Automated vehicle display test system

Abstract

The invention relates to a gantry robot assembly for the automated checking of a curved touch-sensitive pillar-to-pillar screen for a vehicle, comprising a receptacle (1) for the screen in order to fix the screen in the gantry robot assembly during the check, and comprising a first carriage group (3) and a second carriage group (5), each of which has three carriages which, for each carriage group (3, 5), can be moved by a motor along mutually perpendicular linear axes, wherein a first end effector (7) is arranged at the distal end of the first carriage group (3) and a second end effector (9) is arranged at the distal end of the second carriage group (5) and a touch actuator is arranged on each end effector (7, 9), which touch actuator is used to touch the surface of the screen in order to trigger a signal on the screen, and comprising a control unit (11) for controlling a carriage movement and for detecting the signal on the screen in the event of a touch by at least one touch actuator.

Description

[0001] Mercedes-Benz Group AG

[0002] Automated vehicle display test system

[0003] The invention relates to a portal robot arrangement for the automated inspection of a curved touch-sensitive pillar-to-pillar screen for a vehicle.

[0004] Modern vehicles, such as passenger cars, are increasingly equipped with touchscreens. To ensure quality before delivery to a customer, a functional test is necessary to verify that a user's touch is successfully registered. A touch is considered successful when the touchscreen's processing unit recognizes the touch and can also assign it to a specific location. This latter point is crucial when the touchscreen displays graphical content such as menus, buttons, sliders, or maps that can be moved or zoomed in and out.This means that typically not only individual locations are relevant, but also swipe gestures are detected, or, as in the case of a map, two fingers moving towards or away from each other while both touching the surface of the touchscreen to change the map's zoom level, or even rotating gestures such as those used to rotate a map. Manual inspection of such a touchscreen is possible, but is time-consuming in high-volume mass production. For this reason, prior art includes methods that utilize a robot to automatically test a touchscreen display.

[0005] In this context, US 2013 / 0345864 A1 concerns a robot for testing a touch-sensitive display, wherein the robot comprises: a test surface on which the touch-sensitive display is held; a first robot unit that can be moved relative to the touch-sensitive display only in two dimensions, wherein the first robot unit fixes a first plurality of finger units; a second robot unit that can be moved only in the two dimensions relative to the touch-sensitive display, wherein the second robot unit fixes a second plurality of finger units; and a control unit that controls the first robot unit, the second robot unit, the first plurality of finger units, and the second plurality of finger units.

[0006] US 2020 / 0 003 835 A1 concerns arrangements and methods for testing mobile devices in a test module. The test modules are portable and can be stacked to form a modular test system. A pulley system allows the horizontal movement of an actuating arm in the X and Y directions. The actuating arm can be moved vertically in the Z direction so that a tip can touch the touchscreen of a mobile device under test or a user interface element of the mobile device.

[0007] DE 10297660 T5 relates to a testing device for electronic components, comprising: a first contact arm for holding the test specimens and for contacting them with a contact area of ​​a probe, a transfer device arranged on a base for moving the first contact arm, a first image acquisition device for capturing an image of the test specimen when it is held on the first contact arm, an image processing device for recognizing the relative position of the test specimen on the first contact arm with respect to the contact area on the basis of the image information captured by the first image acquisition device, and a correction device for correcting the position of the first contact arm on the basis of the relative position of the test specimen recognized by the image processing device.

[0008] German patent DE 10 2022 103 538 A1 relates to a system for evaluating a built-in video recording device for a vehicle, wherein the system comprises: a graphical user interface test section configured to automatically perform an evaluation of a GUI screen of a vehicle display device operating in conjunction with the built-in video recording device for a vehicle, and an automatic evaluation section configured to automatically evaluate the performance of the built-in video recording device for a vehicle based on a result evaluated by the GUI test section. US patent 2016 / 0192213 A1 relates to an automatic system test system for testing smart devices. The system comprises a system controller connected to a smart device in an enclosure. The system controller includes memory with test logic and a processor.The enclosure consists of several components, with the processor configured to automatically control the smart device and its components according to the test logic. The components include: a robotic arm with an attached pen, a platform with an attached device holder into which the smart device is inserted, and a Wi-Fi access point. The processor is also configured to control the smart device to activate Wi-Fi mode, receive Wi-Fi signals from the access point using the smart device, retrieve Wi-Fi scan results from the smart device, and analyze those scan results.

