Vehicle-mounted radar production line test system and vehicle-mounted radar production line test method

Abstract

The present invention provides a vehicle-mounted radar production line test system and a test method implemented therein, which are suitable for testing the radiation performance of vehicle-mounted radars on a production line. The test system includes: a test darkroom, a radio frequency transceiver device arranged at one end of the test darkroom away from the assembly line, and two test piece robots arranged at one end of the test darkroom close to the assembly line; the test piece robot is used to grab the radar to be tested from the production line, carry the radar to be tested to align the radio frequency transceiver device for radiation performance testing, and put the tested radar in a preset position, and both the test piece robots can switch between the loading and unloading state and the test state, and the two test piece robots alternately complete the performance tests of multiple radars to be tested. The two robots can quickly switch between the loading and unloading state and the test state, and cooperate with each other to perform alternate tests, which effectively saves the time required for the test process, improves the test efficiency, and can realize assembly line testing on the production line.

Description

Technical Field

[0001] The present invention relates to the field of testing technology, and in particular to a vehicle-mounted radar production line testing system and a vehicle-mounted radar production line testing method. Background Art

[0002] With the popularization of automobiles, driving safety has become the focus of people's attention. Vehicle active detection radar, as an important auxiliary measure for safe driving, has also attracted the attention of automotive industry technicians. According to statistics, most vehicle traffic accidents are caused by driver fatigue, negligence in observation, and improper operation in emergency situations. Therefore, the new generation of automobile automatic driving radar with multi-sensor assisted driving has become the new favorite in the industry. Reasonable application can make up for the driver's omissions and greatly reduce the probability of automobile safety accidents.

[0003] Automobile driving assistance systems use a variety of sensors, including ultrasonic radar, laser radar, camera, millimeter wave radar, etc. Among them, millimeter wave radar is the only detection sensor that is least affected by climate and has all-weather characteristics. Millimeter waves have short wavelengths and tend to propagate in a straight line. They have a stronger ability to penetrate impurities and are widely used in close-range target detection applications.

[0004] Millimeter-wave radars are known as the most important sensors and eyes in the future ground-based 5G vehicle network. Their accuracy and indicators indirectly affect the quality and safety of assisted driving and autonomous driving. At present, the millimeter-wave radar industry is monopolized by a few German and American companies. One of the main reasons is the lack of domestic millimeter-wave radar calibration and measurement scientific instruments and equipment. In the future, the annual demand for millimeter-wave radars will reach 160 million to 320 million. The lack of millimeter-wave radar calibration and measurement scientific instruments and equipment greatly restricts the quality and market share of millimeter-wave radars in my country. Internationally, the intelligent vehicle network is divided into five levels from L1 to L5. At present, the industry has just developed to the mid-term of L2.5 (i.e. assisted driving). The demand for millimeter-wave radars will increase year by year, and the frequency may also rise to the millimeter wave end (for example, 200-300GHz). my country has the world's largest single automobile sales market. Therefore, with the industrialization of the deployment of the intelligent network industry, my country's independent millimeter-wave radar calibration and measurement scientific instruments and equipment are of great significance and imminent. Summary of the invention

[0005] The primary purpose of the present invention is to provide a vehicle-mounted radar production line testing system that can automatically complete vehicle-mounted radar testing on the production line and improve production efficiency.

[0006] Another object of the present invention is to provide a vehicle-mounted radar production line testing method implemented by the above-mentioned vehicle-mounted radar production line testing system.

[0007] To achieve the above objectives, the present invention provides the following technical solutions:

[0008] In a first aspect, a vehicle-mounted radar production line test system is provided, which is suitable for testing the radiation performance of the vehicle-mounted radar on the production line. The test system includes: a test darkroom, a radio frequency transceiver arranged at one end of the test darkroom away from the assembly line, and two test piece robots arranged at one end of the test darkroom close to the assembly line;

[0009] The test piece robot is used to grab the radar to be tested from the production line, carry the radar to be tested and align it with the radio frequency transceiver device for radiation performance testing, and place the tested radar at a preset position, and both of the test piece robots can switch between loading and unloading states and testing states. The two test piece robots alternately complete performance tests of multiple radars to be tested, and at the same time only one test piece robot carries the radar to be tested and aligns it with the radio frequency transceiver device for testing.

[0010] Furthermore, it also includes a detection robot arranged in a darkroom, and the radio frequency transceiver is installed on the detection robot.

[0011] Optionally, both the test piece robot and the detection robot are industrial six-axis robots.

[0012] Optionally, the two test piece robots are medium-sized robots, and the detection robot is a small-sized robot.

