through the loading control screen, send an analog signal and a switching value signal through the loading system simulation board card, simulate the action of the loading system of the sweeping machine, process the control command through the loading controller, convert the analog signal and the switching value signal into a driving signal, and control the loading system simulation board card to work, wherein the loading system simulation board card returns a feedback signal, and an upper computer collects the control command sent by the loading control screen, the feedback signal returned by the loading system simulation board card and an action picture of the loading system of the sweeping machine, and analyzes the loading action of the loading system of the sweeping machine corresponding to the action picture, the control command of the control screen and the feedback signal, so as to determine whether the function of the loading controller is normal. In the embodiment, the loading action of the loading system can be simulated through the loading system simulation board card, whether the control function of the loading controller is normal or not is judged through the upper computer, the physical sweeping machine does not need to be developed, the state of the function of the loading controller can be confirmed only through the simulation action, the development mode of the loading controller is simplified, the personnel cost is reduced, the development period is shortened, the development efficiency of the system is greatly improved, and the technical problems that the efficiency is low due to the fact that the development cost is high and the time consumption is long when the loading controller of the sweeping machine is debugged in the related art are solved.
The above-described respective modules are explained in detail below.
For the upper control screen 11, it not only can be connected with the upper controller, but also can be connected with the PC and the upper computer, and is used for sending a control instruction, that is, the worker can send a control instruction through the upper control screen.
And sending an analog signal and a switching value signal to the loading system analog board card 12, and simulating the action of the loading system of the sweeping machine.
Optionally, the loading system analog board 12 includes: the control bus CAN module is connected with a fan and an oil pump power unit on the sweeping machine and transmits the received control instruction to the fan and the oil pump power unit; the electromagnetic pneumatic control valve block is used for acquiring a first action of the loading system to obtain a first action signal; the electromagnetic hydraulic control valve block acquires a second action of the loading system to obtain a second action signal; the signal lamp module is used for acquiring a third action of the upper system to obtain a third action signal; and the actuating mechanism module is used for receiving the first action signal, the second action signal and the third action signal for collection and determining a feedback signal according to the first action signal, the second action signal and the third action signal.
The electromagnetic pneumatic control valve block, the electromagnetic hydraulic control valve block and the signal lamp module respectively collect the actions of the upper system, process the collected actions, transmit the processed actions to the execution mechanism module, and output execution action feedback signals through the execution mechanism module.
In addition, the simulation board card of the loading system of the sweeping machine is connected with the PC, and CAN information sent by the simulation board card of the loading system of the sweeping machine is transmitted to the upper computer.
Another optional, the system-on-board simulation board further includes: and the power supply module is used for providing electric energy for the upper controller. The power module can be connected with a power interface of the upper controller to provide electric energy for the upper controller.
And for the loading controller 13, the loading controller is respectively connected with the loading control screen, the loading system simulation board card, the PC and the upper computer.
Optionally, the upper controller includes: the analog input and switching value input interface is used for acquiring analog signals and switching value signals; and the high-side drive and low-side drive output interface is used for converting the analog signals and the switching value signals into drive signals and transmitting the drive signals to the loading system analog board card so as to drive the loading system analog board card to simulate the action of a loading system of the sweeping vehicle.
Another optional, the upper mounted controller further comprises: the control bus CAN interface is used for being connected with a CAN module of the upper system simulation board card and transmitting a control instruction to an upper computer through a CAN bus; and the power interface is used for receiving electric energy.
The loading controller receives a control instruction of the loading control screen through a CAN bus, acquires signals through an analog input interface and a switching value input interface, processes and converts the control instruction and the acquired signals into a high-side driving signal or a low-side driving signal and a CAN instruction, transmits the signals to the loading system simulation board card of the sweeping car, simulates the loading system function of the sweeping car, and outputs a feedback signal to the loading controller.
In an optional example of the present application, the upper-mounted controller is connected to a PC, and transmits the control command to the upper computer through a CAN bus.
