Vehicle charging socket performance test method and device, electronic equipment and storage medium

Abstract

The invention discloses a vehicle charging socket performance test method and device, electronic equipment and a storage medium, and the method comprises the steps: controlling a first charging gun to perform periodic repeated plugging in a to-be-tested charging socket through a first manipulator according to a first motion track and a target plugging force, and recording a first motor current curve of the first manipulator; determining the first plugging resistance of each plugging period according to the first motor current curve, and determining the durability of the to-be-tested charging socket according to the first resistance change curve; controlling a second charging gun to perform force increasing plugging in the to-be-tested charging socket through a second manipulator according to the second motion track and the plugging force sequence, and recording a second motor current curve of the second manipulator; and determining a second plugging resistance under each plugging force according to the second motor current curve, and determining the tolerance performance of the to-be-tested charging socket according to the second resistance change curve. The vehicle charging socket performance testing efficiency and testing precision are improved, and the method can be applied to the technical field of vehicle testing.

Description

Technical Field

[0001] The present invention relates to the field of vehicle testing technology, and in particular to a vehicle charging socket performance testing method, device, electronic equipment and storage medium. Background Art

[0002] The performance test of electric vehicle charging sockets includes the durability test and tolerance test of the charging socket in the state of the whole vehicle. The existing test methods mainly rely on manual testing, as follows:

[0003] 1) Durability test: multiple repetitive plug-in and pull-out tests are carried out in high and low temperature environments. The test items are then judged to be qualified based on whether the parts are damaged and the charging function is normal after the test;

[0004] 2) Endurance performance test: Under normal temperature environment, relying on manual testing, using a dynamometer and stopwatch, etc., to monitor whether the parts have any external damage and whether the charging function is normal under the target push and pull conditions.

[0005] It can be seen that the existing vehicle charging socket performance test mainly relies on manual operation, which has high labor costs and low efficiency. In addition, it is difficult to control the manual push and pull force, resulting in large fluctuations in the test push and pull force, affecting the test accuracy. Summary of the Invention

[0006] The purpose of the present invention is to solve one of the technical problems existing in the prior art to at least a certain extent.

[0007] To this end, an object of an embodiment of the present invention is to provide a vehicle charging socket performance testing method, which improves the efficiency and testing accuracy of the vehicle charging socket performance testing.

[0008] Another object of an embodiment of the present invention is to provide a vehicle charging socket performance testing device.

[0009] In order to achieve the above technical objectives, the technical solutions adopted by the embodiments of the present invention include:

[0010] In a first aspect, an embodiment of the present invention provides a vehicle charging socket performance testing method, comprising the following steps:

[0011] Controlling the first charging gun to periodically and repeatedly plug and unplug the charging socket to be tested by the first manipulator according to a preset first motion trajectory and target plugging and unplugging force, and recording a current curve of the first motor of the first manipulator during each plugging and unplugging cycle;

[0012] determining a first plugging resistance during each plugging cycle based on the first motor current curve, obtaining a first resistance variation curve of the plugging resistance as a function of the number of plugging cycles, and further determining the durability performance of the charging socket to be tested based on the first resistance variation curve;

[0013] Controlling the second charging gun to perform insertion and removal of the charging socket to be tested with increasing force using the second manipulator according to a preset second motion trajectory and insertion and removal force sequence, and recording the current curve of the second motor of the second manipulator under each insertion and removal force;

[0014] The second plugging resistance under each plugging force is determined according to the second motor current curve, and a second resistance change curve of the plugging resistance changing with the plugging force is obtained, and then the tolerance performance of the charging socket to be tested is determined according to the second resistance change curve.

[0015] Furthermore, in one embodiment of the present invention, the vehicle charging socket performance testing method further includes the following steps:

[0016] Collect hand image sequence data of multiple testers when plugging and unplugging charging guns;

[0017] Determining the hand movement trajectory of each tester when plugging and unplugging the charging gun based on the hand image sequence data;

[0018] Fitting the hand motion trajectory to obtain the fitted motion trajectory;

[0019] The fitting motion trajectory is spatially calibrated according to the test position of the first manipulator / the second manipulator to obtain the first motion trajectory / the second motion trajectory.

