CN219608397U - Detection equipment for endurance test state of robot - Google Patents

Abstract

The utility model provides a device for detecting a endurance test state of a robot, and belongs to the technical field of robots. Wherein, the test equipment of the durable test state of robot includes: a housing; the image sensor is arranged on the first side of the shell and is used for acquiring image data of the robot; the display screen is arranged on the second side of the shell and used for displaying the endurance test state of the robot; and the control circuit is arranged in the shell and is used for determining the endurance test state according to the image data.

Description

Detection equipment for endurance test state of robot

Technical Field

The utility model relates to the technical field of robots, in particular to a device for detecting a durability test state of a robot.

Background

In the related art, the endurance test of the robot needs to be continuously operated for thousands of hours, if a situation other than a dead halt occurs in an unattended time period, the robot under test can maintain a fault state for a long time before being found by an engineer, and the engineer wants to know the details of the fault, and needs to manually investigate and monitor to influence the test efficiency.

Disclosure of Invention

The present utility model aims to solve at least one of the technical problems existing in the prior art or related art.

For this purpose, the utility model proposes a device for detecting the endurance test state of a robot.

In view of the above, the present utility model provides a device for detecting a endurance test state of a robot, comprising: a housing; the image sensor is arranged on the first side of the shell and is used for acquiring image data of the robot; the display screen is arranged on the second side of the shell and used for displaying the endurance test state of the robot; and the control circuit is arranged in the shell, is electrically connected with the image sensor and the display screen and is used for determining a endurance test state according to the image data.

In the technical scheme, the detection equipment for the endurance test of the robot is used for detecting the experimental process of the endurance test experiment of the robot. The detection device comprises an image sensor, wherein the image sensor can be specifically set as an OpenMV camera, and the OpenMV camera is a small, low-power-consumption and low-cost camera module and can complete a machine vision (machine vision) application function.

Specifically, check out test set includes casing, image sensor, display screen and control circuit, and wherein, image sensor, openMV camera can pass through the screw fixation in one side of casing promptly, and the display screen passes through the screw fixation in the opposite side of casing, and control circuit specifically is control circuit board, sets up in the casing, is connected with the casing through the screw.

The image sensor and the display screen are connected with the control circuit through connecting wires such as a flat cable, in the process of performing the endurance test experiment by the robot, the test equipment is arranged near the robot performing the endurance test experiment, and the image sensor is kept towards the robot in the test.

When the robot performs a endurance test experiment, the robot performs a fixed cyclic motion according to a set program, and an identification feature point is set on the robot body, wherein the identification feature point can be a specific part on the robot, such as an end tool, or a specific joint on a mechanical arm, and the utility model is not limited to the specific part.

The image sensor of the detection equipment, namely the OpenMV camera continuously collects image data of the robot, the OpenMV camera runs a pre-written firmware program, and a cyclic identification timing mode is adopted to judge the testing state of the robot. Specifically, when the robot performs a fixed cyclic motion, the OpenMV camera can recognize the recognition feature point on the robot when the robot moves to a specific position, at which point the robot immediately starts timing, which timing action is denoted herein as timing 1.

Along with the movement of the robot, the recognition feature point moves to an image acquisition range away from the OpenMV camera, at this time, the OpenMV camera recognizes that the recognition feature point is lost, and then the OpenMV camera stops timing action of the timing 1 and starts new timing, and the re-executed timing action is recorded as timing 2.

And the robot continues to circularly move, and when the identification feature points enter the identification range of the OpenMV camera again, namely the OpenMV camera re-identifies the identification feature points, the OpenMV camera stops timing action of the timing 2 and restarts timing action of the timing 1.

The circuit board of the OpenMV camera stores a timing threshold value calibrated according to the movement period of the robot, compares the timing time length of the timing 1 and the timing 2 with the timing threshold value, determines that the endurance test of the robot is normal in operation if the timing time length is smaller than the set timing threshold value, sends a signal of normal operation to the control circuit, and the control circuit displays the endurance test state as normal in operation on the display screen according to the normal operation signal sent by the OpenMV camera.

If the timing view field is larger than the set timing threshold, determining that the robot is abnormal in durable test operation, sending an operation abnormal signal to a control circuit by the OpenMV camera, displaying the operation state as the operation abnormality on a display screen by the control circuit according to the operation abnormal signal, generating corresponding alarm prompt information, sending the alarm prompt information to an engineer terminal through network connection, informing the engineer of the abnormal state of the durable test of the robot, and storing a corresponding abnormal time node as equipment record.