And for the upper computer 14, CAN information transmitted by a loading control screen, a loading controller and a sweeping machine loading system simulation board card on the CAN bus is collected and stored, and the action of the sweeping machine loading system is displayed in a picture form. And then comparing whether the action of the upper-mounted system is consistent with the control instruction of the control screen and the feedback signal of the upper-mounted controller, thereby confirming whether the control function of the upper-mounted controller is normal.
The upper computer has the functions of displaying and storing, and CAN display and store CAN information transmitted by the loading control screen, the loading controller and the loading system simulation board card of the sweeping machine.
As an optional example of the present application, the system for testing an on-board controller of a sweeping machine further includes: and the PC is connected with the upper loading controller and the upper loading system simulation board card, transmits first CAN information sent by the upper loading controller to the upper computer, and transmits second CAN information sent by the upper loading system simulation board card to the upper computer.
Through the above-mentioned embodiment of this application, can utilize the facial make-up system simulation integrated circuit board to simulate the facial make-up action of sweeping machine facial make-up system, and judge the facial make-up action of this simulation through the host computer, with the control command that the facial make-up control screen sent, whether the feedback signal that facial make-up system simulation integrated circuit board given is unanimous, thereby confirm whether the function of facial make-up controller is normal, need not to develop the sweeping machine entity, just can confirm the state of facial make-up controller, the facial make-up controller development mode has been simplified, personnel's cost has been reduced, the development cycle has been shortened, the development efficiency of system has been improved greatly.
According to another aspect of the embodiment of the invention, a sweeping machine is further provided, and the sweeping machine comprises the upper controller testing system of the sweeping machine.
It should be noted that, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in an order different from that shown or described herein.
Fig. 2 is a flowchart of a control method of a sweeping machine according to an embodiment of the present invention, which is applied to a system for testing an on-board controller of the sweeping machine, as shown in fig. 2, the control method includes:
step S202, a control instruction is obtained, wherein the control instruction is used for controlling the action of the simulation loading system;
step S204, collecting analog signals and switching value signals;
step S206, converting the analog signal and the switching value signal into a driving signal, and controlling the loading system analog board card to work according to the driving signal and the control instruction, wherein the loading system analog board card simulates the action of a loading system of the sweeping vehicle and returns a feedback signal;
s208, acquiring an action picture and a feedback signal of a loading system of the analog sweeping machine;
and step S210, analyzing the loading action, the control instruction and the feedback signal of the loading system of the sweeping machine corresponding to the action picture to determine whether the function of the loading controller is normal.
Through the steps, a control instruction can be obtained, wherein the control instruction is used for controlling the action of the simulation loading system, acquiring an analog signal and a switching value signal, converting the analog signal and the switching value signal into a driving signal, and controlling the simulation board card of the loading system to work according to the driving signal and the control instruction, wherein the simulation board card of the loading system simulates the action of the loading system of the sweeping vehicle, returns a feedback signal, obtains an action picture and a feedback signal of the loading system of the simulation sweeping vehicle, and analyzes the loading action, the control instruction and the feedback signal of the loading system of the sweeping vehicle corresponding to the action picture to determine whether the function of the loading controller is normal. In the embodiment, the board card can be simulated by the loading system to simulate the loading action of the loading system, so that whether the control function of the loading controller is normal is judged, an entity sweeping machine is not required to be developed, the state of the function of the loading controller can be confirmed only by simulating the action, the development mode of the loading controller is simplified, the personnel cost is reduced, the development period is shortened, the development efficiency of the system is greatly improved, and the technical problems of low efficiency caused by high development cost, long time consumption and high debugging of the loading controller of the sweeping machine in the related technology are solved.
Optionally, converting the analog signal and the switching value signal into the driving signal includes: converting the analog signal and the switching value signal into a high-side driving signal; or converting the analog signal and the switching value signal into a low-side driving signal.
