Electromagnetic immunity test method for driving robots and vehicles

Abstract

The present invention discloses a method for testing the electromagnetic interference resistance of a driving robot and a vehicle. The driving robot comprises: a base, a bracket, a pneumatic gripping manipulator module, a pneumatic lever manipulator module and a control device. The base, the bracket, the gripping manipulator module and the lever manipulator module are used to be placed on a test vehicle in an anechoic chamber, and the control device is used to be placed outside the anechoic chamber, wherein: a first pneumatic valve is connected to the gripping manipulator module through a first pneumatic pipeline, and a second pneumatic valve is connected to the lever manipulator module through a second pneumatic pipeline. The control device controls the air supply of the first pneumatic valve to control the claw of the gripping manipulator module to be in a gripping state or a loose state, and the control device controls the air supply of the second pneumatic valve to control the end of the lever manipulator module to extend or retract. In the driving robot of the present invention, the gripping manipulator and the lever manipulator are pneumatic, and are not affected by a strong electromagnetic field during an interference resistance test, thereby ensuring the stability of the test.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle-related technologies, and in particular to a method for testing electromagnetic immunity of a driving robot and a vehicle. Background Art

[0002] With the development of vehicle electrification and intelligence, people's driving style has changed dramatically. As an important part of the development of automobile intelligence, the Advanced Driver Assistance System (ADAS) system not only improves the safety of people driving cars, but also provides drivers with a comfortable and convenient driving experience. However, there are complex and changeable electromagnetic interference in the environment where the vehicle is located. When the vehicle is driving in it, its functions will also be affected by electromagnetic interference, especially functions such as ADAS that are related to driving safety. Its resistance to electromagnetic interference deserves attention. The ADAS system involves multiple functions, among which the single-lane and multi-lane driving control functions are to identify the road environment through the vehicle's camera / millimeter wave radar. Among them, the single-lane driving control enables the vehicle to automatically maintain the center of the lane in a single lane, which is mainly achieved through adaptive cruise control and lane keeping assist, and is suitable for highways or congested sections; after the driver issues a lane change command, the multi-lane driving control system automatically performs lateral and longitudinal control to complete the lane change action, which requires more advanced perception and decision-making technology to ensure safety. Both functions belong to L2 autonomous driving, which can assist the driver in controlling the vehicle, but require the driver's full intervention. Because these two functions require input from the driver, and under the electromagnetic immunity test conditions, the tester can only operate by remote control of the hand simulation device. The remote control method using electronic equipment is easily interfered by strong electromagnetic fields and causes problems, resulting in unstable tests.

[0003] At present, the existing technology uses pneumatically controlled hand simulation devices instead of remote control to solve the above problems. However, the existing hand simulation devices are limited to triggering a single function (such as hands-off detection). How to achieve continuous and stable triggering of multiple scenarios such as vehicle single and multi-lane driving control and hands-off detection functions in an anechoic chamber has become a test difficulty. Summary of the invention

[0004] Based on this, it is necessary to provide an electromagnetic immunity testing method for driving robots and vehicles to address the technical problem that existing technologies cannot achieve multi-scenario testing in a radio darkroom.

[0005] The present invention provides a driving robot, comprising: a base, a bracket, a pneumatic gripping manipulator module, a pneumatic lever manipulator module and a control device, wherein the base, the bracket, the gripping manipulator module and the lever manipulator module are used to be placed on a test vehicle in an anechoic chamber, and the control device is used to be placed outside the anechoic chamber, wherein:

[0006] A horizontal sliding column and an air circuit sub-controller are fixed on the base, the bracket includes a longitudinal rod adjustably connected to the horizontal sliding column, a cross rod adjustably connected to the longitudinal rod, and a first arm rod and a second arm rod adjustably connected to both sides of the cross rod, a first pneumatic valve is fixed on the first arm rod, and a second pneumatic valve is fixed on the second arm rod, the controller air inlet end of the air circuit sub-controller is used to communicate with the air source, and the controller air outlet end of the air circuit sub-controller is respectively connected with the first pneumatic valve and the second pneumatic valve through a pneumatic pipeline, the end of the first arm rod is connected to the grasping manipulator module, the end of the second arm rod is connected to the lever manipulator module, the first pneumatic valve is connected to the grasping manipulator module through a first pneumatic pipeline, and the second pneumatic valve is connected to the lever manipulator module through a second pneumatic pipeline, the control device controls the air supply of the first pneumatic valve to control the claw of the grasping manipulator module to be in a gripping state or a loosened state, and the control device controls the air supply of the second pneumatic valve to control the end of the lever manipulator module to extend or retract.

[0007] Furthermore, the grasping robot module includes a first cylinder and a claw part. The first output end of the air circuit sub-controller is connected to the main air supply inlet of the first pneumatic valve, the second output end of the air circuit sub-controller is connected to the control air supply inlet of the first pneumatic valve, the outlet of the first pneumatic valve is connected to the first cylinder, driving the extension and retraction of the first end of the first cylinder. The claw part includes a first chuck and a second chuck. The first end of the first cylinder is connected to the first chuck and the second chuck. The extension and retraction of the first end of the first cylinder drives the first chuck and the second chuck to switch between a gripping state and a loosened state. The control device controls the air supply of the second output end of the air circuit sub-controller.

[0008] Furthermore, a first ball head is provided on the cylinder wall of the first cylinder, and an end of the first arm rod is connected to a first pea clamp adapted to the first ball head, and the first pea clamp clamps the first ball head.

[0009] Furthermore, the lever manipulator module includes a second cylinder, the third output end of the air circuit sub-controller is connected to the main air supply inlet of the second pneumatic valve, the fourth output end of the air circuit sub-controller is connected to the control air supply inlet of the second pneumatic valve, and the air outlet of the second pneumatic valve is connected to the second cylinder to drive the extension and retraction of the second end of the second cylinder, and the control device controls the air supply of the fourth output end of the air circuit sub-controller.