According to the detection equipment for the endurance test state of the robot, provided by the embodiment of the utility model, the image data of the robot in the endurance test process is acquired through the image sensor, such as the OpenMV camera, the timing is performed according to the time point at which the identification key point is identified and the time point at which the identification key point is lost, and the endurance test state of the robot is determined and displayed according to the comparison result of the timing duration and the duration threshold, so that when the test abnormality occurs, the detection equipment can inform an engineer responsible for the test in the first time, the robot is prevented from keeping the fault state for a long time, and the engineer can master the fault details occurring in the test according to the endurance test state, and the test efficiency of the endurance test of the robot is improved.

In addition, the detection device for the endurance test state of the robot in the technical scheme provided by the utility model can also have the following additional technical characteristics:

in the above technical solution, the control circuit includes: and the control chip is electrically connected with the image sensor and the display screen.

In the technical scheme, the control circuit comprises a control chip, the image sensor and the display screen are connected with the control chip through a flat cable and the like, wherein the image sensor and the display screen can be connected with the control chip through a flexible circuit board (Flexible Printed Circuit, FPC), the image sensor sends an abnormal operation signal or a normal operation signal to the control chip through the flexible circuit board, the control chip executes corresponding logic operation according to the received abnormal operation signal or the normal operation signal, and when the abnormal operation signal is received, the control chip generates abnormal state information and sends the abnormal state information to an engineer terminal through a network, and meanwhile, the display screen is controlled to display the abnormal state information.

When the normal operation signal is received, the control chip controls the display screen to display the normal state information of the endurance test.

In some implementations, the control chip is an STM32 chip.

In any of the above solutions, the control circuit further includes: and the storage circuit is electrically connected with the control chip and used for storing the endurance test state.

In the technical scheme, the control circuit comprises a storage circuit, the detection equipment continuously detects the endurance test state of the robot in the process of performing the endurance test on the robot, and the storage circuit records and stores the endurance test state detected by the detection equipment to obtain a corresponding endurance test record.

In some embodiments, the Memory circuit includes a computer Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic or optical disk, and the like.

In other embodiments, the memory circuit includes a memory card, such as a T-Flash (TF) memory card, or the like.

In any of the above technical solutions, the memory circuit includes a memory card slot, and the memory card slot is electrically connected with the control chip.

In the technical scheme, the storage circuit comprises a storage card slot which is fixedly arranged in the shell and is electrically connected with a control chip in the control circuit. The memory card slot may be a card slot of a TF memory card or a card slot of an SD (Secure Digital Memory Card, secure digital card) card.

In some embodiments, the memory card slot and the control chip are in signal interaction through SPI (Serial Peripheral Interface ) communication.

In the process of performing endurance test on the robot, a memory card of a corresponding model is arranged in a memory card slot, the control chip sends the endurance test state to the memory card slot, and the corresponding endurance test state is written into the memory card through the memory card slot for storage.

When the endurance test state is required to be called, an engineer only needs to pull out the memory card and read the data in the memory card through the card reading equipment, so that the test efficiency of the endurance test of the robot can be improved.

In any of the above solutions, the control circuit further includes: and the communication circuit is electrically connected with the control chip and is used for sending the endurance test state to the target equipment.

In this technical solution, the control circuit includes a communication circuit for establishing a communication connection with a target device, such as an engineer terminal or an upper computer, and transmitting a endurance test status to the target device. In the process of performing endurance test on the robot, the detection equipment detects the endurance test state of the robot in real time through the image sensor, if the state of the robot is abnormal, the image sensor generates an operation abnormal signal and sends the operation abnormal signal to the processor, the processor generates abnormal state information according to the operation abnormal signal, the abnormal state information comprises the abnormal state of the robot and the occurrence time of the abnormal state, the communication circuit sends the abnormal state to the upper computer or the engineer terminal to inform the engineer that the endurance test is abnormal, and the engineer needs to process, so that the robot is prevented from being in the abnormal state for a long time and being found by no person, and the test efficiency can be ensured.

In any of the above solutions, the communication circuit further includes: the wireless communication module is used for sending a durable test state; the first serial circuit is electrically connected with the control chip and the wireless communication module.

In the technical scheme, the communication circuit comprises a wireless communication module and a first serial circuit, the control chip is electrically connected with the wireless communication module through the first serial circuit, the wireless communication module can be a WiFi communication module, such as an ESP8266 module, the processor sends serial signals in a durable test state through the first serial circuit, and the ESP8266 module converts the received serial signals into WiFi signals and sends the WiFi signals to target equipment, such as a host computer or an engineer terminal, so that remote monitoring of the durable test state of the robot is realized.