[0013] As a second aspect, a vehicle-mounted radar production line testing method is provided. The testing method is implemented by the above-mentioned vehicle-mounted radar production line testing system, and includes the following steps:

[0014] Detect the positions and current operating states of the two robots for the workpieces to be tested, wherein the current operating state is one of eight states of the manipulator of the robot for the workpiece to be tested, namely, loading and unloading, waiting for rotation, rotation in, test preparation, test, rotation out after test, waiting for rotation out, and rotation out;

[0015] The current states of the two test piece robots are compared, and the two test piece robots are driven to run synchronously only when the current states of the two test piece robots are different, and the two test piece robots run cyclically between eight states.

[0016] Optionally, the manipulators of the two test piece robots are in the same position in the testing state.

[0017] Optionally, the two test piece robots are at an equal distance from the radio frequency transceiver, and a line connecting the two machines is perpendicular to a line connecting the manipulator in the test state and the radio frequency transceiver.

[0018] Optionally, before the two machines run synchronously, an anti-collision detection step is also included, which includes the following steps: determine whether the cycle difference between the two machines is greater than or equal to three, if so, the two machines run synchronously; if not, adjust the operating state of one of the robots to be tested so that the cycle difference between the two machines is greater than or equal to three; wherein the cycle difference is the step spacing between the operating states of the two robots to be tested.

[0019] Optionally, the cycle difference satisfies the following algorithm:

[0020] D cyc =min(abs(AB),8+min(A,B)-max(A,B))

[0021] Where A and B represent the position state values ​​of the two test piece robots, min is the minimum value between the two state values, max is the maximum value between the two state values, and abs is the absolute value of the difference between the two state values.

[0022] Optionally, the test piece robot performs an anti-collision detection step before switching each operating state.

[0023] The beneficial effect brought about by the technical solution provided by the present invention is: in the vehicle-mounted radar production line test system provided by the present invention, two medium-sized robots can quickly switch between loading and unloading and testing states, that is, when one robot is in the testing state, the other robot is in the loading and unloading state, and they cooperate with each other to perform alternating tests, which effectively saves the time required for the testing process, improves the testing efficiency, and can realize assembly line testing on the production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for describing the embodiments of the present invention are briefly introduced below.

[0025] Figure 1 A schematic diagram of the system layout of a vehicle-mounted radar production line test system provided by an embodiment of the present invention;

[0026] Figure 2 A flow chart of a vehicle-mounted radar production line testing method provided by an embodiment of the present invention;

[0027] Figure 3 This is a schematic diagram showing the posture of the robot under test during the test process in the vehicle-mounted radar production line test system of the present invention;

[0028] Figure 4 An anti-collision detection flow chart provided for an embodiment of the present invention. DETAILED DESCRIPTION

[0029] Embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as being limited to the embodiments described herein, which are instead provided for a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not intended to limit the scope of protection of the present invention.

[0030] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0031] The term "including" and its variations used herein are open inclusions, i.e., "including but not limited to". The term "connected" may be directly connected or indirectly connected through intermediate components (elements). The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0032] It should be noted that the concepts such as "first" and "second" mentioned in the present invention are only used to distinguish between devices, modules or units, and are not used to limit these devices, modules or units to be different devices, modules or units, nor are they used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0033] See also Figure 1 The present invention provides a vehicle-mounted radar production line test system (hereinafter referred to as the "test system"), which is suitable for performing radiation performance testing on a vehicle-mounted radar to be tested on a production line, eliminating the transportation and storage links from the completion of production line production to the detection of the detection system, and improving the production efficiency and output of the vehicle-mounted radar.

[0034] The test system includes two test piece robots 1 and 2 and a detection robot 3. The test piece robots 1 and 2 are medium-sized robots, which are arranged in a dark room near the assembly line and are used to grab the radar 4 to be tested for testing; the detection robot 3 is a small robot, which is located at one end of the dark room away from the assembly line, carrying a corner reflector, a horn antenna and other radio frequency transceiver devices, and can switch more than ten test modes, which can meet the testing requirements of millimeter wave radar research and development and production. Optionally, the test piece robot and the detection robot are both six-axis industrial robots, and a manipulator that can grab the radar to be tested is set at the end of the test piece robot.

[0035] During the test, the two medium-sized robots can quickly switch between loading and unloading and testing states, cooperate with each other to test alternately, and at the same time only one medium-sized robot carries the radar to be tested and aims at the RF transceiver to complete the test of the radar to be tested. Therefore, the test efficiency is greatly improved through the alternating testing of the two machines.