[0010] Furthermore, a second ball head is provided on the cylinder wall of the second cylinder, and an end of the second arm rod is connected to a second pea clamp adapted to the second ball head, and the second pea clamp clamps the second ball head.

[0011] Furthermore, a seat belt tensioning device is fixed on the base.

[0012] Furthermore, the control device includes: an air source, a control host computer and a solenoid valve, the air source is connected to the controller air inlet end of the air circuit sub-controller, the solenoid valve is connected to the air circuit sub-controller, and the control host computer is connected to the solenoid valve.

[0013] The present invention provides a method for testing electromagnetic immunity of a vehicle, comprising:

[0014] The test vehicle is driven onto the rotating hub in the anechoic chamber, the driving robot as described above is installed, and monitoring is arranged in the test vehicle;

[0015] Adjusting the position of the gripping manipulator module so that the gripping manipulator module releases the steering wheel of the test vehicle, and adjusting the position of the lever manipulator module so that the lever manipulator module abuts against the turn signal lever of the test vehicle;

[0016] Starting the test vehicle, controlling the air supply of the first pneumatic valve and / or the second pneumatic valve through the control device, driving the gripping manipulator module to a gripping state, and activating the single-lane control function and the multi-lane control function of the vehicle;

[0017] Arrange the immunity test antenna, set multiple characteristic test frequencies, perform single-lane testing and / or perform multi-lane testing.

[0018] Further, the performing of the single lane test includes:

[0019] Taking one round trip of the target vehicle on the guide rail as one cycle, control the target vehicle to move back and forth periodically on the guide rail to trigger the adaptive cruise control acceleration and deceleration function of the test vehicle, and drive the gripping manipulator module to a released state after each cycle, and wait for a preset time. If a vehicle hands-off alarm is monitored within the preset time, it is determined that the single-lane test is successful. Otherwise, if no vehicle hands-off alarm is monitored after the preset time, it is determined that the single-lane test has failed.

[0020] The gripping robot module is re-driven to the gripping state and the next cycle is performed.

[0021] Further, the performing of the multi-lane test includes:

[0022] Placing the target vehicle behind the left side or the right side of the test vehicle;

[0023] In each cycle, the end of the lever manipulator module is driven to extend, the turn signal lever is pressed, and the vehicle instrument is monitored;

[0024] When the action exit or failure is monitored within the preset time, the multi-lane test is judged to be successful. Otherwise, if the action exit or failure is not monitored after the preset time, it is judged to be a multi-lane test failure, and the end of the lever manipulator module is driven to retract and the next cycle is carried out.

[0025] The driving robot of the present invention is provided with a gripping manipulator and a lever manipulator. The gripping manipulator grips the steering wheel, and the lever manipulator shifts the turn signal lever, thereby realizing multi-scenario testing. Multiple functions are integrated into one system and can be called as required, simplifying the test arrangement. At the same time, the gripping manipulator and the lever manipulator are pneumatic and controlled by pneumatic valves. They are not affected by strong electromagnetic fields during the anti-interference test, ensuring the stability of the test. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the structure of a driving robot according to an embodiment of the present invention;

[0027] Figure 2 A schematic structural diagram of a base according to another embodiment of the present invention;

[0028] Figure 3 A top view of a base according to another embodiment of the present invention;

[0029] Figure 4 A side view of a base according to another embodiment of the present invention;

[0030] Figure 5 A front view of a base according to another embodiment of the present invention;

[0031] Figure 6 It is a structural schematic diagram of a grasping manipulator module according to another embodiment of the present invention;

[0032] Figure 7 A side view of a gripping robot module according to another embodiment of the present invention;

[0033] Figure 8 A side view of a gripping robot module in another embodiment of the present invention from another direction;

[0034] Fig. 9 A front view of a gripping manipulator module according to another embodiment of the present invention;

[0035] Fig.10 is a cross-sectional view of a gripping robot module according to another embodiment of the present invention;

[0036] Fig.11 A schematic structural diagram of a lever manipulator module according to another embodiment of the present invention;

[0037] Fig.12 A side view of a lever manipulator module according to another embodiment of the present invention;

[0038] Fig.13 A front view of a lever manipulator module according to another embodiment of the present invention;

[0039] Fig.14 A bottom view of a lever manipulator module according to another embodiment of the present invention;

[0040] Fig.15 A control schematic diagram of a control device according to another embodiment of the present invention;

[0041] Fig.16 The present invention is a flowchart of a method for testing electromagnetic immunity of a vehicle according to an embodiment of the present invention.

[0042] Marking Description

[0043] 1. Base; 11. Horizontal sliding column; 111. First cross fixing block; 12. Air circuit sub-controller; 120. Controller air inlet end; 121. First output end; 122. Second output end; 123. Third output end; 124. Fourth output end; 125. Pneumatic quick-release connector; 13. Safety belt tensioner; 131. Safety belt tensioner control knob; 2. Bracket; 21. Longitudinal rod; 211. Second cross fixing block; 22. Cross rod; 221. Third cross fixing block; 222. Fourth cross fixing block; 23. First arm rod; 24. Second arm rod; 25. First pneumatic valve; 251. First pneumatic pipeline; 26. Second pneumatic valve; 261. Second pneumatic pipeline; 27. First pea clip; 28. Second pea clip; 3. Grasping manipulator module; 31. First cylinder; 311. Piston rod; 32. Claw; 321, first chuck; 322, second chuck; 33, first ball head; 34, first adjustable capacitor; 341, first capacitance adjustment knob; 342, first electric wire; 343, second electric wire; 35, connecting rod; 351, first connecting rod part; 352, second connecting rod part; 353, first connecting rod shaft; 354, second connecting rod shaft; 36, first guide rail; 37, slider; 38, second guide rail; 39, steel ball; 4, lever manipulator module; 41, second cylinder; 411, second end; 412, second cylinder stroke adjustment screw; 42, second ball head; 43, second adjustable capacitor; 431, second capacitance adjustment knob; 432, third electric wire; 433, fourth electric wire; 5, gas source; 6, control host computer; 7, solenoid valve; 8, gas supply cable; 9, integrated quick release connector; 100, radio wave darkroom. DETAILED DESCRIPTION

[0044] The specific embodiments of the present invention are further described below in conjunction with the accompanying drawings. The same components are represented by the same reference numerals. It should be noted that the words "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to directions in the accompanying drawings, and the words "inner" and "outer" refer to directions toward or away from the geometric center of a specific component, respectively.

