CN111506051A - Detection system and detection method of parallel drive units - Google Patents
Detection system and detection method of parallel drive units Download PDFInfo
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- CN111506051A CN111506051A CN202010455231.7A CN202010455231A CN111506051A CN 111506051 A CN111506051 A CN 111506051A CN 202010455231 A CN202010455231 A CN 202010455231A CN 111506051 A CN111506051 A CN 111506051A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- 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
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
Abstract
The disclosure relates to a detection system and a detection method of a parallel driving unit, and relates to the field of unmanned vehicles (or called as automatic driving or unmanned driving). The detection system comprises: detecting a tool and a test terminal; the detection tool comprises a tool rack, a power supply module and an auxiliary detection device; the power supply module and the auxiliary detection device are both fixed on the tool rack; when the parallel driving unit to be detected is detected, the power supply module and the auxiliary detection device are both connected with the parallel driving unit to be detected; the parallel driving unit to be detected is in communication connection with the test terminal; the auxiliary detection device is matched with the test terminal to detect whether the parallel driving unit to be detected CAN control the image acquisition equipment and the image display equipment, CAN communicate based on a network and CAN transmit data based on the CAN box. The technical scheme can judge whether the parallel driving unit is qualified or not, and further reduces the probability that the unqualified parallel driving unit flows into the market.
Description
Technical Field
The disclosure relates to the technical field of unmanned driving, in particular to a detection system and a detection method for parallel driving units.
Background
The unmanned vehicle is an intelligent vehicle which senses the road environment through a vehicle-mounted sensing system, automatically plans a driving route and controls the vehicle to reach a preset target. The intelligent test system integrates a plurality of technologies such as automatic control, a system structure, artificial intelligence, visual calculation and the like, is a product of high development of test terminal science, mode recognition and intelligent control technologies, is also an important mark for measuring national scientific research strength and industrial level, and has wide application prospect in the fields of national defense and national economy.
In the unmanned vehicle, a Parallel Drive Unit (PDU) is used as an automatic driving function core component of the unmanned vehicle, and has a plurality of functions and a strong function, such as functions of picture transmission, parallel driving, data record transmission and data remote management. The image transmission refers to transmitting an image acquired by a camera on the unmanned vehicle to a remote device (such as a control console located at a distance of thousands of miles away from the unmanned vehicle) in communication connection with the unmanned vehicle. The parallel driving means that under the premise that the unmanned vehicle is in communication connection with the remote equipment, the unmanned vehicle is taken over by the remote equipment, and a worker remotely controls the parallel driving unit through the remote equipment, so that the parallel driving unit controls the chassis equipment through a CAN network to realize the forward and backward movement, steering and the like of the vehicle. The data recording and transmitting function is also called a black box (black box) function. Data remote management, i.e. Over The Air (OTA), means that The data of The mobile terminal device and The SIM card are remotely managed, such as remote upgrade, through an Air interface of The mobile communication.
The failure of any one function of the parallel drive units can affect the running of the vehicle and even cause safety accidents, so that the detection of the performance of the parallel drive units is very important. There is currently a lack of devices or systems for detecting the performance of parallel drive units.
Disclosure of Invention
In order to solve the technical problem or at least partially solve the technical problem, the present disclosure provides a detection system and a detection method for parallel driving units.
In a first aspect, an embodiment of the present disclosure provides a detection system for parallel driving units, including: detecting a tool and a test terminal;
the detection tool comprises a tool rack, a power supply module and an auxiliary detection device; the power supply module and the auxiliary detection device are both fixed on the tool rack;
when the parallel driving unit to be detected is detected, the power supply module and the auxiliary detection device are both connected with the parallel driving unit to be detected; the parallel driving unit to be detected is in communication connection with the test terminal; the auxiliary detection device is matched with the test terminal to detect whether the parallel driving unit to be detected CAN control the image acquisition equipment and the image display equipment, CAN communicate based on a network and CAN transmit data based on the CAN box.