[0020] Furthermore, in one embodiment of the present invention, the vehicle charging socket performance testing method further includes the following steps:

[0021] Collect the push and pull force of multiple testers' hands when plugging and unplugging charging guns;

[0022] Determining the target insertion and extraction force according to the average value of the hand pushing and pulling force;

[0023] The plugging and unplugging force sequence is generated according to the target plugging and unplugging force and a preset force change gradient.

[0024] Furthermore, in one embodiment of the present invention, determining the first plugging resistance of each plugging cycle according to the first motor current curve to obtain a first resistance change curve of the plugging resistance as the plugging number increases specifically includes:

[0025] controlling the first charging gun to simulate a plugging and unplugging action in the air by the first manipulator according to the first motion trajectory and the target plugging and unplugging force, and recording a current curve of the third motor of the first manipulator;

[0026] Determining the work done by the first manipulator to overcome the plugging resistance in each plugging cycle according to the first motor current curve and the third motor current curve, and determining the first plugging resistance in each plugging cycle in combination with the plugging stroke of the charging socket to be tested;

[0027] The number of plugging and unplugging times corresponding to the current plugging and unplugging cycle is used as the abscissa, and the first plugging and unplugging resistance corresponding to the current plugging and unplugging cycle is used as the ordinate to generate the first resistance change curve.

[0028] Furthermore, in one embodiment of the present invention, determining the durability performance of the charging socket to be tested based on the first resistance change curve specifically includes:

[0029] sequentially calculating a first plugging resistance change rate between a current plugging cycle and a next plugging cycle according to the first resistance change curve;

[0030] When the absolute value of the first plugging resistance change rate is greater than or equal to a preset first threshold, determining the number of plugging times of the charging socket to be tested according to the number of plugging times corresponding to the current plugging cycle;

[0031] The durability of the charging socket to be tested is determined according to the number of pluggable times.

[0032] Furthermore, in one embodiment of the present invention, determining the second plugging resistance under each plugging force according to the second motor current curve to obtain a second resistance change curve in which the plugging resistance changes with the plugging force specifically includes:

[0033] Controlling the second charging gun to simulate a plugging and unplugging action in the air by the second manipulator according to the second motion trajectory and the plugging and unplugging forces, and recording a current curve of the fourth motor of the second manipulator under each of the plugging and unplugging forces;

[0034] Determine the work done by the first manipulator to overcome the plugging resistance under each plugging force based on the second motor current curve and the fourth motor current curve, and determine the second plugging resistance under each plugging force based on the plugging stroke of the charging socket to be tested;

[0035] The second resistance change curve is generated by taking the plugging and unplugging force as the abscissa and the second plugging and unplugging resistance corresponding to the plugging and unplugging force as the ordinate.

[0036] Furthermore, in one embodiment of the present invention, determining the tolerance performance of the charging socket to be tested according to the second resistance change curve specifically includes:

[0037] Calculating the second plugging resistance change rate between the current plugging force and the next plugging force according to the second resistance change curve;

[0038] When the absolute value of the second plugging resistance change rate is greater than or equal to a preset second threshold, determining the pluggable force of the charging socket to be tested according to the current plugging force;

[0039] The tolerance performance of the charging socket to be tested is determined according to the pluggable force.

[0040] In a second aspect, an embodiment of the present invention provides a vehicle charging socket performance testing device, comprising:

[0041] a repeated plugging and unplugging module, configured to control a first charging gun to periodically and repeatedly plug and unplug the first charging gun into the charging socket to be tested according to a preset first motion trajectory and a target plugging and unplugging force using a first manipulator, and to record a current curve of a first motor of the first manipulator during each plugging and unplugging cycle;

[0042] a durability performance determination module, configured to determine a first plugging resistance for each plugging cycle based on the first motor current curve, obtain a first resistance variation curve showing how the plugging resistance varies with the number of plugging cycles, and further determine the durability performance of the charging socket to be tested based on the first resistance variation curve;

[0043] An incremental plugging and unplugging module, configured to control a second charging gun to perform incremental plugging and unplugging of the charging socket to be tested using a second manipulator according to a preset second motion trajectory and plugging and unplugging force sequence, and to record a current curve of a second motor of the second manipulator at each plugging and unplugging force;

[0044] A tolerance performance determination module is used to determine the second plugging resistance under each plugging force based on the second motor current curve, obtain a second resistance change curve in which the plugging resistance changes with the plugging force, and then determine the tolerance performance of the charging socket to be tested based on the second resistance change curve.