[0045] like Figure 1 As shown, an embodiment of the present invention is a driving robot, comprising: a base 1, a bracket 2, a pneumatic gripping manipulator module 3, a pneumatic lever manipulator module 4 and a control device, wherein the base 1, the bracket 2, the gripping manipulator module 3 and the lever manipulator module 4 are used to be placed on a test vehicle in an anechoic chamber, and the control device is used to be placed outside the anechoic chamber, wherein:

[0046] A horizontal sliding column 11 and an air circuit sub-controller 12 are fixed on the base 1, the bracket 2 includes a longitudinal rod 21 adjustably connected to the horizontal sliding column 11, a cross rod 22 adjustably connected to the longitudinal rod 21, and a first arm rod 23 and a second arm rod 24 adjustably connected to both sides of the cross rod 22, a first pneumatic valve 25 is fixed on the first arm rod 23, a second pneumatic valve 26 is fixed on the second arm rod 24, the controller air inlet end 120 of the air circuit sub-controller 12 is used to communicate with the air source, and the controller air outlet end of the air circuit sub-controller 12 is respectively connected to the first pneumatic valve 25 and the second pneumatic valve 26 through pneumatic pipelines. The first pneumatic valve 26 is connected to the gripping manipulator module 3, the end of the second arm rod 24 is connected to the lever manipulator module 4, the first pneumatic valve 25 is connected to the gripping manipulator module 3 through a first pneumatic pipeline 251, the second pneumatic valve 26 is connected to the lever manipulator module 4 through a second pneumatic pipeline 261, the control device controls the air supply of the first pneumatic valve 25 to control the claw of the gripping manipulator module 3 to be in a gripping state or a loose state, and the control device controls the air supply of the second pneumatic valve 26 to control the end of the lever manipulator module 4 to extend or retract.

[0047] Specifically, the driving robot includes: a base 1, a bracket 2, a pneumatic grasping manipulator module 3, a pneumatic lever manipulator module 4 and a control device. The base 1, the bracket 2, the grasping manipulator module 3 and the lever manipulator module 4 are used to be placed on a test vehicle in an anechoic chamber, and the control device is used to be placed outside the anechoic chamber.

[0048] The base 1 is used as a support for the bracket 2, the gripping manipulator module 3, and the lever manipulator module 4. A horizontal sliding column 11 and an air circuit sub-controller 12 are fixed on the base 1. The controller air inlet end 120 of the air circuit sub-controller 12 is connected to the air source through the air supply cable 8, and the multiple controller air outlet ends of the air circuit sub-controller 12 are respectively connected to the first pneumatic valve 25 and the second pneumatic valve 26 through pneumatic pipelines to supply air to the first pneumatic valve 25 and the second pneumatic valve 26.

[0049] The horizontal sliding column 11 is fixed horizontally on the base 1, for example, by welding or bolting. The horizontal sliding column 11 is adjustably connected to the longitudinal rod 21 through a first cross fixing block 111 with a quick adjustment function. Two clamps are provided at both ends of the first cross fixing block 111, and the two clamps are perpendicular to each other. One clamp clamps the horizontal sliding column 11, and the other clamp clamps the longitudinal rod 21. By adjusting the L-shaped ratchets on the two clamps, tightening and loosening are achieved, thereby adjusting the position and angle of the horizontal sliding column 11 and the longitudinal rod 21. Among them, the longitudinal rod 21 is perpendicular to the horizontal sliding column 11.

[0050] The longitudinal rod 21 is adjustably connected to the cross rod 22 through a second cross fixing block 211 with a quick adjustment function. Two clamping openings are provided at both ends of the second cross fixing block 211, and the two clamping openings are perpendicular to each other. One clamping opening clamps the longitudinal rod 21, and the other clamping opening clamps the cross rod 22. By adjusting the L-shaped ratchets on the two clamping openings, tightening and loosening are achieved, thereby adjusting the position and angle of the longitudinal rod 21 and the cross rod 22. Among them, the cross rod 22 is perpendicular to the longitudinal rod 21.

[0051] The two ends of the cross bar 22 are respectively provided with a third cross fixing block 221 and a fourth cross fixing block 222 with a quick adjustment function, wherein two clamps are provided at both ends of the third cross fixing block 221, and the directions of the two clamps are perpendicular, one clamp clamps one end of the cross bar 22, and the other clamp clamps the end of the first arm bar 23, and by adjusting the L-shaped ratchets on the two clamps, tightening and loosening are achieved, thereby adjusting the position and angle of the cross bar 22 and the first arm bar 23. The front end of the first arm bar 23 is connected to the grasping manipulator module 3, and the first arm bar 23 is perpendicular to the cross bar 22. The two ends of the fourth cross fixing block 222 are provided with two clamps, and the directions of the two clamps are perpendicular, one clamp clamps the other end of the cross bar 22, and the other clamp clamps the end of the second arm bar 24, and by adjusting the L-shaped ratchets on the two clamps, tightening and loosening are achieved, thereby adjusting the position and angle of the cross bar 22 and the second arm bar 24. The front end of the second arm bar 24 is connected to the lever manipulator module 4, and the second arm bar 24 is perpendicular to the cross bar 22.