[0036] The above test system uses a six-axis industrial robot to perform precise spatial calibration through six-degree-of-freedom spatial registration technology, and then uses near-field and far-field fusion technology to perform multi-channel, multi-frequency, and multi-beam fully automated testing functions on the antenna of the radar to be tested in a complex electromagnetic environment, realizing automatic compensation technology for radar antenna performance. The three-robot implementation plan is used to achieve a high-efficiency radar mass production process, realize the commonality of different R&D and production scenarios, and provide all-round quality assurance for product R&D and mass production.

[0037] Please combine Figures 2 to 4 In addition, the present invention also relates to a vehicle-mounted radar production line testing method implemented by the above-mentioned testing system (hereinafter referred to as "testing method"), which is a supporting use method of the above-mentioned testing system and has the function of ensuring safety while ensuring testing efficiency.

[0038] The testing method specifically comprises the following steps:

[0039] Detect the positions and current operating states of the two robots for the workpieces to be tested, wherein the current operating state is one of eight states of the manipulator of the robot for the workpiece to be tested, namely, loading and unloading, waiting for rotation, rotation in, test preparation, test, rotation out after test, waiting for rotation out, and rotation out;

[0040] The current states of the two test piece robots are compared, and the two test piece robots are driven to run synchronously only when the current states of the two test piece robots are different, and the two test piece robots run cyclically between eight states.

[0041] Through this testing method, two robots are responsible for testing the parts to be tested alternately: one robot performs the test while the other robot simultaneously performs preparations such as loading and unloading the parts to be tested and initializing communications, thus shortening the test switching time and facilitating efficient mass production of the parts to be tested.

[0042] The manipulators of the two DUT robots are in the same position in the test state to ensure that the DUT is in the same spatial environment during the test. It also ensures that the loading and unloading positions of the test pieces are the same, so that the positions of the two robots are close to each other to save space. Optionally, the distances between the two DUT robots and the RF transceiver are equal, and the connection line between the two machines is perpendicular to the connection line between the manipulator in the test state and the RF transceiver.

[0043] Since the two robots are located close to each other, collision or interference is likely to occur, affecting the test and even causing damage to the test system. In order to prevent robot collisions, during operation, whenever the medium-sized robot needs to change its state, an anti-collision test is required, and the next action can only be executed and the state change can be performed after the anti-collision test is passed. The two medium-sized robots are respectively recorded as robot A and robot B, and their motion states cannot be in the loading and unloading state or the testing state at the same time. In addition, since the robot requires a larger range of motion when the system is in the testing state, the other robot is not allowed to enter in the larger space. Therefore, the other robot is allowed to be in the three states of loading and unloading, rotating in, and rotating out. In order to prevent collisions, the state spacing between the two robots is defined as the cycle difference, and the cycle difference between A and B is defined as:

[0044] D cyc =min(abs(AB),8+min(A,B)-max(A,B))

[0045] Where A and B represent the position state values ​​of the two test piece robots, min is the minimum value between the two state values, max is the maximum value between the two state values, and abs is the absolute value of the difference between the two state values.

[0046] To avoid collision, the cycle difference between the states of robot A and robot B is required to be greater than or equal to 3, and in strict cases, the cycle difference is required to be equal to 4. When the cycle difference meets the preset conditions, robots A and B will perform the next action and change the operation state. When the cycle difference does not meet the preset conditions, one of the robots will stop and wait for the other robot to run until the cycle difference between the two robots meets the preset conditions before running synchronously.

[0047] In a specific embodiment, two test piece robots are operated according to the following settings:

[0048] (1) Robot posture definition

[0049] According to the above, the posture of the medium-sized robot is divided into 8 states, as shown in Table 1. The motion state completed by each medium-sized robot runs in a cycle in the order of 1->8->1. Among them, the loading and unloading state, the rotation waiting state, and the rotation waiting state are static, and the robot is stationary and in a waiting state; the other 5 states are dynamic, and the robot is in a rotational motion state.

[0050]

[0051]

[0052] Table 1 Robot posture

[0053] (2) Robot movement process

[0054] The motion process of robot A and robot B follows Table 1, but the motion states of the two must be staggered to prevent collision accidents. The corresponding motion states of robot A and robot B are A1-A8 and B1-B8. Preferably, the cycle difference between the two machines is 4. The ideal motion process of robot A and robot B is as follows Figure 2 and Figure 3 As shown, the specific process is as follows:

[0055] When robot A is in the loading and unloading state (A1), robot B is in the testing state (B5);

[0056] When robot A has finished loading and unloading and robot B has finished testing and passed the anti-collision monitoring, robot A enters the A2 state and robot B enters the B6 state. After the robot moves to the designated position, robot A is in the A3 state and robot B is in the B7 state.