[0045] In a third aspect, an embodiment of the present invention provides an electronic device, including:

[0046] at least one processor;

[0047] at least one memory for storing at least one program;

[0048] When the at least one program is executed by the at least one processor, the at least one processor implements the above-mentioned vehicle charging socket performance testing method.

[0049] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium storing a program executable by a processor, wherein the program executable by the processor is used to perform the above-mentioned vehicle charging socket performance test method when executed by the processor.

[0050] The advantages and benefits of the present invention will be described in part in the following description and will become apparent from the following description or learned through practice of the present invention:

[0051] In an embodiment of the present invention, a first manipulator controls a first charging gun to perform periodic and repeated plugging and unplugging in a charging socket to be tested according to a preset first motion trajectory and a target plugging and unplugging force, and records a first motor current curve of the first manipulator in each plugging and unplugging cycle, determines a first plugging and unplugging resistance in each plugging and unplugging cycle according to the first motor current curve, obtains a first resistance change curve in which the plugging and unplugging resistance changes with the number of plugging and unplugging times, and then determines the durability performance of the charging socket to be tested according to the first resistance change curve, controls a second charging gun to perform increasing force plugging and unplugging in the charging socket to be tested according to a preset second motion trajectory and a plugging and unplugging force sequence, and records a second motor current curve of the second manipulator under each plugging and unplugging force, determines a second plugging and unplugging resistance under each plugging and unplugging force according to the second motor current curve, obtains a second resistance change curve in which the plugging and unplugging resistance changes with the plugging and unplugging force, and then determines the tolerance performance of the charging socket to be tested according to the second resistance change curve. The embodiment of the present invention controls the charging gun through a manipulator to perform plugging and unplugging tests on the charging socket to be tested, ensuring that the plugging and unplugging position is accurate and the force is controllable, and the corresponding plugging and unplugging resistance is determined by the motor current curve of the manipulator. The plugging and unplugging resistance reflects the wear state of the charging socket to be tested, and the plugging and unplugging number corresponding to the sudden change in the plugging and unplugging resistance is determined according to the change in the plugging and unplugging resistance with the plugging and unplugging force, thereby determining the tolerance performance of the charging socket to be tested. The automated test of the vehicle charging socket performance can be completed without manual operation, thereby improving the efficiency and test accuracy of the vehicle charging socket performance test. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following introduction is made to the drawings required for use in the embodiments of the present invention. It should be understood that the drawings introduced below are only for the convenience of clearly describing some embodiments of the technical solutions of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative work.

[0053] Figure 1 A flowchart of the steps of a vehicle charging socket performance testing method provided by an embodiment of the present invention;

[0054] Figure 2 This is a structural block diagram of a vehicle charging socket performance testing device provided by an embodiment of the present invention;

[0055] Figure 3 This is a structural block diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0056] The embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention and are not to be construed as limiting the present invention. The step numbers in the following embodiments are provided for ease of explanation only and do not limit the order of the steps. The order of execution of the steps in the embodiments can be adaptively adjusted according to the understanding of those skilled in the art.

[0057] In the description of the present invention, "a plurality" means two or more. The terms "first" and "second" are used solely to distinguish technical features and are not to be construed as indicating or implying relative importance, or as implicitly indicating the number of the indicated technical features, or as implicitly indicating the order of the indicated technical features. Furthermore, unless otherwise defined, all technical and scientific terms used herein have the same meanings as commonly understood by those skilled in the art.

[0058] Reference Figure 1 The embodiment of the present invention provides a vehicle charging socket performance testing method, which specifically includes the following steps:

[0059] S101. Controlling, by a first manipulator, a first charging gun to periodically and repeatedly plug and unplug a charging socket to be tested according to a preset first motion trajectory and a target plugging and unplugging force, and recording a current curve of a first motor of the first manipulator during each plugging and unplugging cycle.

[0060] S102: Determine a first plugging resistance for each plugging cycle based on the first motor current curve, obtain a first resistance variation curve showing how the plugging resistance varies with the number of plugging cycles, and further determine the durability performance of the charging socket to be tested based on the first resistance variation curve;

[0061] S103, controlling, by a second manipulator, a second charging gun to perform insertion and removal of the charging socket to be tested with increasing force according to a preset second motion trajectory and insertion and removal force sequence, and recording a current curve of a second motor of the second manipulator at each insertion and removal force;

[0062] S104: Determine a second plugging resistance under various plugging forces based on the second motor current curve, obtain a second resistance variation curve of the plugging resistance as a function of the plugging force, and further determine the tolerance performance of the charging socket to be tested based on the second resistance variation curve.