[0052] The first pneumatic valve 25 is fixed on the first arm rod 23, for example, by welding or bolting. The second pneumatic valve 26 is fixed on the second arm rod 24, for example, by welding or bolting. Among them, the air outlet end of the first pneumatic valve 25 is connected to the grasping manipulator module 3 through the first pneumatic pipeline 251. The grasping manipulator module 3 is a pneumatic manipulator driven by gas. The first pneumatic valve 25 is controlled by the control device to supply air, thereby controlling the grasping manipulator module 3 to be in a gripping state or a loosened state. The air outlet end of the second pneumatic valve 26 is connected to the lever manipulator module 4 through the second pneumatic pipeline 261. The lever manipulator is a pneumatic manipulator driven by gas. The air supply of the second pneumatic valve 26 is controlled by the control device to extend or retract the end of the lever manipulator.

[0053] The control device is arranged outside the anechoic chamber, and is used to control the air supply of the first pneumatic valve 25 and the second pneumatic valve 26 in the anechoic chamber according to a certain control program, so as to control the forward or backward movement of the cylinders of the grasping manipulator module 3 and the lever manipulator module 4, so as to realize the grasping manipulator module 3 to grip or release the steering wheel, and the lever action of the lever manipulator module 4.

[0054] The driving robot of the present invention is provided with a gripping manipulator and a lever manipulator. The gripping manipulator grips the steering wheel, and the lever manipulator shifts the turn signal lever, thereby realizing multi-scenario testing. Multiple functions are integrated into one system and can be called as required, simplifying the test arrangement. At the same time, the gripping manipulator and the lever manipulator are pneumatic and controlled by pneumatic valves. They are not affected by strong electromagnetic fields during the anti-interference test, ensuring the stability of the test.

[0055] like Figure 1 As shown, another embodiment of the present invention is a driving robot, comprising: a base 1, a bracket 2, a pneumatic gripping manipulator module 3, a pneumatic lever manipulator module 4 and a control device, wherein the base 1, the bracket 2, the gripping manipulator module 3 and the lever manipulator module 4 are used to be placed on a test vehicle in an anechoic chamber, and the control device is used to be placed outside the anechoic chamber, wherein:

[0056] A horizontal sliding column 11 and an air circuit sub-controller 12 are fixed on the base 1, the bracket 2 includes a longitudinal rod 21 adjustably connected to the horizontal sliding column 11, a cross rod 22 adjustably connected to the longitudinal rod 21, and a first arm rod 23 and a second arm rod 24 adjustably connected to both sides of the cross rod 22, a first pneumatic valve 25 is fixed on the first arm rod 23, a second pneumatic valve 26 is fixed on the second arm rod 24, the controller air inlet end 120 of the air circuit sub-controller 12 is used to communicate with the air source, and the controller air outlet end of the air circuit sub-controller 12 is respectively connected to the first pneumatic valve 25 and the second pneumatic valve 26 through pneumatic pipelines. The first pneumatic valve 26 is connected to the gripping manipulator module 3, the end of the second arm rod 24 is connected to the lever manipulator module 4, the first pneumatic valve 25 is connected to the gripping manipulator module 3 through a first pneumatic pipeline 251, and the second pneumatic valve 26 is connected to the lever manipulator module 4 through a second pneumatic pipeline 261. The control device controls the air supply of the first pneumatic valve 25 to control the claw of the gripping manipulator module 3 to be in a gripping state or a loose state, and the control device controls the air supply of the second pneumatic valve 26 to control the end of the lever manipulator module 4 to extend or retract;

[0057] The grasping manipulator module 3 includes a first cylinder 31 and a claw 32. The first output end 121 of the air circuit sub-controller 12 is connected to the main air supply inlet of the first pneumatic valve 25, and the second output end 122 of the air circuit sub-controller 12 is connected to the control air supply inlet of the first pneumatic valve 25. The air outlet of the first pneumatic valve 25 is connected to the first cylinder 31, driving the extension and retraction of the first end of the first cylinder 31. The claw 32 includes a first chuck 321 and a second chuck 322. The first end of the first cylinder 31 is connected to the first chuck 321 and the second chuck 322. The extension and retraction of the first end of the first cylinder 31 drives the first chuck 321 and the second chuck 322 to switch between a gripping state and a loosening state. The control device controls the air supply of the second output end 122 of the air circuit sub-controller 12.

[0058] The cylinder wall of the first air cylinder 31 is provided with a first ball head 33, the end of the first arm rod 23 is connected to a first pea clamp 27 adapted to the first ball head 33, and the first pea clamp 27 clamps the first ball head 33;

[0059] The lever manipulator module 4 includes a second cylinder 41, the third output end 123 of the gas circuit sub-controller 12 is connected to the main air supply inlet of the second pneumatic valve 26, the fourth output end 124 of the gas circuit sub-controller 12 is connected to the control air supply inlet of the second pneumatic valve 26, the air outlet of the second pneumatic valve 26 is connected to the second cylinder 41, and the second end 411 of the second cylinder 41 is driven to extend and retract, and the control device controls the air supply of the fourth output end 124 of the gas circuit sub-controller 12;

[0060] The cylinder wall of the second air cylinder 41 is provided with a second ball head 42, the end of the second arm rod 24 is connected to a second pea clamp 28 adapted to the second ball head 42, and the second pea clamp 28 clamps the second ball head 42;

[0061] The control device includes: an air source 5, a control host computer 6 and a solenoid valve 7. The air source 5 is connected to the controller air inlet end 120 of the air circuit sub-controller 12, the solenoid valve 7 is connected to the air circuit sub-controller 12, and the control host computer 6 is connected to the solenoid valve 7.

