Cleaning robot chassis main control board function test method

Abstract

The invention discloses a cleaning robot chassis main control board function test method, which comprises a cleaning robot as a main body, a chassis main control board is arranged in the cleaning robot, and a load simulation board used for simulating the working condition of the cleaning robot during normal working is arranged beside the cleaning robot. When the cleaning robot is charged, all load interfaces of the chassis main control board are electrically connected with corresponding interfaces of the load simulation board in sequence, then the load simulation board is started, the load simulation board detects a power battery of the cleaning robot, and after the power battery is detected, the function of the charging pile for charging the cleaning robot is detected; and after the charging pile is detected, the driving module is detected, and after the driving module is detected, the air blower is detected finally. The cleaning robot testing device overcomes the defect that a traditional cleaning robot testing device is high in testing cost. The device has the advantages of low testing cost, small occupied area, high flexibility and the like.

Description

Technical Field

[0001] This invention relates to the field of cleaning robot equipment, and more specifically, to a method for testing the function of the main control board of a cleaning robot chassis. Background Technology

[0002] With the development of technology, cleaning robots are being applied in various aspects of life. The development of each cleaning robot requires comprehensive and standardized testing by the manufacturer. However, the chassis main control board of a cleaning robot differs from an autopilot controller; it controls many hardware devices, demanding even higher testing standards. Traditional testing methods typically involve building a large test bench to house all the devices controlled by the main control board for functional testing. This approach often results in large space requirements, numerous devices, and difficulties in measuring faults.

[0003] Currently, a finished product aging test device for cleaning robots is disclosed on the Chinese patent website. The device includes a mounting plate, a testing mechanism, a timer, and a main control board. The mounting plate supports the cleaning robot. The testing mechanism includes at least one of a touch testing mechanism, a structured light testing mechanism, and a charging testing mechanism. The testing mechanism is mounted on the mounting plate. The timer measures the aging time. The main control board is electrically connected to the testing mechanism and the timer, controlling the aging time of the testing mechanism. The main control board triggers the testing mechanism based on the aging time and determines whether the aging test of the cleaning robot is qualified based on the test data fed back by the corresponding test object. This application's solution places the cleaning robot under test on the mounting plate, and the main control board controls the testing mechanism to perform the aging test on the cleaning robot under test. The timer keeps track of the aging time. If the cleaning robot is fault-free within the aging test period, it is considered qualified. This device has a simple structure and is practical and efficient.

[0004] The aforementioned patent describes an aging test device for a cleaning robot. While it boasts advantages such as a simple structure and practical, efficient hinges, the device requires the main control board of the cleaning robot to be connected to a load before its actual operating status can be detected. This test device requires the use of multiple hardware components, resulting in a large footprint, low flexibility, and high testing costs. Summary of the Invention

[0005] In order to overcome the disadvantage of high testing costs in traditional cleaning robot testing devices in the prior art, this invention provides a functional testing method for the main control board of a cleaning robot chassis with the advantage of lower testing costs.

[0006] The present invention discloses a method for testing the function of a cleaning robot chassis main control board, comprising a cleaning robot as the main body, wherein the cleaning robot has a chassis main control board inside, and a load simulation board for simulating the working conditions of the cleaning robot during normal operation is provided next to the cleaning robot. The testing method is as follows: During testing, first connect each load interface of the chassis main control board to the corresponding interface of the load simulation board in sequence. Then start the load simulation board. The load simulation board will first test the power battery of the cleaning robot. After the power battery test is completed, it will test the function of the charging pile that charges the cleaning robot. After the charging pile test is completed, it will test the drive module. After the drive module test is completed, it will finally test the blower.

[0007] Preferably, the parameters to be detected for the power battery include SOC, SOH, total current, total voltage, number of uses, charging flag, and fault information.

[0008] As a preferred option, the testing steps for power batteries are as follows: 1) The main controller of the cleaning robot’s autopilot sends SOC, SOH, total current, total voltage, number of uses, charging flag and fault information to the load simulation board inside the cleaning robot via the 485 bus in sequence. 2) Subsequently, the autonomous driving main controller sends instructions to the chassis main control board in sequence via the CAN bus to collect the above-mentioned power battery parameters; 3) The chassis main control board sends instructions to the load simulation board to collect the above-mentioned power battery parameters via the 485 bus; 4) The load simulation board feeds back the power battery parameter commands to the chassis main control board via the 485 bus; 5) The chassis main control board feeds back the power battery parameters to the autonomous driving main control board via the CAN bus; 6) The aforementioned autonomous driving main control board analyzes and calculates the above-mentioned power battery parameters and sends the calculation results to the data display terminal.

[0009] The functional testing of the charging pile includes robot arrival information, temperature sensor readings, and fault information.

[0010] The steps for testing the functionality of a charging station are as follows: 1) The autonomous driving main controller sequentially sends robot arrival information, temperature sensor data, and fault information to the load simulation board via the 485 bus; 2) The autonomous driving main controller sends instructions to the chassis main control board via the CAN bus to collect the above-mentioned charging pile parameters; 3) The chassis main control board sends instructions to the load simulation board via the 485 bus to collect the above-mentioned charging pile parameters; 4) The load simulation board feeds back the charging pile parameter commands to the chassis main control board via the 485 bus; 5) The chassis main control board feeds back the charging pile status parameters to the autonomous driving main control board via the CAN bus; 6) The aforementioned autonomous driving main control board analyzes and calculates the functional parameters of the charging piles and sends the calculation results to the data display terminal.