In a second aspect, an embodiment of the present disclosure further provides a method for detecting a parallel driving unit, where the method for detecting a parallel driving unit is applicable to a detection system of a parallel driving unit provided in any embodiment of the present disclosure; the detection method of the parallel driving unit comprises the following steps:
electrically connecting the power supply module with the parallel driving unit to be detected;
the parallel driving unit to be detected is in communication connection with the test terminal;
connecting the auxiliary detection device with the parallel driving unit to be detected;
and determining the detection result of the parallel driving unit to be detected based on the response result of the test terminal and/or the auxiliary detection device.
The detection system of the parallel driving unit provided in the embodiment of the present disclosure may utilize the auxiliary detection device to cooperate with the test terminal to detect whether the parallel driving unit to be detected CAN control the image acquisition device and the image display device, CAN communicate based on a network, and CAN perform data transmission based on the CAN box. The embodiment of the disclosure solves the problem that a device or a system for detecting the performance of the parallel driving unit is not available at present, and can judge whether the parallel driving unit is qualified or not, so that the probability that the unqualified parallel driving unit flows into the market is reduced.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present disclosure, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a block diagram of a detection system of parallel driving units according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a detection tool in a parallel driving unit according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a parallel driving unit according to an embodiment of the present disclosure;
FIG. 4 is a schematic diagram of an interface after test software is started;
fig. 5 is a flowchart of a method for detecting parallel driving units according to an embodiment of the present disclosure.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, aspects of the present disclosure will be further described below. It should be noted that the embodiments and features of the embodiments of the present disclosure may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced in other ways than those described herein; it is to be understood that the embodiments disclosed in the specification are only a few embodiments of the present disclosure, and not all embodiments.
Aiming at the problem that the prior art lacks a device or system for detecting the performance of the parallel driving unit, the detection system of the parallel driving unit provided by the embodiment of the disclosure can judge whether the parallel driving unit is qualified or not, and further reduce the probability that the unqualified parallel driving unit flows into the market.
The detection system of the parallel driving unit provided by the embodiment of the disclosure can be used for detecting the parallel driving unit applied to the unmanned vehicle and can also be used for detecting the parallel driving unit applied to the artificial vehicle.
Fig. 1 is a block diagram of a detection system of parallel driving units according to an embodiment of the present disclosure. Referring to fig. 1, the detection system of the parallel driving unit includes a detection tool 10 and a test terminal 20; the detection tool 10 comprises a tool rack 11, a power supply module 12 and an auxiliary detection device 13; the power supply module 12 and the auxiliary detection device 13 are both fixed on the tool rack 11. When the parallel driving unit to be detected is detected, the power supply module 12 and the auxiliary detection device 13 are both connected with the parallel driving unit to be detected; the parallel driving unit to be detected is in communication connection with the test terminal 20 (here, the communication connection may be a wireless communication connection or a wired communication connection); the auxiliary detection device 13 cooperates with the test terminal 20 to detect whether the parallel drive unit to be detected CAN control the image acquisition device and the image display device, CAN communicate on the basis of a network, and CAN perform data transmission on the basis of a CAN box.
The detection items of "whether the image acquisition device and the image display device CAN be controlled, whether the communication CAN be performed based on the network, and whether the data transmission CAN be performed based on the CAN box" are determined by decomposing the functions of the parallel driving units (i.e., picture transmission, parallel driving, data recording transmission, and data remote management). Alternatively, the detection items may be set to include, but not limited to, the above items. For example, it may also be set that the detection items include: and after the power supply is electrified, whether the power supply indicator lamp on the parallel driving unit to be detected can be normally lightened.
Optionally, the auxiliary detection device 13 includes an image acquisition device, an image display device, a router, and a CAN box.
When the parallel driving unit to be detected is detected, some detection items need the auxiliary detection device 13 to be matched with the test terminal 20, for example, whether the parallel driving unit to be detected can control the external image acquisition device and the external image display device or not. The auxiliary detecting device 13 is an image capturing device and an image displaying device. Some detection items do not need the auxiliary detection device 13 to cooperate with the test terminal 20, for example, whether the power indicator lamp on the parallel driving unit to be detected can be normally lighted after being powered on.