[0062] Specifically, the driving robot is mainly composed of five parts, namely a base 1, an adjustable bracket 2, a gripping manipulator module 3, a lever manipulator module 4 and a control device. The base 1 includes a horizontal slide column 11 equipped with a cross fixing block with a quick adjustment function, an air circuit sub-controller 12 with a pneumatic quick-release connector 125, and a seat belt tensioner 13.

[0063] The controller air inlet 120 of the air circuit sub-controller 12 is connected to the air source through the air supply cable 8, and the multiple controller air outlets of the air circuit sub-controller 12 are respectively connected to the first pneumatic valve 25 and the second pneumatic valve 26 through pneumatic pipelines to supply air to the first pneumatic valve 25 and the second pneumatic valve 26. The multiple controller output ends of the air circuit sub-controller 12 include a first output end 121, a second output end 122, a third output end 123 and a fourth output end 124, and each controller output end is equipped with a pneumatic quick-release connector 125. The air supply cable 8 is connected to the air source 5 outside the darkroom and receives the control signal of the solenoid valve 7. The solenoid valve 7 independently controls the air supply of each controller output end. The controller air inlet 120 is provided with an integrated quick-release connector 9. The integrated quick-release connector 9 is internally provided with pneumatic control pipelines corresponding to the first output end 121, the second output end 122, the third output end 123, and the fourth output end 124 of the gas circuit sub-controller 12, and the gas supply of each controller output end of the gas circuit sub-controller 12 is controlled according to the control signal of the solenoid valve 7.

[0064] The seat belt tensioner 13 is used to connect with the seat belt of the vehicle to fix the driving robot. A seat belt tensioner control knob 131 is also provided on the base 1, and the tightness of the seat belt tensioner 13 can be adjusted by rotating the seat belt tensioner control knob 131.

[0065] In some embodiments, the seat belt tensioner control knob 131 is a two-position three-way valve with an open position and a closed position. One end of the two-position three-way valve is connected to the air supply cable 8, and the other end is connected to the cylinder inside the seat belt tensioner 13. When the seat belt tensioner control knob 131 is rotated to the open position, the air supply cable 8 is connected to the cylinder inside the seat belt tensioner 13 to supply air, and the cylinder pushes out to tension the seat belt. When the seat belt tensioner control knob 131 is rotated to the closed position, the air supply cable 8 is disconnected from the cylinder inside the seat belt tensioner 13, the air supply stops, and the cylinder retracts.

[0066] The bracket 2 includes a longitudinal rod 21, a cross rod 22, a first arm rod 23 and a second arm rod 24 on both sides, and corresponding cross fixing blocks with a quick adjustment function. The arm rods on both sides are also provided with a first pneumatic valve 25 and a second pneumatic valve 26 for controlling the manipulator module, a pneumatic pipeline, and a pea clip with a ball head. The first pneumatic valve 25 and the second pneumatic valve 26 are preferably pneumatic five-position two-way valves.

[0067] The horizontal sliding column 11 is adjustably connected to the longitudinal rod 21 through a first cross fixing block 111 with a quick adjustment function. The longitudinal rod 21 is adjustably connected to the cross rod 22 through a second cross fixing block 211 with a quick adjustment function. Both ends of the cross rod 22 are adjustably connected to the end of the first arm rod 23 through a third cross fixing block 221 with a quick adjustment function, and are adjustably connected to the end of the second arm rod 24 through a fourth cross fixing block 222 with a quick adjustment function.

[0068] The gripping manipulator module 3 includes a first cylinder 31, a claw 32 and a first ball head 33, wherein the first pneumatic valve 25 is connected to the first cylinder 31 through a first pneumatic pipeline 251 to supply air to the first cylinder 31. The first pneumatic valve 25 is a two-position five-way valve with two positions: normally open and normally closed. The first output end 121 of the air circuit sub-controller 12 is connected to the main air supply inlet of the first pneumatic valve 25, and the second output end 122 of the air circuit sub-controller 12 is connected to the control air supply inlet of the first pneumatic valve 25. The main air supply inlet of the first pneumatic valve 25 is in a state of being always supplied with air, and the solenoid valve 7 controls the air supply of the second output end 122. At this time, as long as air pressure is provided to the control air supply inlet of the first pneumatic valve 25, the first pneumatic valve 25 can switch the air supply state, switching from supplying air in the ejection / relaxation direction of the first cylinder 31 to supplying air in the retraction / tightening direction (or vice versa), thereby realizing the control of the first cylinder 31. The first cylinder 31 is preferably a double-acting translation finger cylinder, and the first pneumatic valve 25 is connected to the first cylinder 31 through two first pneumatic pipes 251. When the first cylinder 31 moves in the ejection / relaxation direction, the first chuck 321 and the second chuck 322 of the claw 32 are driven to move in opposite directions, and the claw 32 is in a loose state. When the first cylinder 31 moves in the retraction / tightening direction, the first chuck 321 and the second chuck 322 of the claw 32 are driven to move relative to each other, and the claw 32 is in a gripping state.

[0069] like Fig.10 As shown, in some embodiments, the grasping robot module 3 further includes a connecting rod 35 , a first guide rail 36 , a slider 37 , a second guide rail 38 and a steel ball 39 .

[0070] The piston rod 311 of the first cylinder 31 serves as an output end, and drives the first chuck 321 and the second chuck 322 through the connecting rod 35 .

[0071] Specifically, the connecting rod 35 includes a first connecting rod portion 351 and a second connecting rod portion 352, the front ends of the first connecting rod portion 351 and the second connecting rod portion 352 are hinged to the piston rod 311, the end of the first connecting rod portion 351 is hinged to the first chuck 321, the end of the second connecting rod portion 352 is hinged to the second chuck 322, and the first connecting rod portion 351 rotates around the first connecting rod shaft 353, and the second connecting rod portion rotates around the second connecting rod shaft 354. The two sliders 37 are respectively connected to the first chuck 321 and the second chuck 322, and the first guide rail 36 and the second guide rail 38 are both perpendicular to the cylinder axis. The first chuck 321 and the second chuck 322 slide along the second guide rail 38, and the friction is reduced by the steel ball 39. The two sliders 37 slide along the first guide rail 36, and the linear motion along the cylinder axis is converted into a linear motion perpendicular to the cylinder axis, and the first chuck 321 and the second chuck 322 are driven to move relative to each other.