[0063] The embodiment of the present invention controls the charging gun through a manipulator to perform plugging and unplugging tests on the charging socket to be tested, ensuring that the plugging and unplugging position is accurate and the force is controllable, and the corresponding plugging and unplugging resistance is determined by the motor current curve of the manipulator. The plugging and unplugging resistance reflects the wear state of the charging socket to be tested, and the plugging and unplugging number corresponding to the sudden change in the plugging and unplugging resistance is determined according to the change in the plugging and unplugging resistance with the plugging and unplugging force, thereby determining the tolerance performance of the charging socket to be tested. The automated test of the vehicle charging socket performance can be completed without manual operation, thereby improving the efficiency and test accuracy of the vehicle charging socket performance test.

[0064] As an optional embodiment, the vehicle charging socket performance testing method further includes the following steps:

[0065] S1001. Collect hand image sequence data of multiple testers when plugging and unplugging charging guns;

[0066] S1002. Determine the hand movement trajectory of each tester when plugging and unplugging the charging gun based on the hand image sequence data;

[0067] S1003, fitting the hand motion trajectory to obtain a fitted motion trajectory;

[0068] S1004 : spatially calibrate the fitted motion trajectory according to the test position of the first manipulator / the second manipulator to obtain the first motion trajectory / the second motion trajectory.

[0069] Specifically, an embodiment of the present invention pre-collects hand image sequence data of multiple test personnel when plugging and unplugging the charging gun, locates the key points of the hand through human body detection, and thus obtains the hand motion trajectory of each test personnel when plugging and unplugging the charging gun, and fits these hand motion trajectories to finally obtain a fitted motion trajectory that conforms to the plugging and unplugging habits of most people. Then, the fitted motion trajectory is spatially calibrated according to the actual spatial position of the first manipulator / second manipulator during the test, and the first motion trajectory / second motion trajectory used for subsequent plugging and unplugging tests can be obtained.

[0070] As an optional embodiment, the vehicle charging socket performance testing method further includes the following steps:

[0071] S1005. Collect the push and pull force of the hands of multiple testers when plugging and unplugging the charging gun;

[0072] S1006, determining a target insertion and extraction force based on an average value of the hand push and pull forces;

[0073] S1007: Generate a plugging and unplugging force sequence according to the target plugging and unplugging force and a preset force change gradient.

[0074] Specifically, the embodiment of the present invention pre-collects the hand push and pull force of multiple testers when plugging and unplugging the charging gun, takes the average value to obtain the target plugging and unplugging force that conforms to the plugging and unplugging habits of most people, and then increments the target plugging and unplugging force with a preset force change gradient to obtain a plugging and unplugging force sequence. It should be noted that the force change gradient can be based on a fixed value change (such as 1N) or a fixed ratio change (such as 1 / 2 target plugging and unplugging force), which is not limited in the embodiment of the present invention.

[0075] As an optional embodiment, the first plugging resistance of each plugging cycle is determined according to the first motor current curve, and a first resistance change curve of the plugging resistance changing with the number of plugging cycles is obtained, which specifically includes:

[0076] S1021. Controlling, by the first manipulator, the first charging gun to simulate a plugging and unplugging action in the air according to the first motion trajectory and the target plugging and unplugging force, and recording a current curve of the third motor of the first manipulator;

[0077] S1022. Determine the work done by the first manipulator to overcome the plugging resistance in each plugging cycle based on the first motor current curve and the third motor current curve, and determine the first plugging resistance in each plugging cycle based on the plugging stroke of the charging socket to be tested;

[0078] S1023 : Using the number of plugging and unplugging times corresponding to the current plugging and unplugging cycle as the abscissa and the first plugging and unplugging resistance corresponding to the current plugging and unplugging cycle as the ordinate to generate a first resistance change curve.