In the application, a control instruction CAN be sent to the upper loading controller through the upper loading control screen, the upper loading controller processes the control instruction and collects an analog signal and a switching value signal, the control instruction is converted into a high-side drive signal and a low-side drive signal and a CAN instruction, the upper loading system analog board card of the sweeping vehicle is controlled, the upper loading system analog board card of the sweeping vehicle gives a feedback signal, the upper computer collects and displays information of the upper loading control screen, the upper loading controller and the upper loading system analog board card of the sweeping vehicle, the action of the upper loading system of the sweeping vehicle is displayed by the running of a picture, and whether the function of the upper loading controller is normal or not is judged according to the comparison of the picture action of the upper computer, the upper loading control screen instruction and the feedback signal of the upper loading system analog board.
The upper computer can display the loading action of the loading system, and compares the control instruction of the loading control screen with the feedback signal of the simulation board card of the loading system of the sweeping vehicle to confirm the state of the loading controller.
Through the above-mentioned embodiment of this application, can utilize the facial make-up system simulation integrated circuit board to simulate the facial make-up action of sweeping machine facial make-up system, and judge the facial make-up action of this simulation through the host computer, with the control command that the facial make-up control screen sent, whether the feedback signal that facial make-up system simulation integrated circuit board given is unanimous, thereby confirm whether the function of facial make-up controller is normal, need not to develop the sweeping machine entity, just can confirm the state of facial make-up controller, the facial make-up controller development mode has been simplified, personnel's cost has been reduced, the development cycle has been shortened, the development efficiency of system has been improved greatly.
According to another aspect of the embodiments of the present invention, there is also provided a processor, configured to execute a program, where the program executes the control method of the sweeping vehicle according to any one of the above aspects.
Optionally, when the processor runs the program, the following steps may be performed: acquiring a control instruction, wherein the control instruction is used for controlling the action of the simulation loading system; collecting an analog signal and a switching value signal; converting the analog signal and the switching value signal into a driving signal, and controlling the loading system analog board card to work according to the driving signal and a control instruction, wherein the loading system analog board card simulates the action of a loading system of the sweeping vehicle and returns a feedback signal; acquiring action pictures and feedback signals of a loading system of the analog sweeping machine; and analyzing the loading action and control instruction and feedback signal of the loading system of the sweeping machine corresponding to the action picture to determine whether the function of the loading controller is normal.
Optionally, when the processor runs the program, the following steps may be performed: converting the analog signal and the switching value signal into a high-side driving signal; or converting the analog signal and the switching value signal into a low-side driving signal.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (9)
1. The utility model provides a go up dress controller test system of sweeping machine which characterized in that is applied to new forms of energy sweeping machine, includes:
installing a control screen and sending a control instruction;
the loading system simulation board card is used for sending a simulation signal and a switching value signal and simulating the action of a loading system of the sweeping machine;
the loading controller is respectively connected with the loading control screen and the loading system simulation board card and is used for processing the control instruction and converting the analog signal and the switching value signal into a driving signal so as to control the loading system simulation board card to work, wherein the loading system simulation board card returns a feedback signal;
the upper computer is used for collecting a control instruction sent by the upper control screen, a feedback signal returned by the upper system simulation board card and an action picture of the upper system of the sweeping machine, analyzing the upper action of the upper system of the sweeping machine corresponding to the action picture, the control instruction and the feedback signal of the control screen and determining whether the function of the upper controller is normal or not,
the simulation board card of the loading system comprises: the control bus CAN module is connected with a fan and an oil pump power unit on the sweeping machine and transmits a received control instruction to the fan and the oil pump power unit; the electromagnetic pneumatic control valve block is used for acquiring a first action of the upper mounting system to obtain a first action signal; the electromagnetic hydraulic control valve block is used for acquiring a second action of the upper mounting system to obtain a second action signal; the signal lamp module is used for acquiring a third action of the upper system to obtain a third action signal; and the actuating mechanism module is used for receiving the first action signal, the second action signal and the third action signal for collection, and determining the feedback signal according to the first action signal, the second action signal and the third action signal.