[0072] A universal first ball head 33 is provided on the cylinder wall of the first cylinder 31. The first ball head 33 is connected to the first pea clamp 27 at the front end of the first arm rod 23. The first ball head 33 is clamped by the first pea clamp 27. The first ball head 33 acts as a joint and matches with the first pea clamp 27 to achieve three-degree-of-freedom adjustment (three-axis rotation).

[0073] In some embodiments, the gripping manipulator module 3 further includes a first adjustable capacitor 34, which is fixed on the first cylinder 31, one end of the first adjustable capacitor 34 is grounded, and the other end is electrically connected to the first chuck 321 and the second chuck 322. The chuck is the claw, and the inner surface of the chuck has a conductive copper sheet, which is electrically connected to the first adjustable capacitor 34.

[0074] Among them, the capacitance value of the first adjustable capacitor 34 is adjustable, and the capacitance value of the first adjustable capacitor 34 is adjusted by the first capacitance adjustment knob 341. The first adjustable capacitor 34 is preferably a variable capacitor of 4-270pF. The first adjustable capacitor 34 is fixed on the first cylinder 31, and one end of the first adjustable capacitor 34 is connected to the first clamp 321 and the second clamp 322 through the first wire 342, and the other end is connected to the vehicle body ground through the second wire 343, so as to adjust the capacitance value to simulate the capacitance value when a person grasps the steering wheel. The end of the first wire 342 is connected to the copper capacitance sensing electrode, and is connected to the first clamp 321 and the second clamp 322 through the copper capacitance sensing electrode.

[0075] The lever manipulator module 4 includes a second cylinder 41. The second pneumatic valve 26 is connected to the second cylinder 41 through the first pneumatic pipeline 251 to supply air to the second cylinder 41. The second pneumatic valve 26 is a two-position five-way valve with two positions of normally open and normally closed. The third output end 123 of the gas circuit sub-controller 12 is connected to the main air supply inlet of the second pneumatic valve 26, and the fourth output end 124 of the gas circuit sub-controller 12 is connected to the control air supply inlet of the second pneumatic valve 26. The main air supply inlet of the second pneumatic valve 26 is in a state of always having air, and the solenoid valve 7 controls the air supply of the fourth output end 124. At this time, as long as air pressure is provided to the control air supply inlet of the second pneumatic valve 26, the second pneumatic valve 26 can switch the air supply state, switching from supplying air to the ejection / relaxation direction of the second cylinder 41 to supplying air to the retraction / tightening direction (or vice versa), thereby realizing the control of the second cylinder 41. The second cylinder 41 is preferably a double-acting adjustable stroke cylinder. The stroke of the second cylinder 41 can be adjusted by the second cylinder stroke adjusting screw 412 of the second cylinder 41. The lever action is achieved by extending and retracting the second end 411 of the second cylinder 41.

[0076] A universal second ball head 42 is provided on the cylinder wall of the second cylinder 41. The second ball head 42 is connected to the second pea clamp 28 at the front end of the second arm rod 24. The second ball head 42 is clamped by the second pea clamp 28. The second ball head 42 acts as a joint and matches with the second pea clamp 28 to achieve three-degree-of-freedom adjustment (three-axis rotation).

[0077] In some embodiments, the lever manipulator module 4 further includes a second adjustable capacitor 43, which is fixed on the second cylinder 41, one end of the second adjustable capacitor 43 is grounded, and the other end is electrically connected to the second terminal 411 of the second cylinder 41. A conductive copper sheet is provided on the inner surface of the terminal, and the copper sheet is electrically connected to the second adjustable capacitor 43.

[0078] Among them, the capacitance value of the second adjustable capacitor 43 is adjustable, and the capacitance value of the second adjustable capacitor 43 is adjusted by the second capacitance adjustment knob 431. The second adjustable capacitor 43 is preferably a variable capacitor of 4-270pF. The second adjustable capacitor 43 is fixed on the second cylinder 41, and one end of the second adjustable capacitor 43 is connected to the second terminal 411 of the second cylinder 41 through the third wire 432, and the other end is connected to the vehicle body ground through the fourth wire 433, so as to adjust the capacitance value to simulate the capacitance value when a human hand touches the capacitor button. The end of the third wire 432 is connected to the copper capacitor sensing electrode, and is connected to the second terminal of the second cylinder 41 through the copper capacitor sensing electrode.

[0079] The control device includes: an air source 5, a control host computer 6 (such as a computer) and a solenoid valve 7. Fig.15As shown, the air source 5, the control host computer 6 and the programmable solenoid valve 7 are arranged outside the anechoic chamber 100, and are used to supply air to the first pneumatic valve 25 and the second pneumatic valve 26 in the anechoic chamber according to a certain control program, so as to control the first cylinder 31 and the second cylinder 41 of the grasping manipulator module 3 and the lever manipulator module 4 as actuators to move forward or backward, so as to realize the grasping manipulator to hold or release the steering wheel, and the lever movement of the lever manipulator.

[0080] The present embodiment designs a driving robot with manipulators of various structures. Various functions are integrated into one system and can be called upon as required, thus simplifying the test arrangement. In addition, it adopts pneumatic drive and is not affected by strong electromagnetic fields during anti-interference tests, thus ensuring the stability of the test.