[0009] KR 10 1 703 587 B1 relates to a device for motion testing of electrical vehicle components, comprising a robot unit with multiple joints, a drive unit for moving and rotating the robot unit to bring the robot unit towards or away from a vehicle, an operating unit connected to a free end of the robot unit and actuating a button or display unit in the vehicle, a photography unit connected to the free end of the robot unit and positioned next to the operating unit to photograph a predetermined area in the vehicle, a detection unit connected to the free end of the robot unit and detecting an object, and a control unit for controlling the operations of the robot unit, the transmission unit, the photography unit and the detection unit.

[0010] US 10678 385 B2 relates to an inspection device equipped with a holder configured to place an inspection target on it, the inspection target being configured to detect a contact position on the inspection target that is touched by a human finger; pseudofingers configured to be detected as human fingers upon contact with the inspection target; a positioner configured to move the pseudofinger(s) relative to the inspection target and change the contact position of the pseudofinger(s) relative to the inspection target; a memory configured to store one value of a contact force at a time within a contact force range that includes zero contact force for each of the pseudofingers on the inspection target; and a controller configured to regulate the contact force for the pseudofinger(s) based on the respective value.and a sensor configured to detect an electrical signal from the inspection target.

[0011] For touchscreens intended for vehicle interiors, special requirements may arise for an automated display testing system. For example, so-called pillar-to-pillar screens have a relatively large width compared to other typical touchscreens, as they extend almost from one side of the vehicle to the other, making them easily accessible to both the driver and front passenger.

[0012] The object of the invention is to improve the automated quality control of touch-sensitive screens for vehicles, which are produced in high quantities.

[0013] The invention is defined by the features of the independent claims. Advantageous further developments and embodiments are the subject of the dependent claims.

[0014] A first aspect of the invention relates to a gantry robot arrangement for the automated inspection of a curved, touch-sensitive pillar-to-pillar screen for a vehicle, comprising a receptacle for the screen to fix the screen in the gantry robot arrangement during inspection, and comprising a first carriage group and a second carriage group, each of which has three carriages that are motorically movable along mutually perpendicular linear axes, wherein a first end effector is arranged at the distal end of the first carriage group and a second end effector is arranged at the distal end of the second carriage group, and a respective touch actuator is arranged at each end effector, which serves to touch the surface of the screen in order to trigger a signal on the screen.and comprising a control unit for controlling a carriage movement and for capturing the signal on the screen when touched by at least one touch actuator.

[0015] The gantry robot arrangement is an industrial robot arrangement with two end effectors. Each end effector's workspace describes a spatial segment encompassing the set of points to which that end effector can move, particularly with its contact actuator. Depending on the gantry robot arrangement's configuration, these workspaces of the two end effectors may or may not overlap; see below for further details.

[0016] The degrees of freedom of the end effectors are composed of the superposition of the individual degrees of freedom of the slides of a respective slide group, wherein a first slide group defines the working space of the first end effector and a second slide group defines the working space of the second end effector. Each slide group has exactly three slides, which can be moved along linear axes by means of a motor controlled accordingly by the control unit. All three linear axes of a slide group are perpendicular to each other. Preferably, starting from the proximal linear axis, i.e., from a bearing of a respective slide group, the first two linear degrees of freedom of the first two linear slides are arranged in a substantially horizontal plane, while the third linear degree of freedom of the third slide allows for up-and-down movement, i.e., a lifting movement.

[0017] The linear axes are therefore Cartesian, enabling translational movements without generating centrifugal forces. This advantageously reduces structural stress and allows for high acceleration speeds with lower drive forces, as well as a sufficiently large range to cover the entire elongated length of a touch-sensitive pillar-to-pillar screen in a vehicle.

[0018] The portal robot arrangement is therefore particularly suitable for the automated testing of a pillar-to-pillar screen for a vehicle, but can also be used for other end devices with a touch-sensitive screen, such as a smartphone, or for a touchpad without a screen.

[0019] The carriages run on guide rails and are moved by motors, preferably one of an electric / pneumatic / hydraulic drive mechanism. Common drive mechanisms such as belt drives and synchronization shafts can be used for this purpose; appropriate sensors must be provided, in particular position sensors for controlling the carriage position. The carriage groups of the gantry robot assembly are controlled independently of one another by the control unit to simulate desired patterns of human touch. This can include one or more of the following: a single finger touch, simultaneous touches of two fingers on the screen, swiping gestures, opening or closing gestures, especially for zooming in or out on displayed content, touch by the driver of the vehicle alone, by the passenger of the vehicle alone, or simultaneous touch of the driver and passenger on the screen.Each end effector can also be equipped with multiple touch actuators, in particular two, to simulate a two-finger touch by the driver and passenger simultaneously.