Moreover, when the parallel driving unit to be detected is detected, some detection items do not need the test terminal 20 to trigger the parallel driving unit, for example, whether a power indicator lamp on the parallel driving unit to be detected can be normally turned on after power-on. And some detection items require the test terminal 20 to trigger the parallel driving unit, for example, to detect whether the parallel driving unit CAN perform data transmission based on the CAN box.
When the parallel driving units to be detected are detected, response results of some detection items are displayed through the auxiliary detection device, and if the parallel driving units are detected to be capable of controlling the external image display equipment, the response results (namely, image information) are displayed in a display mode through the image display equipment. The response results of some detection items are displayed through the test terminal, for example, when it is detected whether the parallel driving units can perform communication based on the network, the response results (i.e., the test results of the network communication) are displayed in a display form through a display screen of the test terminal.
Therefore, in the above technical solution, the test terminal mainly has two functions, one of which is to trigger the parallel driving unit to be tested to execute the item to be tested. And the test terminal is used for displaying the execution result of the to-be-detected items of the to-be-detected parallel drive units.
In the above scheme, the fact that the auxiliary detection device 13 is matched with the test terminal 20 to detect whether the parallel driving unit to be detected CAN control the image acquisition device and the image display device, CAN perform communication based on a network, and CAN perform data transmission based on the CAN box is that the auxiliary detection device 13 is selectively connected with the parallel driving unit to be detected according to the requirement of a detection item; and determining the detection result of the parallel driving unit to be detected based on the response result of the test terminal and/or the auxiliary detection device. For example, if it is detected whether the parallel driving unit can control the external image acquisition device, and the display screen of the test terminal cannot display the picture acquired by the image acquisition device, the function of the parallel driving unit is not qualified, that is, the parallel driving unit is not qualified.
According to the technical scheme, the detection tool 10 comprises the auxiliary detection device 13, the auxiliary detection device 13 is matched with the test terminal 20, the parallel driving unit to be detected can be detected, and whether the function of the parallel driving unit is qualified or not is judged based on the detection result.
Therefore, the detection system of the parallel driving unit has the following advantages:
1. the operation is convenient, the production efficiency of the unmanned vehicle can be improved, and the rework loss is reduced;
2. the function failure is avoided by detecting in advance, and the potential safety hazard caused by disqualification of the parallel driving unit of the unmanned vehicle can be reduced;
3. the practicability is strong, various environmental conditions can be simulated, and the parallel driving units can be subjected to omnibearing function detection;
4. the parameters of the detection tool can be set according to the parameters and the use conditions of the parallel driving units, and the parallel driving units are protected from being damaged.
In the above technical solution, the test terminal may be an electronic device such as a mobile phone and a computer.
Optionally, when the test terminal is used to trigger the parallel driving unit to be tested to execute the item to be tested, the trigger function is implemented by test software installed on the test terminal.
In practical use, when the auxiliary detection device 13 includes a plurality of different devices, a plurality of plugging operations of the same auxiliary detection device 13 and the parallel driving unit to be detected may occur, or the plugging operations of different auxiliary detection devices 13 and the parallel driving unit to be detected may occur successively. The parallel driving unit is easy to shake due to the plug-in connection operation, so that the parallel driving unit to be detected is unnecessarily collided with other parts, and the parallel driving unit to be detected is damaged. Fig. 2 is a schematic structural diagram of a detection tool in a parallel driving unit according to an embodiment of the present disclosure. Referring to fig. 2, optionally, the detection tool further includes a clamping groove 14, and the clamping groove 14 is fixed on the tool rack 11 and is used for fixing the parallel driving unit to be detected. By arranging the clamping groove 14, the parallel driving unit to be detected can be protected and prevented from being damaged in the whole detection process.