In any of the above embodiments, the communication circuit includes: the universal serial interface is used for connecting an upper computer; and the second serial port circuit is electrically connected with the control chip and the universal serial interface and is used for receiving the debugging signals sent by the upper computer.

In the technical scheme, the communication circuit comprises a universal serial interface (Universal Serial Bus, USB), the universal serial interface is connected with the control chip through the second serial circuit, the universal serial interface is used for being connected with an upper computer, and after the upper computer is connected with the universal serial interface, the operation parameters of the detection equipment can be debugged, such as setting a working state, a communication address of target equipment and the like.

In any of the above solutions, the communication circuit further includes: and the third serial circuit is electrically connected with the control chip and the display screen, and the control chip sends the endurance test state to the display screen through the third serial circuit.

In the technical scheme, the display screen is electrically connected with the control chip through the third serial circuit. In the process of performing endurance test on the robot, the detection equipment detects the endurance test state of the robot in real time through the image sensor, if the state of the robot is detected to be normal, the image sensor generates a normal operation signal and sends the normal operation signal to the processor, the processor generates normal state information according to the normal operation signal and sends the normal state information to the display screen through the third serial circuit, and the display screen displays the normal state information.

If the state of the robot is abnormal, the image sensor generates an operation abnormal signal and sends the operation abnormal signal to the processor, the processor generates abnormal state information according to the operation abnormal signal, the abnormal state information comprises the abnormal state of the robot and the occurrence time of the abnormal state, the processor sends the abnormal state information to the display screen through the third serial port circuit, and the display screen displays the abnormal state information.

In any of the above solutions, the communication circuit further includes: and the fourth serial circuit is electrically connected with the control chip and the image sensor, and the image sensor sends the image data to the control chip through the fourth serial circuit.

In the technical scheme, the image sensor is electrically connected with the control chip through a fourth serial circuit. In the process of performing endurance test on the robot, the image sensor acquires image data of the robot in real time, the image data is used for determining an endurance test state, if the robot state is detected to be normal, the image sensor sends a normal operation signal to the processor through the fourth serial port circuit, and if the robot state is detected to be abnormal, the image sensor sends an abnormal operation signal to the processor through the fourth serial port circuit.

In any of the above solutions, the control circuit further includes: and the power supply circuit is electrically connected with the image sensor and the display screen.

In an embodiment of the utility model, the control circuit comprises a power supply circuit, and the power supply circuit is used for supplying power to the image sensor, the control circuit and the display screen. Specifically, the power supply circuit includes a power supply chip, which may be an AMS1116 chip, and a plurality of power supply capacitors. The power supply circuit can output power supply voltages of 5V and 3.3V so as to drive each device of the detection equipment to work.

In any of the above solutions, the housing includes: the image sensor is arranged on the first shell; the second shell is connected with the first shell, and the display screen is arranged on the second shell.

In the technical scheme, the shell specifically comprises a first shell and a second shell, and the first shell and the second shell are mutually buckled and fixed through screw connection. After the first shell and the second shell are buckled, the stroke is a hollow cavity, and the control circuit is arranged inside the wall body. The image sensor is specifically arranged on the first shell, the display screen is specifically arranged on the second shell, and the first shell and the second shell which are separated are arranged, so that the assembly flow of the detection equipment is simplified, and the production cost of the detection equipment is reduced.

In any of the above technical solutions, the first housing includes a pin header electrically connected to the image sensor; the second shell comprises a row of bus bars which are electrically connected with the control circuit and are used for connecting row pins.

In this technical scheme, check out test set includes row needle and row female, and row needle sets up on first casing, arranges female setting on the second casing. The image sensor is electrically connected with the pin header, the control circuit is electrically connected with the pin header, and when the first shell and the second shell are connected, the pin header is inserted into the pin header, so that the image sensor is electrically connected with the control circuit, the image sensor can acquire electric energy provided by the power supply circuit in the control circuit through the pin header and the pin header, and image data are sent to the control circuit through the pin header and the pin header, so that the control circuit can determine the endurance test state of the robot for performing endurance test according to the image data.