[0011] The blower's detection parameters include speed, enable I / O, switch I / O, and fault information.

[0012] 1. As a preferred method, the testing method for the blower is as follows: 1) The autonomous driving main controller sends speed, enable I / O, switch I / O, and fault information parameters to the load simulation board sequentially via the 485 bus; 2) The main controller for autonomous driving first sends speed commands to the chassis main control board via the CAN bus; 3) Then the chassis main control board sequentially sends the fan PWM, enable IO, and switch IO signal commands to the load simulation board; 4) The load simulation board feeds back the blower's operating results to the chassis main control board via PWM waveform; The chassis main control board analyzes and calculates the above-mentioned blower parameters and sends the calculation results to the data display terminal.

[0013] As the robot's brain, the autonomous driving main controller and the chassis main control board mainly control the chassis-related mechanisms, including the walking wheel drive module, the roller brush drive module, the blower, the power battery, and the charging pile. Here, the chassis-related mechanisms are defined as chassis loads. The main function of the chassis main control board is to receive instructions from the autonomous driving main controller, collect the parameters of the aforementioned chassis-related mechanisms to control their actions, and feed the results back to the autonomous driving main controller. The autonomous driving main controller implements the functions that cleaning robot products normally possess, and also needs to have the ability to send setting parameters to the load simulation board, and firmware to implement this function needs to be written. The load simulation board, in order to realize the chassis load function, needs to have physical interfaces such as CAN, RS485, general IO, and PWM, as well as an MCU chip that can write firmware.

[0014] The specific control process is as follows: the autonomous driving main controller first sets the parameters of the chassis load simulated by the load simulation board through the 485 bus. After completion, it sends control commands to the main control board to be tested through the CAN bus. The chassis main control board sends instructions to the load simulation board through the 485, CAN, or I / O control lines. The load simulation board feeds back the results to the chassis main control board through the 485, CAN, or I / O control lines, and finally feeds back to the autonomous driving controller through the CAN bus. This completes one test cycle. By continuously setting different parameters for the load simulation board, the function of the chassis main control board can be tested.

[0015] Compared with traditional testing methods, this invention reduces hardware overhead, occupies less space, is highly flexible, and has low cost. It only requires a single load simulation board to simulate all chassis loads. By setting parameters, it is easy to simulate the operation and fault status of each load. Compared with collecting the actual operating status of the chassis load, it has great convenience. This method is especially suitable when the firmware updates and iterations of the chassis main control board are minor and only the logic of the firmware is measured.

[0016] The present invention has the following advantages: low testing cost, small footprint, and high flexibility. Attached Figure Description

[0018] Appendix Figure 1 This is a flowchart of the detection procedure of the present invention.

[0019] Appendix Figure 2 This is a flowchart illustrating the procedure for detecting various test data in this invention. Detailed Implementation

[0020] The technical solution of the present invention will be further described in detail below through embodiments and in conjunction with the accompanying drawings.

[0021] Example: According to the appendix Figure 1 and attached Figure 2 To further illustrate this invention, a method for testing the function of a cleaning robot chassis main control board is provided. The method includes a cleaning robot as the main body, a chassis main control board housed within the cleaning robot, and a load simulation board beside the cleaning robot to simulate the working conditions during normal operation. The testing method is as follows: During testing, first connect each load interface of the chassis main control board to the corresponding interface of the load simulation board in sequence. Then start the load simulation board. The load simulation board will first test the power battery of the cleaning robot. After the power battery test is completed, it will test the function of the charging pile that charges the cleaning robot. After the charging pile test is completed, it will test the drive module. After the drive module test is completed, it will finally test the blower.

[0022] Preferably, the parameters to be detected for the power battery include SOC, SOH, total current, total voltage, number of uses, charging flag, and fault information.

[0023] As a preferred option, the testing steps for power batteries are as follows: 7) The main controller of the cleaning robot’s automatic driving system sends SOC, SOH, total current, total voltage, number of uses, charging flag and fault information to the load simulation board inside the cleaning robot via the 485 bus in sequence. 8) Subsequently, the autonomous driving main controller sends instructions to the chassis main control board in sequence via the CAN bus to collect the above-mentioned power battery parameters; 9) The chassis main control board sends instructions to the load simulation board via the 485 bus to collect the above-mentioned power battery parameters; 10) The load simulation board mentioned above feeds back the power battery parameter commands to the chassis main control board via the 485 bus; 11) The chassis main control board feeds back the power battery parameters to the autonomous driving main control board via the CAN bus; 12) The autonomous driving main control board analyzes and calculates the above-mentioned power battery parameters and sends the calculation results to the data display terminal.

[0024] The functional testing of the charging pile includes robot arrival information, temperature sensor readings, and fault information.