Fig. 3 is a schematic structural diagram of a parallel driving unit according to an embodiment of the present disclosure. Referring to fig. 3, the parallel driving unit 30 is essentially a printed circuit board on which a plurality of communication ports are provided; when the parallel driving unit 30 to be detected is detected, the auxiliary detection device is electrically connected with the parallel driving unit to be detected through the communication port.
Optionally, the communication port includes at least one of a USB port, an HDMI port, a network port, a CAN box connection port, and a camera socket. When the communication connection between the parallel driving unit to be detected and the test terminal 20 is wired communication connection, the parallel driving unit to be detected and the test terminal 20 may be connected through the USB port. Exemplarily, a USB port, an HDMI port, a network port, a CAN box connection port, and a camera jack are shown in fig. 3. Illustratively, the USB port may be a TYPE-C port.
Optionally, in the above technical solution, the card slot has a plurality of openings, and the plurality of openings expose the communication ports of the parallel driving units fixed on the card slot. The arrangement is convenient for assisting the plugging and unplugging connection operation of the detection device and the communication port during detection.
Optionally, in the above technical solution, during the whole process of detecting the parallel driving unit to be detected, each communication port on the parallel driving unit to be detected is connected with the auxiliary detection device at least once. When the auxiliary detection device is used to detect a certain function of the parallel driving unit, if the detection result indicates that the function is normal, those skilled in the art can understand that the detection result also means that the communication port connected to the auxiliary detection device operates normally during detection. The essence of setting that each communication port on the parallel driving unit to be detected is connected with the auxiliary detection device at least once in the whole process of detecting the parallel driving unit to be detected is that each communication port on the parallel driving unit to be detected is detected, so that the severity of detection on the parallel driving unit can be improved, and the probability that unqualified parallel driving units flow into the market is further reduced.
The auxiliary detection device comprises image acquisition equipment, image display equipment, a router and a CAN box. Wherein, image acquisition equipment can be the camera, and image display equipment can be the display. Optionally, a display screen in the detection terminal is multiplexed as an image display device of the auxiliary detection apparatus.
For convenience of understanding, the following describes, by way of example and without limitation, a method for detecting the parallel driving unit by using the detection system of the parallel driving unit described above with reference to fig. 1 to 3.
Illustratively, the test terminal is a computer, and before the detection, the test terminal is provided with test software. FIG. 4 is a schematic diagram of an interface after test software is started. Referring to fig. 1 to 4, the method for detecting the parallel driving unit by using the detection system of the parallel driving unit includes:
step 1, electrically connecting (i.e. electrifying) the power supply module with the parallel driving unit to be detected, observing or detecting whether a power indicator lamp (see 31 in fig. 3) on the parallel driving unit is normally on, and if so, passing the detection.
And 2, connecting the display screen with the parallel driving unit to be detected through the HDMI port, and if a display image appears in the display screen, the detection is passed. And if the display screen is a black screen, controlling the parallel driving unit to execute the step 3, and if the display screen is lightened in the process of executing the step 3, indicating that the reason that the display screen is the black screen before is that the parallel driving unit enters a dormant state, so that the detection is passed.
And 3, connecting each camera socket with a camera, starting test software, entering 2 (2: camera detection) in an input interface of the test software in the figure 4, returning, triggering the camera detection, and if the display screen of the test terminal presents each camera image, passing the detection.
Step 4, ensuring that the default gateway of the router is 192.168.10.1, inserting one end of a network cable into a network port of the parallel driving unit, connecting the other end of the network cable with the router, entering 1 (1: network port detection) in an input interface of the test software in fig. 4, returning, and if the test software interface displays similar prompts of 'byte from 61.135.169.125, time 43ms, and TT L54', the detection is passed, and if the detection is passed, the network communication of the parallel driving unit is normal, that is, the data remote management function is normal.