Drawings

The foregoing and/or additional aspects and advantages of the utility model will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:

FIG. 1 shows a block diagram of a detection device according to an embodiment of the present utility model;

FIG. 2 shows a block diagram of a detection device according to an embodiment of the present utility model;

FIG. 3 shows a circuit diagram of a control circuit according to an embodiment of the utility model;

FIG. 4 shows a circuit diagram of a memory circuit according to an embodiment of the utility model;

fig. 5 shows a circuit diagram of a communication circuit according to an embodiment of the utility model;

fig. 6 shows a block diagram of the structure of a detection device according to an embodiment of the present utility model;

fig. 7 shows a circuit diagram of a power supply circuit according to an embodiment of the utility model;

FIG. 8 shows a workflow diagram of an image sensor according to an embodiment of the utility model;

FIG. 9 shows a flow chart of the operation of the control circuit according to an embodiment of the utility model;

FIG. 10 shows a flow chart of the operation of a communication circuit according to an embodiment of the utility model;

FIG. 11 shows a flowchart of the operation of a memory circuit according to an embodiment of the utility model;

FIG. 12 shows a workflow diagram of a display screen according to an embodiment of the utility model.

Reference numerals:

100 detection equipment, 102 a housing, 1022 a first housing, 10222 pins, 1024 a second housing, 10242 pins, 104 an image sensor, 106 a display screen, 108 a control circuit, 1082 a control chip, 1084 a memory circuit, 10842 a memory card slot, 1086 a communication circuit, 10861 a wireless communication module, 10862 a first serial circuit, 10863 a universal serial interface, 10864 a second serial circuit, 10865 a third serial circuit, 10866 a fourth serial circuit, 1088 a power supply circuit.

Detailed Description

In order that the above-recited objects, features and advantages of the present utility model will be more clearly understood, a more particular description of the utility model will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, without conflict, the embodiments of the present utility model and features in the embodiments may be combined with each other.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present utility model, however, the present utility model may be practiced in other ways than those described herein, and therefore the scope of the present utility model is not limited to the specific embodiments disclosed below.

A detection apparatus for a endurance test state of a robot according to some embodiments of the present utility model will be described below with reference to fig. 1 to 12.

In some embodiments of the present utility model, there is provided a detecting apparatus 100 of a endurance test state of a robot, fig. 1 and 2 show a detecting apparatus structure diagram according to an embodiment of the present utility model, fig. 3 shows a circuit diagram of a control circuit 108 according to an embodiment of the present utility model, as shown in fig. 1, 2 and 3, the detecting apparatus 100 includes:

a housing 102; the image sensor 104 is arranged on the first side of the shell 102 and is used for acquiring image data of the robot; a display screen 106, disposed on a second side of the housing 102, for displaying a endurance test state of the robot; a control circuit 108, disposed within the housing 102, is electrically connected to the image sensor 104 and the display screen 106 for determining a endurance test condition based on the image data.

In the embodiment of the present utility model, the state detection apparatus 100 for endurance test of the robot is used to detect an experimental procedure of the endurance test experiment of the robot. The detection device 100 includes an image sensor 104, where the image sensor 104 may be specifically configured as an OpenMV camera, and the OpenMV camera is a small, low-power and low-cost camera module and is capable of performing a machine vision (machine vision) application function.

Specifically, the detection device 100 includes a housing 102, an image sensor 104, a display screen 106, and a control circuit 108, where the image sensor 104, that is, an OpenMV camera, may be fixed on one side of the housing 102 by a screw, the display screen 106 is fixed on the other side of the housing 102 by a screw, and the control circuit 108, specifically, a control circuit 108 board, is disposed in the housing 102 and is connected with the housing 102 by a screw.

The image sensor 104 and the display screen 106 are connected to the control circuit 108 by a connection line such as a flat cable, and in the course of performing the endurance test by the robot, the test equipment is disposed near the robot performing the endurance test, and the image sensor 104 is kept disposed toward the robot under test.

When the robot performs a endurance test experiment, the robot performs a fixed cyclic motion according to a set program, and an identification feature point is set on the robot body, wherein the identification feature point can be a specific part on the robot, such as an end tool, or a specific joint on a mechanical arm, and the utility model is not limited to the specific part.

The image sensor 104 of the detection device 100, that is, the OpenMV camera continuously collects image data of the robot, the OpenMV camera runs a pre-written firmware program, and a cyclic recognition timing mode is adopted to determine the test state of the robot. Specifically, when the robot performs a fixed cyclic motion, the OpenMV camera can recognize the recognition feature point on the robot when the robot moves to a specific position, at which point the robot immediately starts timing, which timing action is denoted herein as timing 1.