[0079] Specifically, an embodiment of the present invention controls the first charging gun to simulate the plugging and unplugging action in the air according to the first motion trajectory and the target plugging and unplugging force through the first manipulator, and records the third motor current curve of the first manipulator; a differential current curve is obtained according to the first motor current curve and the third motor current curve, and the work done by the first manipulator to overcome the plugging and unplugging resistance in each plugging and unplugging cycle can be calculated according to the differential current curve and the motor parameters. Combined with the plugging and unplugging stroke of the charging socket to be tested (the relative displacement between the charging gun and the charging socket after contact / before discontinuation during the plugging and unplugging process), the first plugging and unplugging resistance of each plugging and unplugging cycle can be calculated; each plugging and unplugging cycle is converted into a corresponding number of plugging and unplugging times to generate a first resistance change curve.

[0080] As a further optional embodiment, determining the durability performance of the charging socket to be tested according to the first resistance change curve specifically includes:

[0081] S1024, calculating the first plugging resistance change rate between the current plugging cycle and the next plugging cycle according to the first resistance change curve;

[0082] S1025: When the absolute value of the first plugging resistance change rate is greater than or equal to a preset first threshold, determining the number of plugging times of the charging socket to be tested based on the number of plugging times corresponding to the current plugging cycle;

[0083] S1026. Determine the durability of the charging socket to be tested based on the number of plug-in and unplug times.

[0084] Specifically, the plug-in resistance change rate between two adjacent plug-in cycles can be calculated based on the first resistance change curve. It can be recognized that when the charging socket to be tested has not been severely worn, the plug-in resistance will slowly change (increase or decrease) with the increase in the number of plug-in cycles, and the absolute value of the plug-in resistance change rate will be lower than a threshold value. When a certain number of plug-in cycles is reached, the charging socket to be tested will be severely worn. For example, the metal sheet in the socket will be deformed or the surface will become rough. The deformed metal sheet may change the fitting clearance with the charging gun plug, making the contact between the two no longer as smooth as in the initial state, thereby increasing the friction during plug-in and resulting in increased resistance. In addition, the rough The surface will also increase the friction coefficient with the plug, thereby increasing the plug-in resistance. For example, the elasticity of the metal sheet in the socket decreases, and it cannot clamp the charging gun plug as tightly as before. Then the fit between the plug and the socket will become loose, and the resistance to plugging and unplugging the charging gun will decrease. However, in either case, severe wear of the charging socket to be tested will cause a sudden change in the plug-in resistance. Therefore, when the absolute value of the plug-in resistance change rate between two adjacent plug-in cycles is greater than or equal to a preset first threshold value, the embodiment of the present invention can determine that the charging socket to be tested has reached the maximum number of plug-in times, so that the durability performance of the charging socket to be tested can be determined based on the maximum number of plug-in times. It should be noted that the first threshold value corresponding to different charging sockets is different and needs to be pre-calibrated through test experiments. The embodiment of the present invention will not be described in detail here.

[0085] As an optional embodiment, the second plugging resistance under each plugging force is determined according to the second motor current curve, and a second resistance change curve of the plugging resistance changing with the plugging force is obtained, which specifically includes:

[0086] S1041. Controlling, by a second manipulator, a second charging gun to simulate a plugging and unplugging action in the air according to a second motion trajectory and various plugging and unplugging forces, and recording a current curve of a fourth motor of the second manipulator under various plugging and unplugging forces;

[0087] S1042. Determine the work done by the first manipulator to overcome the plugging resistance at each plugging force based on the second motor current curve and the fourth motor current curve, and determine the second plugging resistance at each plugging force based on the plugging stroke of the charging socket to be tested;

[0088] S1043 : Using the plugging force as the horizontal coordinate and the second plugging resistance corresponding to the plugging force as the vertical coordinate to generate a second resistance change curve.

[0089] Specifically, an embodiment of the present invention controls the second charging gun in sequence according to the second motion trajectory and each plugging and unplugging force in the plugging and unplugging force sequence by the second manipulator to simulate the plugging and unplugging action in the air, and records the fourth motor current curve of the second manipulator under each plugging and unplugging force; a differential current curve under each plugging and unplugging force is obtained according to the second motor current curve and the fourth motor current curve, and the work done by the second manipulator to overcome the plugging and unplugging resistance under each plugging and unplugging force can be calculated according to the differential current curve and the motor parameters. Combined with the plugging and unplugging stroke of the charging socket to be tested (the relative displacement between the charging gun and the charging socket after contact / before contact during the plugging and unplugging process), the second plugging and unplugging resistance under each plugging and unplugging force can be calculated; using each plugging and unplugging force as the horizontal coordinate value, the first resistance change curve can be generated.