And 5, sending test information to the parallel drive unit through the test terminal through the CAN box connecting port and the CAN box, receiving response information returned from the CAN box, and if the response information returned from the CAN box is received, the detection item passes. It should be noted that, in order to enable the test information to be sent to the parallel drive unit through the test terminal, a CAN driver corresponding to the CAN box needs to be installed on the test terminal in advance,
in the method for detecting the parallel driving units, the execution sequence of each step may be adjusted arbitrarily, which is not limited in this disclosure.
The embodiment of the disclosure also provides a detection method of the parallel driving unit, and the detection method of the parallel driving unit is suitable for any detection system of the parallel driving unit provided by the embodiment of the disclosure. Fig. 5 is a flowchart of a method for detecting parallel driving units according to an embodiment of the present disclosure. Referring to fig. 5, the method of detecting the parallel driving unit includes:
and S110, electrically connecting the power supply module with the parallel driving unit to be detected.
And S120, connecting the parallel driving unit to be detected with a test terminal in a communication manner.
And S130, connecting the auxiliary detection device with the parallel driving unit to be detected.
And S140, determining the detection result of the parallel driving unit to be detected based on the response result of the test terminal and/or the auxiliary detection device.
Since the detection method of the parallel driving unit provided by the embodiment of the present disclosure is applicable to any detection system of the parallel driving unit provided by the embodiment of the present disclosure, the detection system has the same or corresponding beneficial effects as the detection system of the parallel driving unit to which the detection method is applicable, and details are not repeated here.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present disclosure, which enable those skilled in the art to understand or practice the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. A detection system for parallel drive units, comprising: detecting a tool and a test terminal;
the detection tool comprises a tool rack, a power supply module and an auxiliary detection device; the power supply module and the auxiliary detection device are both fixed on the tool rack;
when the parallel driving unit to be detected is detected, the power supply module and the auxiliary detection device are both connected with the parallel driving unit to be detected; the parallel driving unit to be detected is in communication connection with the test terminal; the auxiliary detection device is matched with the test terminal to detect whether the parallel driving unit to be detected CAN control the image acquisition equipment and the image display equipment, CAN communicate based on a network and CAN transmit data based on the CAN box.
2. The system for detecting the parallel driving units according to claim 1, wherein the test terminal is configured to trigger the parallel driving units to be detected to execute the items to be detected, and the test terminal is configured to display the execution results of the items to be detected of the parallel driving units to be detected.
3. The system for detecting the parallel driving units according to claim 2, wherein the detection tool further comprises a clamping groove, and the clamping groove is fixed on the tool rack and used for fixing the parallel driving units to be detected.
4. The system for detecting the parallel drive units according to claim 3, wherein a plurality of communication ports are arranged on the parallel drive unit to be detected;
when the parallel driving unit to be detected is detected, the auxiliary detection device is electrically connected with the parallel driving unit to be detected through the communication port.
5. The system for detecting parallel drive units according to claim 4, wherein the communication port includes at least one of a USB port, an HDMI port, a network port, a CAN box connection port, and a camera jack.
6. The system for detecting parallel drive units according to claim 4 or 5, wherein the card slot has a plurality of openings exposing the communication port of the parallel drive unit fixed to the card slot.
7. The system for detecting parallel drive units according to any one of claims 4 to 6, wherein each communication port of the parallel drive unit to be detected is connected to the auxiliary detection device at least once during the whole process of detecting the parallel drive unit to be detected.
8. The detecting system of the parallel driving units according to claim 2, wherein the auxiliary detecting means includes an image capturing device, an image display device, a router, and a CAN box.
9. A method for detecting a parallel drive unit, wherein the method for detecting a parallel drive unit is applied to a detection system of a parallel drive unit according to any one of claims 1 to 8; the detection method of the parallel driving unit comprises the following steps:
electrically connecting the power supply module with the parallel driving unit to be detected;
the parallel driving unit to be detected is in communication connection with the test terminal;
connecting the auxiliary detection device with the parallel driving unit to be detected;
and determining the detection result of the parallel driving unit to be detected based on the response result of the test terminal and/or the auxiliary detection device.
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Application publication date: 20200807 |