Along with the movement of the robot, the recognition feature point moves to an image acquisition range away from the OpenMV camera, at this time, the OpenMV camera recognizes that the recognition feature point is lost, and then the OpenMV camera stops timing action of the timing 1 and starts new timing, and the re-executed timing action is recorded as timing 2.

And the robot continues to circularly move, and when the identification feature points enter the identification range of the OpenMV camera again, namely the OpenMV camera re-identifies the identification feature points, the OpenMV camera stops timing action of the timing 2 and restarts timing action of the timing 1.

The circuit board of the OpenMV camera stores a timing threshold calibrated according to the motion cycle of the robot, compares the timing duration of the timing 1 and the timing 2 with the timing threshold, determines that the endurance test of the robot is normal in operation if the timing duration is smaller than the set timing threshold, sends a signal of normal operation to the control circuit 108, and the control circuit 108 displays the endurance test state as normal in operation on the display screen 106 according to the normal operation signal sent by the OpenMV camera.

If the timing view field is greater than the set timing threshold, determining that the robot is abnormal in durable test operation, sending an operation abnormal signal to the control circuit 108 by the OpenMV camera, displaying the operation state as the operation abnormality on the display screen 106 by the control circuit 108 according to the operation abnormal signal, generating corresponding alarm prompt information, sending the alarm prompt information to the engineer terminal through network connection, notifying the engineer of the state abnormality of the robot durable test, and storing a corresponding abnormal time node as equipment record.

According to the detection device 100 for the endurance test state of the robot, provided by the embodiment of the utility model, the image sensor 104, such as an OpenMV camera, is used for collecting image data of the robot in the endurance test process, timing is carried out according to the time point at which the identification key point is identified and the time point at which the identification key point is lost, and the endurance test state of the robot is determined and displayed according to the comparison result of the timing duration and the duration threshold, so that when the test abnormality occurs, an engineer responsible for the test can be notified at the first time, the robot is prevented from keeping the fault state for a long time, and the engineer can master the fault details occurring in the test according to the endurance test state, and the test efficiency of the endurance test of the robot is improved.

On the basis of any of the above embodiments, as shown in fig. 3, the control circuit 108 includes: control chip 1082, control chip 1082 is electrically connected to image sensor 104 and display 106.

In the embodiment of the present utility model, the control circuit 108 includes a control chip 1082, the image sensor 104 and the display screen 106 are connected to the control chip 1082 through a flat cable or the like, wherein the image sensor 104 and the display screen 106 may be connected to the control chip 1082 through a flexible circuit board (Flexible Printed Circuit, FPC), the image sensor 104 sends an abnormal operation signal or a normal operation signal to the control chip 1082 through the flexible circuit board, the control chip 1082 performs a corresponding logic operation according to the received abnormal operation signal or the normal operation signal, and when the abnormal operation signal is received, the control chip 1082 generates abnormal state information and sends the abnormal state information to an engineer terminal through a network, and simultaneously controls the display screen 106 to display the abnormal state information.

When receiving the operation normal signal, the control chip 1082 controls the display screen 106 to display endurance test normal status information.

In some implementations, the control chip 1082 is an STM32 chip.

On the basis of any of the above embodiments, fig. 4 shows a circuit diagram of a memory circuit 1084 according to an embodiment of the present utility model, and as shown in fig. 4, the control circuit 108 further includes: a memory circuit 1084, electrically connected to the control chip 1082, for storing the endurance test status.

In the embodiment of the present utility model, the control circuit 108 includes a storage circuit 1084, and the detection device 100 continuously detects the endurance test state of the robot during the endurance test of the robot, and the storage circuit 1084 records and stores the endurance test state detected by the detection device 100, so as to obtain a corresponding endurance test record.

In some embodiments, storage circuit 1084 includes a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic or optical disk, and the like.

In other embodiments, memory circuit 1084 includes a memory card, such as a T-Flash (TF) memory card, or the like.

Based on any of the above embodiments, as shown in fig. 4, the memory circuit 1084 includes a memory card slot 10842, and the memory card slot 10842 is electrically connected with the control chip 1082.

In an embodiment of the utility model, the memory circuit 1084 includes a memory card slot 10842, the memory card slot 10842 being fixedly disposed within the housing 102 and electrically connected to the control chip 1082 in the control circuit 108. The memory card slot 10842 may be a card slot of a TF memory card, or may be a card slot of a SD (Secure Digital Memory Card) secure digital card.

In some embodiments, the memory card slot 10842 and the control chip 1082 communicate with each other via a SPI (Serial Peripheral Interface) serial peripheral interface.