[0090] As a further optional embodiment, determining the tolerance performance of the charging socket to be tested according to the second resistance change curve specifically includes:

[0091] S1044, sequentially calculating a second plugging resistance change rate between a current plugging force and a next plugging force according to the second resistance change curve;

[0092] S1045: When the absolute value of the second plugging resistance change rate is greater than or equal to a preset second threshold, determining the pluggable force of the charging socket to be tested based on the current plugging force;

[0093] S1046. Determine the tolerance performance of the charging socket to be tested based on the pluggable force.

[0094] Specifically, the plug-in resistance change rate between two adjacent plug-in forces can be calculated based on the second resistance change curve. It can be recognized that when the charging socket to be tested has not been severely worn, the plug-in resistance will slowly change (increase or decrease) with the increase in the number of plug-in times, and the absolute value of the plug-in resistance change rate will be lower than a threshold. When a certain number of plug-in times is reached, the charging socket to be tested will be severely worn, resulting in a sudden change in the plug-in resistance. Therefore, in the embodiment of the present invention, when the absolute value of the plug-in resistance change rate between two adjacent plug-in forces is greater than or equal to the preset second threshold, it can be determined that the charging socket to be tested has reached the maximum plug-in force (maximum tolerance force), so that the tolerance performance of the charging socket to be tested can be determined based on the maximum plug-in force. It should be noted that the second threshold corresponding to different charging sockets is different and needs to be pre-calibrated through test experiments. The embodiment of the present invention will not be described in detail here.

[0095] The above describes the method steps of the embodiment of the present invention. It can be recognized that the embodiment of the present invention controls the charging gun to perform plug-in and pull-out tests on the charging socket to be tested by a manipulator, ensuring that the plug-in and pull-out positions are accurate and the force is controllable. The corresponding plug-in and pull-out resistance is determined by the motor current curve of the manipulator. The plug-in and pull-out resistance reflects the wear state of the charging socket to be tested. The plug-in and pull-out resistance is determined according to the change of the plug-in and pull-out resistance with the number of plug-in and pull-out times when the plug-in and pull-out resistance suddenly changes, thereby determining the durability performance of the charging socket to be tested. The plug-in and pull-out force is determined according to the change of the plug-in and pull-out resistance with the plug-in and pull-out force when the plug-in and pull-out resistance suddenly changes, thereby determining the tolerance performance of the charging socket to be tested. The automated test of the vehicle charging socket performance can be completed without manual operation, thereby improving the efficiency and test accuracy of the vehicle charging socket performance test.

[0096] Reference Figure 2 The embodiment of the present invention provides a vehicle charging socket performance testing device, comprising:

[0097] A repeated plugging and unplugging module, configured to control the first charging gun to periodically and repeatedly plug and unplug the first charging gun into the charging socket to be tested according to a preset first motion trajectory and target plugging and unplugging force using a first manipulator, and to record a current curve of a first motor of the first manipulator during each plugging and unplugging cycle;

[0098] a durability performance determination module, configured to determine a first plugging resistance for each plugging cycle based on the first motor current curve, obtain a first resistance variation curve showing how the plugging resistance varies with the number of plugging cycles, and further determine the durability performance of the charging socket to be tested based on the first resistance variation curve;

[0099] An incremental plugging and unplugging module, configured to control a second charging gun to perform incremental plugging and unplugging of the charging socket to be tested using a second manipulator according to a preset second motion trajectory and plugging and unplugging force sequence, and to record a current curve of a second motor of the second manipulator at each plugging and unplugging force;

[0100] The tolerance performance determination module is used to determine the second plugging resistance under each plugging force based on the second motor current curve, obtain a second resistance change curve in which the plugging resistance changes with the plugging force, and then determine the tolerance performance of the charging socket to be tested based on the second resistance change curve.

[0101] The contents of the above method embodiments are all applicable to the present device embodiments. The functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0102] Reference Figure 3 , an embodiment of the present invention provides an electronic device, including:

[0103] at least one processor;

[0104] at least one memory for storing at least one program;

[0105] When the at least one program is executed by the at least one processor, the at least one processor implements the vehicle charging socket performance testing method.