[0057] After passing the anti-collision monitoring, robot A enters the A4 state and robot B enters the B8 state. After moving to the designated position, robot A enters the A5 state and enters the test state, and robot B returns to the B1 state to unload the tested radar and then reload the new radar to be tested.

[0058] When robot B has finished loading and unloading and robot A has finished testing and passed the anti-collision monitoring, robot A enters the A6 state and robot B enters the B2 state. After the robot moves to the designated position, robot A is in the A7 state and robot B is in the B3 state.

[0059] After passing the anti-collision monitoring, robot A enters the A8 state and robot B enters the B4 state. After moving into place, robot A is in the A1 state and enters the loading and unloading state, and robot B is in the B5 state, thus completing a complete test cycle.

[0060] Therefore, every time the motion state changes, an anti-collision check is performed to determine the position and operating status of the two robots. The next action is performed only when the set conditions are met (for example, the cycle difference is greater than or equal to 3) to ensure the safety of the system.

[0061] The above description is only a preferred embodiment of the present invention and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present invention is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above inventive concept. For example, the above features are replaced with the technical features with similar functions invented in the present invention (but not limited to) to form a technical solution.

[0062] Although the subject matter has been described in language specific to structural features and / or methodological logical actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. On the contrary, the specific features and actions described above are merely example forms of implementing the claims.

Claims

1. A vehicle-mounted radar production line testing method, suitable for testing the radiation performance of vehicle-mounted radar on a production line, characterized in that: include: A test darkroom, a radio frequency transceiver located at one end of the test darkroom away from the assembly line, and two test piece robots located at one end of the test darkroom close to the assembly line; The test piece robot is used to grab the radar to be tested from the production line, carry the radar to be tested and align it with the radio frequency transceiver to perform radiation performance test, and put the tested radar at a preset position, and both the test piece robots can switch between the loading and unloading state and the testing state, and the two test piece robots alternately complete the performance tests of multiple radars to be tested, and at the same time only one test piece robot carries the radar to be tested and aligns it with the radio frequency transceiver to perform the test; The test method comprises the following steps: Detect the positions and current operating states of the two robots for the workpieces to be tested, wherein the current operating state is one of eight states of the manipulator of the robot for the workpiece to be tested, namely, loading and unloading, waiting for rotation, rotation in, test preparation, test, rotation out after test, waiting for rotation out, and rotation out; Compare the current states of the two robots for the object to be tested, and drive the two robots for the object to be tested to run synchronously only when the current states of the two robots for the object to be tested are different, and the two robots for the object to be tested run cyclically between eight states; And an anti-collision detection step before the two machines run synchronously, which includes the following steps: judging whether the cycle difference of the two machines is greater than or equal to three, if so, the two machines run synchronously; if not, adjusting the running state of one of the robots to be tested so that the cycle difference of the two machines is greater than or equal to three; wherein the cycle difference is the step spacing between the running states of the two robots to be tested.

2. The vehicle-mounted radar production line testing method according to claim 1, characterized in that: The manipulators of the two test piece robots are in the same position in the test state.

3. The vehicle-mounted radar production line testing method according to claim 2, characterized in that: The distances between the two test piece robots and the radio frequency transceiver are equal, and the connection line between the two machines is perpendicular to the connection line between the manipulator in the test state and the radio frequency transceiver.

4. The vehicle-mounted radar production line testing method according to claim 3, characterized in that: The cycle difference satisfies the following algorithm: Where A and B represent the position state values ​​of the two test piece robots, min is the minimum value between the two state values, max is the maximum value between the two state values, and abs is the absolute value of the difference between the two state values.

5. The vehicle-mounted radar production line testing method according to claim 4, characterized in that: The test piece robot performs an anti-collision detection step before switching each operating state.

6. A vehicle-mounted radar production line test system, characterized in that: The test system is used to implement the vehicle-mounted radar production line test method described in any one of claims 1 to 5.

7. The vehicle-mounted radar production line test system according to claim 6, characterized in that: It also includes a detection robot arranged in a darkroom, and the radio frequency transceiver is installed on the detection robot.

8. The vehicle-mounted radar production line test system according to claim 7, characterized in that: The test piece robot and the detection robot are both industrial six-axis robots.

9. The vehicle-mounted radar production line test system according to claim 8, characterized in that: The two test piece robots are medium-sized robots, and the detection robot is a small-sized robot.

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