In the process of performing endurance test by the robot, a memory card of a corresponding model is set in the memory card slot 10842, the control chip 1082 transmits the endurance test status to the memory card slot 10842, and the corresponding endurance test status is written into the memory card through the memory card slot 10842 for storage.

When the endurance test state is required to be called, an engineer only needs to pull out the memory card and read the data in the memory card through the card reading equipment, so that the test efficiency of the endurance test of the robot can be improved.

On the basis of any of the above embodiments, fig. 5 shows a circuit diagram of a communication circuit 1086 according to an embodiment of the present utility model, fig. 6 shows a block diagram of a detection apparatus 100 according to an embodiment of the present utility model, and as shown in fig. 5 and 6, the control circuit 108 further includes: communication circuit 1086, electrically connected to control chip 1082, is configured to send the endurance test status to the target device.

In an embodiment of the present utility model, the control circuit 108 includes a communication circuit 1086, and the communication circuit 1086 is configured to establish a communication connection with a target device, such as an engineer terminal or a host computer, and send a endurance test status to the target device. In the process of performing the endurance test on the robot, the detection device 100 detects the endurance test state of the robot in real time through the image sensor 104, if the state of the robot is abnormal, the image sensor 104 generates an operation abnormal signal and sends the operation abnormal signal to the processor, the processor generates abnormal state information according to the operation abnormal signal, the abnormal state information comprises the abnormal state of the robot and the occurrence time of the abnormal state, the communication circuit 1086 sends the abnormal state to the upper computer or the engineer terminal to inform the engineer that the endurance test is abnormal, and the process is required, so that the robot is prevented from being in the abnormal state for a long time and being found by no person, and the test efficiency can be ensured.

On the basis of any of the above embodiments, as shown in fig. 5 and 6, the communication circuit 1086 further includes: a wireless communication module 10861 for transmitting a endurance test status; the first serial circuit 10862 is electrically connected to the control chip 1082 and the wireless communication module 10861.

In the embodiment of the present utility model, the communication circuit 1086 includes a wireless communication module 10861 and a first serial circuit 10862, the control chip 1082 is electrically connected with the wireless communication module 10861 through the first serial circuit 10862, the wireless communication module 10861 may be a WiFi communication module, such as an ESP8266 module, the processor sends a serial signal in a endurance test state through the first serial circuit 10862, and the ESP8266 module converts the received serial signal into a WiFi signal and sends the WiFi signal to a target device, such as a host computer or an engineer terminal, so as to realize remote monitoring of the endurance test state of the robot.

On the basis of any of the above embodiments, as shown in fig. 5 and 6, the communication circuit 1086 includes: a universal serial interface 10863 for connecting with an upper computer; the second serial port circuit 10864 is electrically connected to the control chip 1082 and the universal serial port 10863, and is configured to receive a debug signal sent by the host computer.

In the embodiment of the present utility model, the communication circuit 1086 includes a universal serial interface 10863 (Universal Serial Bus, USB), the universal serial interface 10863 is connected to the control chip 1082 through the second serial port circuit 10864, the universal serial interface 10863 is used to connect to an upper computer, and after the upper computer is connected to the universal serial interface 10863, the operation parameters of the detection device 100, such as setting a working state, a communication address of a target device, and the like, can be debugged.

On the basis of any of the above embodiments, as shown in fig. 5 and 6, the communication circuit 1086 further includes: the third serial circuit 10865 is electrically connected to the control chip 1082 and the display 106, and the control chip 1082 transmits the endurance test status to the display 106 through the third serial circuit 10865.

In an embodiment of the present utility model, the display screen 106 is electrically connected to the control chip 1082 through the third serial port circuit 10865. In the process of performing the endurance test on the robot, the detection device 100 detects the endurance test state of the robot through the image sensor 104 in real time, and if the state of the robot is detected to be normal, the image sensor 104 generates a normal operation signal and transmits the normal operation signal to the processor, the processor generates normal state information according to the normal operation signal and transmits the normal state information to the display screen 106 through the third serial circuit 10865, and the display screen 106 displays the normal state information.

If an abnormality in the state of the robot is detected, the image sensor 104 generates an operation abnormality signal and transmits the operation abnormality signal to the processor, the processor generates abnormality state information including an abnormality state of the robot and a time at which the abnormality state occurs according to the operation abnormality signal, and the processor transmits the abnormality state information to the display screen 106 through the third serial port circuit 10865, and the display screen 106 displays the abnormality state information.