[0020] The purpose of each touch actuator on a given end effector is to simulate human touch. If the touch-sensitive screen under test is equipped with a capacitive display, the touch actuator must have appropriate electrical properties to simulate human touch.

[0021] To reduce vibrations, the gantry robot assembly can be equipped with vibration dampers, and in particular, mounted on such dampers. Furthermore, the gantry robot assembly is preferably equipped with a frame, preferably made of aluminum strut profiles, which allows for manual adjustment and handling, for example, to move it through factory doors. A touch-sensitive screen to be tested is mounted in the gantry robot assembly's housing to secure it during testing. Insertion into the housing can be performed manually, using an automated conveyor system, or with the aid of another robot manipulator. A suitable insertion aid can be provided.

[0022] Furthermore, transparent safety glass can be provided on the gantry robot assembly to protect against flying small parts, since the end effectors in particular are preferably designed for high process speeds, especially above 2.5 m / s, but at least above 1 m / s. Other industry-standard elements can be provided, such as a housing fan to dissipate heat, which is generated in particular by the control unit or electric motors of the gantry robot assembly, as well as an emergency stop device. The control unit is also advantageously configured to guarantee collision avoidance between components of the carriage groups. As described above, a preferred method of control of the carriage groups by the control unit is position control. However, this can also be replaced or combined with force control, particularly in the last degree of freedom, i.e., of the third carriage for the up and down movement.Force control allows for the regulation of the touch sensitivity between a touch actuator and the screen surface. For force control, force sensors are advantageously used on the respective end effector, which can be protected against overload by a predetermined breaking point.

[0023] According to another advantageous embodiment, the portal robot arrangement further comprises a frame with wheels, so that the portal robot arrangement can be rolled over a floor.

[0024] Preferably, the casters are connected to a frame of the gantry robot assembly via vibration dampers or similar devices to minimize vibrations at components such as the carriages and position sensors when the gantry robot assembly is moved. Lifting casters are particularly preferred, and swivel casters with a retractable base are even more preferred.

[0025] A proximal linear axis is the linear axis that, when it moves, moves all other linear axes of a given group of slides. A proximal slide is the slide of a given group of slides that, when it moves, moves all other slides in that group. In contrast, moving the third slide only causes the end effector to move vertically, leaving the position of the first and second slides in each group unchanged. Each proximal slide is mounted on a guide rail so that it can be moved translationally. There are several possible configurations of guide rails to accommodate each proximal linear axis.

[0026] According to a further advantageous embodiment, a proximal linear axis of the first slide group and a proximal linear axis of the second slide group are formed by two parallel and opposing guide rails. In another advantageous embodiment, a proximal linear axis of the first slide group and a proximal linear axis of the second slide group are formed by two parallel and opposing guide rails, wherein the guide rails of the proximal linear axis of the first slide group and the guide rails of the proximal linear axis of the second slide group do not overlap, i.e., no overlapping working area of ​​the end effectors is formed.

[0027] According to a further advantageous embodiment, a proximal linear axis of the first slide group is formed by two parallel and opposing guide rails, and a proximal linear axis of the second slide group is formed by two parallel and opposing guide rails, wherein the guide rails of the proximal linear axis of the first slide group and the guide rails of the proximal linear axis of the second slide group are offset from each other and overlap at least over a region, so that an overlapping working area of ​​the end effectors is formed.

[0028] According to a further advantageous embodiment, a proximal linear axis of the first slide group and a proximal linear axis of the second slide group are formed by common guide rails.

[0029] According to the invention, each touch actuator has a respective structure-borne sound sensor, which is connected to the control unit in order to detect haptic feedback from the screen when touched by the touch actuator.

[0030] Screens in modern vehicles often feature haptic feedback. This feedback is typically provided as a movement impulse generated by a slight, but high-acceleration, deflection of the screen, which can be felt by the touching finger. This allows the user to confirm their input without visual feedback. To verify this feedback function, the touch actuator is equipped with a structure-borne sound sensor, preferably located on a spring-loaded cylinder of the end effector. The mechanical impulse is detected by the structure-borne sound sensor. Vibration analysis can then identify high acceleration impulses from the sensor, indicating the presence of haptic feedback.

[0031] According to a further advantageous embodiment, the control unit is designed to move at least one touch actuator over the surface of the screen and to determine a respective surface coordinate in relation to a respective plane coordinate by means of a force sensor on the touch actuator in order to measure a height profile of the screen.