[0106] The contents of the above method embodiments are all applicable to the present device embodiments. The functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0107] An embodiment of the present invention further provides a computer-readable storage medium storing a program executable by a processor. When the program is executed by the processor, it is used to perform the above-mentioned vehicle charging socket performance test method.

[0108] A computer-readable storage medium according to an embodiment of the present invention can execute a vehicle charging socket performance testing method provided by an embodiment of the present invention, can execute any combination of implementation steps of the embodiment of the method, and has the corresponding functions and beneficial effects of the method.

[0109] The embodiment of the present invention also discloses a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device can read the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs Figure 1 The method shown.

[0110] In some optional embodiments, the function / operation mentioned in the block diagram may not occur in the order mentioned in the operation diagram. For example, depending on the function / operation involved, the two boxes shown in succession can actually be executed substantially simultaneously or the above-mentioned boxes can sometimes be executed in reverse order. In addition, the embodiment presented and described in the flow chart of the present invention is provided in an exemplary manner for the purpose of providing a more comprehensive understanding of the technology. The disclosed method is not limited to the operation and logic flow presented herein. Optional embodiments are contemplated in which the order of the various operations is changed and the sub-operations described as a part of a larger operation are performed independently.

[0111] In addition, although the present invention is described in the context of functional modules, it should be understood that, unless otherwise stated, one or more of the above-mentioned functions and / or features can be integrated into a single physical device and / or software module, or one or more functions and / or features can be implemented in separate physical devices or software modules. It is also understood that a detailed discussion of the actual implementation of each module is not necessary for understanding the present invention. More specifically, given the properties, functions, and internal relationships of the various functional modules in the devices disclosed herein, the actual implementation of the module will be understood within the routine skills of an engineer. Therefore, a person skilled in the art can implement the present invention set forth in the claims using ordinary skills without undue experimentation. It is also understood that the specific concepts disclosed are merely illustrative and are not intended to limit the scope of the present invention, which is determined by the full scope of the appended claims and their equivalents.

[0112] If the above functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the above methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program code.

[0113] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device.

[0114] More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic devices), a portable computer disk cartridge (magnetic devices), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable media on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, deciphering, or processing in another suitable manner as necessary, and then stored in a computer memory.

[0115] It should be understood that various parts of the present invention can be implemented using hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0116] In the above description of this specification, reference to the terms "one embodiment / example," "another embodiment / example," or "certain embodiments / examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0117] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

[0118] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the above embodiments. Those skilled in the art can make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A vehicle charging socket performance testing method, characterized in that: The following steps are involved: Controlling the first charging gun to periodically and repeatedly plug and unplug the charging socket to be tested by the first manipulator according to a preset first motion trajectory and target plugging and unplugging force, and recording a current curve of the first motor of the first manipulator during each plugging and unplugging cycle; determining a first plugging resistance during each plugging cycle based on the first motor current curve, obtaining a first resistance variation curve of the plugging resistance as a function of the number of plugging cycles, and further determining the durability performance of the charging socket to be tested based on the first resistance variation curve; Controlling the second charging gun to perform insertion and removal of the charging socket to be tested with increasing force using the second manipulator according to a preset second motion trajectory and insertion and removal force sequence, and recording the current curve of the second motor of the second manipulator under each insertion and removal force; The second plugging resistance under each plugging force is determined according to the second motor current curve, and a second resistance change curve of the plugging resistance changing with the plugging force is obtained, and then the tolerance performance of the charging socket to be tested is determined according to the second resistance change curve.

2. A vehicle charging socket performance testing method according to claim 1, characterized in that: The vehicle charging socket performance testing method further includes the following steps: Collect hand image sequence data of multiple testers when plugging and unplugging charging guns; Determining the hand movement trajectory of each tester when plugging and unplugging the charging gun based on the hand image sequence data; Fitting the hand motion trajectory to obtain the fitted motion trajectory; The fitting motion trajectory is spatially calibrated according to the test position of the first manipulator / the second manipulator to obtain the first motion trajectory / the second motion trajectory.

3. A vehicle charging socket performance testing method according to claim 1, characterized in that: The vehicle charging socket performance testing method further includes the following steps: Collect the push and pull force of multiple testers' hands when plugging and unplugging charging guns; Determining the target insertion and extraction force according to the average value of the hand pushing and pulling force; The plugging and unplugging force sequence is generated according to the target plugging and unplugging force and a preset force change gradient.