On the basis of any of the above embodiments, as shown in fig. 5 and 6, the communication circuit 1086 further includes: the fourth serial circuit 10866 is electrically connected to the control chip 1082 and the image sensor 104, and the image sensor 104 transmits the image data to the control chip 1082 through the fourth serial circuit 10866.

In an embodiment of the present utility model, the image sensor 104 is electrically connected to the control chip 1082 through the fourth serial circuit 10866. During the endurance test of the robot, the image sensor 104 acquires image data of the robot in real time, the image data is used for determining an endurance test state, if the robot state is detected to be normal, the image sensor 104 transmits an operation normal signal to the processor through the fourth serial port circuit 10866, and if the robot state is detected to be abnormal, the image sensor 104 transmits an operation abnormal signal to the processor through the fourth serial port circuit 10866.

On the basis of any of the above embodiments, fig. 7 shows a circuit diagram of a power supply circuit 1088 according to an embodiment of the present utility model, and as shown in fig. 7, the control circuit 108 further includes: the power supply circuit 1088 is electrically connected with the image sensor 104 and the display screen 106.

In an embodiment of the present utility model, the control circuit 108 includes a power supply circuit 1088, the power supply circuit 1088 being configured to supply power to the image sensor 104, the control circuit 108, and the display screen 106. Specifically, the power supply circuit 1088 includes a power supply chip, which may be an AMS1116 chip, and the power supply circuit 1088 further includes a plurality of power supply capacitors. The power supply circuit 1088 is capable of outputting power supply voltages of 5V and 3.3V, thereby driving the respective devices of the detection apparatus 100 to operate.

On the basis of any of the above embodiments, the housing 102 includes: the first housing 1022 housing 102, the image sensor 104 is provided to the first housing 1022 housing 102; the second housing 1024 housing 102 is connected to the first housing 1022 housing 102, and the display 106 is provided on the second housing 1024 housing 102.

In the embodiment of the present utility model, the housing 102 specifically includes a first housing 1022 housing 102 and a second housing 1024 housing 102, where the first housing 1022 housing 102 and the second housing 1024 housing 102 are fastened to each other and fixed by a screw connection. After the first housing 1022 and the second housing 1024 are fastened together, the housing 102 is a hollow cavity, and the control circuit 108 is disposed inside the wall. The image sensor 104 is specifically disposed on the first housing 1022 and the display screen 106 is specifically disposed on the second housing 1024 and the separated first housing 1022 and second housing 1024 are disposed on the housing 102, which is beneficial to simplifying the assembly process of the detection apparatus 100 and reducing the production cost of the detection apparatus 100.

In addition to any of the above embodiments, as shown in fig. 1, the first housing 1022 and the housing 102 include pins 10222, which are electrically connected to the image sensor 104; the second housing 1024 housing 102 includes a row of bus bars 10242 electrically connected to the control circuit 108, the row of bus bars 10242 for connecting the pins 10222.

In an embodiment of the present utility model, the detecting apparatus 100 includes the pin header 10222 and the pin header 10242, the pin header 10222 is disposed on the first housing 1022 housing 102, and the pin header 10242 is disposed on the second housing 1024 housing 102. Wherein, the image sensor 104 is electrically connected with the pin header 10222, the control circuit 108 is electrically connected with the pin header 10242, when the first housing 1022 housing 102 and the second housing 1024 housing 102 are connected, the pin header 10222 is inserted into the pin header 10242, so that the image sensor 104 is electrically connected with the control circuit 108, the image sensor 104 can obtain the electric energy provided by the power supply circuit 1088 in the control circuit 108 through the pin header 10222 and the pin header 10242, and send the image data to the control circuit 108 through the pin header 10222 and the pin header 10242, so that the control circuit 108 determines the endurance test state of the robot performing the endurance test according to the image data.

In some embodiments of the present utility model, fig. 8 shows a workflow of an image sensor according to an embodiment of the present utility model, as shown in fig. 8, taking the image sensor as an OpenMV camera as an example, the flow includes:

step 802, shooting a robot image;

step 804, identifying detection feature points;

step 806, judging whether the detection feature points are identified; if yes, go to step 808A, otherwise go to step 808B;

step 808A, starting timer 1 and closing timer 2;

step 810A, judging whether the timing duration of the timer 2 is greater than a threshold; if yes, go to step 814A, otherwise go to step 812A;

step 812A, transmitting an operation normal signal;

step 814A, transmitting a running error signal;

step 808B, starting timer 2 and closing timer 1;

step 810B, judging whether the timing duration of the timer 1 is greater than a threshold; if yes, go to step 814B, otherwise go to step 812B;

step 812B, sending a normal operation signal;

step 814B, a run error signal is sent.