2. The system of claim 1, wherein the add-on system analog board further comprises:
and the power supply module is used for providing electric energy for the upper controller.
3. The system of claim 1, wherein the on-board controller comprises:
the analog input and switching value input interface is used for acquiring analog signals and switching value signals;
and the high-side drive and low-side drive output interface is used for converting the analog signals and the switching value signals into drive signals and transmitting the drive signals to the loading system analog board card so as to drive the loading system analog board card to simulate the action of a loading system of the sweeping vehicle.
4. The system of claim 3, wherein the on-board controller further comprises:
the control bus CAN interface is used for being connected with a CAN module of the upper system simulation board card and transmitting a control instruction to the upper computer through a CAN bus;
and the power interface is used for receiving electric energy.
5. The system of claim 1, further comprising:
and the PC is connected with the upper loading controller and the upper loading system simulation board card, transmits first CAN information sent by the upper loading controller to the upper computer, and transmits second CAN information sent by the upper loading system simulation board card to the upper computer.
6. A sweeping vehicle comprising an on-board controller testing system of the sweeping vehicle of any one of claims 1 to 5.
7. A control method of a sweeping machine, which is applied to the system for testing the on-board controller of the sweeping machine according to any one of claims 1 to 5, the control method comprising:
acquiring a control instruction, wherein the control instruction is used for controlling the action of the simulation loading system;
collecting an analog signal and a switching value signal;
converting the analog signal and the switching value signal into a driving signal, and controlling an uploading system analog board card to work according to the driving signal and the control instruction, wherein the uploading system analog board card simulates the action of an uploading system of the sweeping vehicle and returns a feedback signal;
acquiring an action picture of an upper system of the analog sweeping machine and the feedback signal;
and analyzing the loading action of the loading system of the sweeping machine corresponding to the action picture, the control instruction and the feedback signal to determine whether the function of the loading controller is normal.
8. The control method of claim 7, wherein converting the analog signal and the switching value signal into the driving signal comprises:
converting the analog signal and the switching value signal into a high-side driving signal;
or converting the analog signal and the switching value signal into a low-side driving signal.
9. A processor, characterized in that the processor is configured to run a program, wherein the program is configured to execute the method of controlling a sweeping vehicle according to any one of claims 7 to 8 when running.
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| CN105159287A (en) * | 2015-10-12 | 2015-12-16 | 重庆凯瑞电动汽车系统有限公司 | Electric vehicle controller testing device and system, and use method |
| CN105589453A (en) * | 2015-12-15 | 2016-05-18 | 重庆联导金宏电子有限公司 | Test method and system for testing vehicle-mounted controller by means of vehicle simulation device |
| CN205581636U (en) * | 2016-03-16 | 2016-09-14 | 宝沃汽车（中国）有限公司 | Vehicle control unit capability test system |
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| JP2002304219A (en) * | 2001-04-04 | 2002-10-18 | Yaskawa Electric Corp | Motor controller and mechanism characteristic measuring method |
| US8225646B2 (en) * | 2009-10-30 | 2012-07-24 | GM Global Technology Operations LLC | Throttle body sweep diagnostic system and method |
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| CN105159287A (en) * | 2015-10-12 | 2015-12-16 | 重庆凯瑞电动汽车系统有限公司 | Electric vehicle controller testing device and system, and use method |
| CN105589453A (en) * | 2015-12-15 | 2016-05-18 | 重庆联导金宏电子有限公司 | Test method and system for testing vehicle-mounted controller by means of vehicle simulation device |
| CN205581636U (en) * | 2016-03-16 | 2016-09-14 | 宝沃汽车（中国）有限公司 | Vehicle control unit capability test system |
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