[0081] like Fig.16 The flowchart of a method for testing electromagnetic immunity of a vehicle according to an embodiment of the present invention is shown, comprising:

[0082] Step S1601, driving the test vehicle into the anechoic chamber on the rotating hub, installing the driving robot as described above, and arranging monitoring inside the test vehicle;

[0083] Step S1602, adjusting the position of the gripping manipulator module 3 so that the gripping manipulator module 3 releases the steering wheel of the test vehicle, and adjusting the position of the lever manipulator module 4 so that the lever manipulator abuts against the turn signal lever of the test vehicle;

[0084] Step S1603, starting the test vehicle, controlling the air supply of the first pneumatic valve 25 and / or the second pneumatic valve 26 through the control device, driving the gripping manipulator module 3 to a gripping state, and activating the single-lane control function and the multi-lane control function of the vehicle;

[0085] Step S1604: Arrange the anti-interference test antenna, set multiple characteristic test frequency points, and perform single-lane test and / or multi-lane test.

[0086] Specifically, firstly, step S1601 is executed to drive the test vehicle onto the rotating hub in the anechoic chamber, install the driving robot as described above, and arrange monitoring inside the test vehicle.

[0087] Specifically, the vehicle is driven into the anechoic chamber onto the rotating hub and secured, a driving robot is installed, and monitoring is arranged inside the vehicle.

[0088] Then, step S1602 is executed to adjust the position of the gripping manipulator module 3 so that the gripping manipulator module 3 releases the steering wheel of the test vehicle, and adjust the position of the lever manipulator module 4 so that the lever manipulator module 4 abuts against the turn signal lever of the test vehicle.

[0089] Specifically, the position of the manipulator is adjusted so that the grasping manipulator module 3 just releases the steering wheel, and the lever manipulator module 4 just presses against the turn signal lever; specifically, the claw 32 of the grasping manipulator module 3 just releases the steering wheel, and the second end 411 of the second cylinder 41 of the lever manipulator module 4 just presses against the turn signal lever.

[0090] At the same time, the stroke of the second cylinder 41 of the lever manipulator module 4 is adjusted by the second cylinder stroke adjusting screw 412 so that the lever is moved just a certain distance when the second cylinder 41 is fully pushed out.

[0091] In addition, the air pipe is extended to the outside of the darkroom through the waveguide in the darkroom and installed on the control device. The control device is fixed on the desktop, and the upper computer controls and activates the grasping manipulator module 3 or the lever manipulator module 4 to achieve gripping and releasing the steering wheel or shifting the direction lever.

[0092] Then execute step S1603, start the test vehicle, control the air supply of the first pneumatic valve 25 and / or the second pneumatic valve 26 through the control device, drive the grasping manipulator module 3 to the gripping state, and activate the single-lane control function and multi-lane control function of the vehicle.

[0093] Specifically, the vehicle is started, the gripping manipulator module 3 is activated to a gripping state, and the single-lane and multi-lane control functions of the vehicle are activated.

[0094] Finally, step S1604 is executed to arrange the anti-interference test antenna, set multiple characteristic test frequency points, and perform single-lane test and / or multi-lane test.

[0095] Specifically, arrange the anti-interference test antenna, set 16 characteristic test frequency points through software, and repeat the single-lane test and / or multi-lane test as required until the anti-interference test is completed.

[0096] This embodiment implements the electromagnetic immunity test of the vehicle. The driving robot is provided with a gripping manipulator and a lever manipulator. The gripping manipulator grips the steering wheel, and the lever manipulator moves the turn signal lever. This embodiment combines the driving robot to implement multi-scenario testing. Multiple functions are integrated into one system and can be called as needed, simplifying the test layout. At the same time, the gripping manipulator and the lever manipulator are pneumatic and controlled by pneumatic valves. They are not affected by strong electromagnetic fields during the immunity test, ensuring the stability of the test.

[0097] In one embodiment, performing a single lane test includes:

[0098] The target vehicle moves back and forth on the guide rail as a cycle, and the target vehicle is controlled to move back and forth periodically on the guide rail to trigger the adaptive cruise control acceleration and deceleration function of the test vehicle, and after each cycle, the gripping manipulator module 3 is driven to a released state, and waits for a preset time. If a vehicle hands-off alarm is monitored within the preset time, it is determined that the single-lane test is successful, otherwise if the vehicle hands-off alarm is not monitored after the preset time, it is determined that the single-lane test has failed;

[0099] The gripping robot module 3 is re-driven to the gripping state and the next cycle is performed.

[0100] Specifically, the single lane test is:

[0101] The target vehicle moves back and forth on the guide rail to trigger the test vehicle's adaptive cruise control acceleration and deceleration function. One back and forth is a cycle. After each cycle, the grip control handle is moved to release and wait for 15 seconds. When the vehicle is out of hand alarm is monitored, the grip control handle is moved to grip again and the next cycle is carried out.

[0102] In one embodiment, performing a multi-lane test includes:

[0103] Placing the target vehicle behind the left side or the right side of the test vehicle;

[0104] In each cycle, the end of the lever manipulator module 4 is driven to extend, the turn signal lever is pressed, and the vehicle instrument is monitored;

[0105] When the action exit or failure is monitored within the preset time, the multi-lane test is judged to be successful. Otherwise, if the action exit or failure is not monitored after the preset time, it is judged to be a multi-lane test failure, and the end of the lever manipulator module 4 is driven to retract and the next cycle is carried out.

[0106] Multi-Lane:

[0107] The target vehicle is placed behind the left or right side of the test vehicle. The upper computer controls and activates the lever manipulator module 4, presses the turn signal lever, and monitors the vehicle instrument. When the action exits or fails (because there is a target vehicle behind, "action exit or failure" means that the automatic driving intervention is successful), release the lever manipulator to proceed to the next cycle.