The instruction format is as follows:

frame header/receive high bit/receive low bit/send high bit/send low bit/null/check/end of frame.

In some embodiments of the present utility model, fig. 9 shows a flowchart of the operation of a control circuit according to an embodiment of the present utility model, as shown in fig. 9, the flowchart including:

step 902, the serial port receives an operation signal;

step 904, judging whether the running signal meets the format requirement; if yes, returning to step 902, otherwise, entering step 906;

step 906, send to the queue.

The queue is a queue for transmitting operation signals to the communication circuit, the storage circuit and the display screen.

Fig. 10 shows a flowchart of the operation of the communication circuit according to an embodiment of the present utility model, as shown in fig. 10, the flowchart including:

step 1002, a queue receives an operation signal;

step 1004, judging whether the running signal meets the format requirement; if yes, returning to step 1002, otherwise, entering step 1006;

step 1006, send to the wireless communication module.

FIG. 11 shows a flowchart of the operation of a memory circuit according to an embodiment of the utility model, as shown in FIG. 11, the flowchart including:

step 1102, a queue receives an operation signal;

step 1104, judging whether the running signal meets the format requirement; if yes, go back to step 1102, otherwise go to step 1106;

step 1106, send to TF card.

FIG. 12 shows a workflow diagram of a display screen according to an embodiment of the utility model, as shown in FIG. 12, the flow comprising:

step 1202, a queue receives an operation signal;

step 1204, judging whether the operation signal meets the format requirement; if yes, go back to step 1202, otherwise go to step 1206;

step 1206, send to a display screen.

In the description of the present utility model, the term "plurality" means two or more, unless explicitly defined otherwise, the orientation or positional relationship indicated by the terms "upper", "lower", etc. are orientation or positional relationship based on the drawings, merely for convenience of description of the present utility model and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present utility model; the terms "coupled," "mounted," "secured," and the like are to be construed broadly, and may be fixedly coupled, detachably coupled, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In the description of the present utility model, the terms "one embodiment," "some embodiments," "particular embodiments," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present utility model. In the present utility model, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only of the preferred embodiments of the present utility model and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.

Claims (10)

1. A device for detecting a endurance test state of a robot, comprising:

a housing;

the image sensor is arranged on the first side of the shell and is used for acquiring image data of the robot;

the display screen is arranged on the second side of the shell and used for displaying the endurance test state of the robot;

the control circuit is arranged in the shell, is electrically connected with the image sensor and the display screen and is used for determining the endurance test state according to the image data;

wherein, the casing includes:

the image sensor is arranged on the first shell;

the second shell is connected with the first shell, and the display screen is arranged on the second shell;

the first shell comprises a pin header which is electrically connected with the image sensor;

the second shell comprises a row of nuts which are electrically connected with the control circuit and are used for connecting the row of pins.

2. The detection apparatus according to claim 1, wherein the control circuit includes:

and the control chip is electrically connected with the image sensor and the display screen.

3. The detection apparatus according to claim 2, wherein the control circuit further includes:

and the storage circuit is electrically connected with the control chip and used for storing the endurance test state.

4. The test device of claim 3, wherein the memory circuit comprises a memory card slot, the memory card slot being electrically connected to the control chip.

5. The detection apparatus according to claim 2, wherein the control circuit further includes:

and the communication circuit is electrically connected with the control chip and is used for sending the endurance test state to target equipment.

6. The detection apparatus according to claim 5, wherein the communication circuit further comprises:

the wireless communication module is used for sending the endurance test state;

and the first serial circuit is electrically connected with the control chip and the wireless communication module.

7. The detection apparatus according to claim 5, wherein the communication circuit includes:

the universal serial interface is used for connecting an upper computer;

and the second serial port circuit is electrically connected with the control chip and the universal serial interface and is used for receiving the debugging signals sent by the upper computer.

8. The detection apparatus according to claim 5, wherein the communication circuit further comprises:

and the third serial circuit is electrically connected with the control chip and the display screen, and the control chip sends the endurance test state to the display screen through the third serial circuit.

9. The detection apparatus according to claim 5, wherein the communication circuit further comprises:

and the fourth serial circuit is electrically connected with the control chip and the image sensor, and the image sensor sends the image data to the control chip through the fourth serial circuit.

10. The detection apparatus according to claim 1, wherein the control circuit further comprises:

and the power supply circuit is electrically connected with the image sensor and the display screen.