4. A vehicle charging socket performance testing method according to claim 1, characterized in that: The first plugging resistance of each plugging cycle is determined according to the first motor current curve, and a first resistance variation curve of the plugging resistance varying with the number of plugging cycles is obtained, which specifically includes: controlling the first charging gun to simulate a plugging and unplugging action in the air by the first manipulator according to the first motion trajectory and the target plugging and unplugging force, and recording a current curve of the third motor of the first manipulator; Determining the work done by the first manipulator to overcome the plugging resistance in each plugging cycle according to the first motor current curve and the third motor current curve, and determining the first plugging resistance in each plugging cycle in combination with the plugging stroke of the charging socket to be tested; The number of plugging and unplugging times corresponding to the current plugging and unplugging cycle is used as the abscissa, and the first plugging and unplugging resistance corresponding to the current plugging and unplugging cycle is used as the ordinate to generate the first resistance change curve.

5. A vehicle charging socket performance testing method according to claim 1, characterized in that: Determining the durability performance of the charging socket to be tested according to the first resistance change curve specifically includes: sequentially calculating a first plugging resistance change rate between a current plugging cycle and a next plugging cycle according to the first resistance change curve; When the absolute value of the first plugging resistance change rate is greater than or equal to a preset first threshold, determining the number of plugging times of the charging socket to be tested according to the number of plugging times corresponding to the current plugging cycle; The durability of the charging socket to be tested is determined according to the number of pluggable times.

6. A vehicle charging socket performance testing method according to claim 1, characterized in that: The determining of the second plugging resistance under each plugging force according to the second motor current curve to obtain a second resistance variation curve of the plugging resistance as the plugging force changes specifically includes: Controlling the second charging gun to simulate a plugging and unplugging action in the air by the second manipulator according to the second motion trajectory and the plugging and unplugging forces, and recording a current curve of the fourth motor of the second manipulator under each of the plugging and unplugging forces; Determine the work done by the first manipulator to overcome the plugging resistance under each plugging force based on the second motor current curve and the fourth motor current curve, and determine the second plugging resistance under each plugging force based on the plugging stroke of the charging socket to be tested; The second resistance change curve is generated by taking the plugging and unplugging force as the abscissa and the second plugging and unplugging resistance corresponding to the plugging and unplugging force as the ordinate.

7. A vehicle charging socket performance testing method according to claim 1, characterized in that: The determining the tolerance performance of the charging socket to be tested according to the second resistance change curve specifically includes: Calculating the second plugging resistance change rate between the current plugging force and the next plugging force according to the second resistance change curve; When the absolute value of the second plugging resistance change rate is greater than or equal to a preset second threshold, determining the pluggable force of the charging socket to be tested according to the current plugging force; The tolerance performance of the charging socket to be tested is determined according to the pluggable force.

8. A vehicle charging socket performance test device, characterized in that: include: a repeated plugging and unplugging module, configured to control a first charging gun to periodically and repeatedly plug and unplug the first charging gun into the charging socket to be tested according to a preset first motion trajectory and a target plugging and unplugging force using a first manipulator, and to record a current curve of a first motor of the first manipulator during each plugging and unplugging cycle; a durability performance determination module, configured to determine a first plugging resistance for each plugging cycle based on the first motor current curve, obtain a first resistance variation curve showing how the plugging resistance varies with the number of plugging cycles, and further determine the durability performance of the charging socket to be tested based on the first resistance variation curve; An incremental plugging and unplugging module, configured to control a second charging gun to perform incremental plugging and unplugging of the charging socket to be tested using a second manipulator according to a preset second motion trajectory and plugging and unplugging force sequence, and to record a current curve of a second motor of the second manipulator at each plugging and unplugging force; A tolerance performance determination module is used to determine the second plugging resistance under each plugging force based on the second motor current curve, obtain a second resistance change curve in which the plugging resistance changes with the plugging force, and then determine the tolerance performance of the charging socket to be tested based on the second resistance change curve.

9. An electronic device, characterized in that: include: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements a vehicle charging socket performance testing method according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a program executable by a processor, characterized in that: The processor-executable program is used to perform a vehicle charging socket performance testing method according to any one of claims 1 to 7 when executed by the processor.

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