[0025] The steps for testing the functionality of a charging station are as follows: 7) The autonomous driving main controller sequentially sends robot arrival information, temperature sensor data, and fault information to the load simulation board via the 485 bus; 8) The autonomous driving main controller sends instructions to the chassis main control board via the CAN bus to collect the above-mentioned charging pile parameters; 9) The chassis main control board sends instructions to the load simulation board via the 485 bus to collect the above-mentioned charging pile parameters; 10) The load simulation board feeds back the charging pile parameter commands to the chassis main control board via the 485 bus; 11) The chassis main control board feeds back the charging pile status parameters to the autonomous driving main control board via the CAN bus; 12) The autonomous driving main control board analyzes and calculates the above-mentioned functional parameters of the charging piles and sends the calculation results to the data display terminal.

[0026] The blower's detection parameters include speed, enable I / O, switch I / O, and fault information.

[0027] 2. As a preferred method, the testing method for the blower is as follows: 5) The autonomous driving main controller sequentially sends speed, enable I / O, switch I / O, and fault information parameters to the load simulation board via the 485 bus; 6) The main controller for autonomous driving first sends speed commands to the chassis main control board via the CAN bus; 7) After that, the chassis main control board sequentially sends the fan PWM, enable IO, and switch IO signal commands to the load simulation board; 8) The load simulation board feeds back the blower's operating results to the chassis main control board via PWM waveform; The chassis main control board analyzes and calculates the above-mentioned blower parameters and sends the calculation results to the data display terminal.

[0028] The above description is only a specific embodiment of the present invention, but the structural features of the present invention are not limited thereto. Any changes or modifications made by those skilled in the art within the scope of the present invention are covered by the patent scope of the present invention.

Claims

1. A cleaning robot chassis main control board function test method, comprising a cleaning robot as a main body, wherein the cleaning robot is provided with a chassis main control board, and a load simulation board is arranged beside the cleaning robot to simulate the working condition of the cleaning robot in normal operation, characterized in that, The test method is: During the test, first, the load interfaces of the chassis main control board are sequentially electrically connected with the corresponding interfaces of the load simulation board, then the load simulation board is started, the load simulation board first detects the power battery of the cleaning robot, after the power battery detection is completed, the function of the charging pile for charging the cleaning robot is detected, after the charging pile detection is completed, the driving module is detected, and finally, the air blower is detected.

2. A method for testing the function of the main control board of a cleaning robot chassis according to claim 1, characterized in that, The parameters required to be detected by the power battery include SOC, SOH, total current, total voltage, use frequency, charging flag bit and fault information.

3. The method for testing the function of the main control board of a cleaning robot chassis according to claim 2, characterized in that, The detection steps of the power battery are: The automatic driving main controller of the cleaning robot sequentially issues the SOC, SOH, total current, total voltage, use frequency, charging flag bit and fault information to the load simulation board inside the cleaning robot through the 485 bus; Then, the automatic driving main controller sequentially issues the collection of the above-mentioned power battery parameter instructions to the chassis main control board through the can bus; The chassis main control board issues the collection of the above-mentioned power battery parameter instructions to the load simulation board through the 485 bus; The load simulation board feeds back the power battery parameter instructions to the chassis main control board through the 485 bus; The chassis main control board feeds back the power battery parameters to the automatic driving main controller through the can bus; The automatic driving main controller analyzes and calculates the above-mentioned power battery parameters, and sends the calculation results to the data display end.

4. The method for testing the function of the main control board of a cleaning robot chassis according to claim 1, characterized in that, The function test content of the charging pile includes robot in-place information, temperature sensor and fault information.

5. The method for testing the function of the main control board of a cleaning robot chassis according to claim 4, characterized in that, The detection steps of the function of the charging pile are: The automatic driving main controller sequentially issues the robot in-place information, temperature sensor and fault information to the load simulation board through the 485 bus; The automatic driving main controller issues the collection of the above-mentioned charging pile parameter instructions to the chassis main control board through the can bus; The chassis main control board issues the collection of the above-mentioned charging pile parameter instructions to the load simulation board through the 485 bus; The load simulation board feeds back the charging pile parameter instructions to the chassis main control board through the 485 bus; The chassis main control board feeds back the charging pile state parameters to the automatic driving main controller through the can bus; The automatic driving main controller analyzes and calculates the above-mentioned charging pile function parameters, and sends the calculation results to the data display end.

6. The method for testing the function of the main control board of a cleaning robot chassis according to claim 1, characterized in that, The detection content of the air blower includes speed, enable IO, switch IO and fault information.

7. The method of claim 6, wherein the blower is a brushless DC blower. The detection method is: ​ The automatic driving main controller sequentially issues the speed, enable IO, switch IO and fault information parameters to the load simulation board through the 485 bus; The automatic driving main controller first issues the speed instruction to the chassis main control board through the can bus; Then, the chassis main control board sequentially issues the fan PWM, enable IO and switch IO signal instructions to the load simulation board; The load simulation board feeds back the running results of the air blower to the chassis main control board through the PWM waveform; The chassis main control board analyzes and calculates the above-mentioned air blower parameters, and sends the calculation results to the data display end.

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