[0108] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0109] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A driving robot, characterized in that: include: A base (1), a bracket (2), a pneumatic gripping manipulator module (3), a pneumatic lever manipulator module (4), and a control device, wherein the base (1), the bracket (2), the gripping manipulator module (3), and the lever manipulator module (4) are used to be placed on a test vehicle in an anechoic chamber, and the control device is used to be placed outside the anechoic chamber, wherein: A horizontal sliding column (11) and an air circuit sub-controller (12) are fixed on the base (1); the bracket (2) comprises a longitudinal rod (21) adjustably connected to the horizontal sliding column (11), a transverse rod (22) adjustably connected to the longitudinal rod (21), and a first arm rod (23) and a second arm rod (24) adjustably connected to both sides of the transverse rod (22); a first pneumatic valve (25) is fixed to the first arm rod (23), and a second pneumatic valve (26) is fixed to the second arm rod (24); an air inlet end (120) of the air circuit sub-controller (12) is used to communicate with an air source, and an air outlet end (120) of the air circuit sub-controller (12) is connected to the first pneumatic valve (25) and the second pneumatic valve (26) through a pneumatic pipeline. The first pneumatic valve (25) is connected to the grasping manipulator module (3) through a first pneumatic pipeline (251), and the second pneumatic valve (26) is connected to the lever manipulator module (4) through a second pneumatic pipeline (261). The control device controls the air supply of the first pneumatic valve (25) to control the claw of the grasping manipulator module (3) to be in a gripping state or a loosened state. The control device controls the air supply of the second pneumatic valve (26) to control the end of the lever manipulator module (4) to extend or retract.

2. The driving robot according to claim 1, characterized in that: The grasping robot module (3) includes a first cylinder (31) and a claw (32); the first output end (121) of the air circuit sub-controller (12) is connected to the main air supply inlet of the first pneumatic valve (25); the second output end (122) of the air circuit sub-controller (12) is connected to the control air supply inlet of the first pneumatic valve (25); the air outlet of the first pneumatic valve (25) is connected to the first cylinder (31), and the first end of the first cylinder (31) is driven The claw portion (32) comprises a first clamp (321) and a second clamp (322); the first end of the first cylinder (31) is connected to the first clamp (321) and the second clamp (322); the extension and retraction of the first end of the first cylinder (31) drives the first clamp (321) and the second clamp (322) to switch between a gripping state and a loosening state; and the control device controls the air supply of the second output end (122) of the air circuit sub-controller (12).

3. The driving robot according to claim 2, characterized in that: A first ball head (33) is provided on the cylinder wall of the first cylinder (31), and an end of the first arm rod (23) is connected to a first pea clamp (27) adapted to the first ball head (33), and the first pea clamp (27) clamps the first ball head (33).

4. The driving robot according to claim 1, characterized in that: The lever manipulator module (4) includes a second cylinder (41), the third output end (123) of the air circuit sub-controller (12) is connected to the main air supply inlet of the second pneumatic valve (26), the fourth output end (124) of the air circuit sub-controller (12) is connected to the control air supply inlet of the second pneumatic valve (26), the air outlet of the second pneumatic valve (26) is connected to the second cylinder (41), driving the extension and retraction of the second end (411) of the second cylinder (41), and the control device controls the air supply of the fourth output end (124) of the air circuit sub-controller (12).

5. The driving robot according to claim 4, characterized in that: A second ball head (42) is provided on the cylinder wall of the second air cylinder (41), and the end of the second arm rod (24) is connected to a second pea clamp (28) adapted to the second ball head (42), and the second pea clamp (28) clamps the second ball head (42).

6. The driving robot according to claim 1, characterized in that: A safety belt tensioning device (13) is also fixed on the base (1).

7. The driving robot according to any one of claims 1 to 6, characterized in that: The control device comprises: an air source (5), a control host computer (6) and a solenoid valve (7); the air source (5) is in communication with a controller air inlet end (120) of the air path sub-controller (12); the solenoid valve (7) is connected to the air path sub-controller (12); and the control host computer (6) is connected to the solenoid valve (7).

8. A method for testing electromagnetic immunity of a vehicle, characterized in that: include: Driving a test vehicle onto a rotating hub in an anechoic chamber, installing a driving robot as claimed in any one of claims 1 to 7, and arranging monitoring in the test vehicle; Adjusting the position of the gripping manipulator module (3) so that the gripping manipulator module (3) releases the steering wheel of the test vehicle, and adjusting the position of the lever manipulator module (4) so ​​that the lever manipulator module (4) abuts against the turn signal lever of the test vehicle; Starting the test vehicle, controlling the air supply of the first pneumatic valve (25) and the second pneumatic valve (26) through the control device, driving the gripping manipulator module (3) to a gripping state, and activating the single-lane control function and the multi-lane control function of the vehicle; Arrange the immunity test antenna, set multiple characteristic test frequencies, perform single-lane testing and / or perform multi-lane testing.

9. The electromagnetic immunity test method for a vehicle according to claim 8, characterized in that: The single lane test comprises: Taking one round trip of the target vehicle on the guide rail as one cycle, the target vehicle is controlled to periodically move back and forth on the guide rail to trigger the adaptive cruise control acceleration and deceleration function of the test vehicle, and after each cycle, the gripping manipulator module (3) is driven to a released state and waits for a preset time. If a vehicle hands-off alarm is monitored within the preset time, it is determined that the single-lane test is successful; otherwise, if no vehicle hands-off alarm is monitored after the preset time, it is determined that the single-lane test has failed; The grasping robot module (3) is re-driven to a gripping state and to proceed to the next cycle.

10. The electromagnetic immunity test method of a vehicle according to claim 8, characterized in that: The multi-lane test is performed, including: Placing the target vehicle behind the left side or the right side of the test vehicle; In each cycle, the end of the lever manipulator module (4) is driven to extend, the turn signal lever is pressed, and the vehicle instrument is monitored; If the action exits or fails within the preset time, the multi-lane test is judged to be successful; otherwise, if the action exits or fails within the preset time, the multi-lane test is judged to be failed, and the end of the lever manipulator module (4) is driven to retract and the next cycle is performed.

Images