[0032] When testing a pillar-to-pillar display with a curved surface, special control of the end effector movements must be considered. Such a display has a curved surface, which is why it is often referred to as a "curved display." The curvature of the surface approximates the natural way the eye sees from a single point and improves usability in the vehicle due to the shorter reach required compared to flat displays. The gantry robot setup can thus measure the 3D surface to be operated before the simulated operation of a curved display (or any other curved control element without a display element) for testing purposes.

[0033] During display measurement, the end effector moves along the screen surface, systematically capturing its height profile. Position data of the touch actuator relative to the surface is collected to create the display's height profile. This profile provides information about the surface's geometric properties, including curvature and other relevant dimensions. The generated height profile is crucial for performing various one- and two-finger touch gestures without damaging the screen. A spring-mounted, force-controlled touch actuator, in particular, enables the entire screen surface to be scanned without causing damage. The spring-loaded finger system allows it to follow the screen's curvature and register the force changes that indicate differences in height.

[0034] According to a further advantageous embodiment, the portal robot arrangement further comprises two receptacles and two pairs of first and second slide groups for simultaneously receiving and testing two touch-sensitive screens by means of the control unit. According to a further advantageous embodiment, the receptacle is embedded in a drawer system, wherein, when the drawer of the drawer system is open, the screen can be placed in the receptacle and, by closing the drawer, can be moved into the working areas of the first and second end effectors.

[0035] Further advantages, features and details will become apparent from the following description, in which - possibly with reference to the drawing - at least one embodiment is described in detail.

[0036] They show:

[0037] Fig. 1: A mobile frame of a portal robot arrangement according to an embodiment of the invention.

[0038] Fig. 2: A slide group of a portal robot arrangement according to an embodiment of the invention.

[0039] Fig. 3: An arrangement of slide groups according to an embodiment of the invention from a top view.

[0040] Fig. 4: An arrangement of slide groups according to a further embodiment of the invention from a top view.

[0041] Fig. 5: An arrangement of slide groups according to a further embodiment of the invention from a top view.

[0042] Fig. 6: An arrangement of slide groups according to a further embodiment of the invention from a top view.

[0043] The representations in the figures are schematic and not to scale.

[0044] Fig. 1 shows a mobile frame for one or two gantry robot assemblies for the automated inspection of a curved, touch-sensitive pillar-to-pillar screen for a vehicle. The frame is mounted on wheels 13 to allow the one or more gantry robot assemblies housed within it to be moved. The frame is designed according to a shelf concept to accommodate up to two supply levels and levels with their respective gantry robot assemblies stacked one above the other. Accessibility is therefore ensured, particularly from one side, by means of a drawer system. This allows a gantry robot assembly to be moved out of the frame for maintenance purposes and then back in. Furthermore, a pillar-to-pillar screen can be inserted into the frame via a drawer and placed into the working area of ​​the carriage groups 3, 5 of a respective gantry robot assembly.

[0045] Fig. 2 schematically shows a portal robot arrangement consisting of two slide groups.

[0046] This first group of slides 3 (next to which a second group of slides 5 is provided for each gantry robot arrangement, which is not shown in Fig. 2 for the sake of simplicity) has three mutually perpendicular linear axes, on each of which a slide can be moved. This provides the end effector 7 with spatial movement. The set of all reachable points for the end effector 7 constitutes the workspace of the first group of slides 3. For better spatial understanding, the first group of slides 3 is sketched in Fig. 2 in perspective from a slightly oblique angle above. A control unit 11 controls the individual movement of the three slides so that a desired position of a contact actuator on the end effector 7 is achieved.Advantageously, corresponding position sensors are provided on the linear axes for this purpose, with each position on a linear axis representing a coordinate in a Cartesian coordinate system. From this, the position of the touch actuator can be determined at any given time by measuring its position on the carriages using a known offset to the touch actuator. The carriages are moved by motors that are connected to the control unit 11 via a signal path. The position of the touch actuator on the surface of the screen, which is located in the mount 1, correlates with a location on the screen to be tested, the function of which is to be verified. The control unit 11 not only controls the movement of the end effector 7, but also detects and verifies the correctness of a signal triggered on the screen when the touch actuator touches the screen.In particular, the accuracy of a touch position determined by the screen is verified by comparing it to the known end effector position of the respective slide group 3, 5 with the contacting end effector 7, 9. To prevent the touch actuator from damaging the screen surface, a force sensor is provided on the touch actuator to ensure that a predefined maximum force is not exceeded. The force sensor itself, however, is a costly component and can therefore be protected against damage by a predetermined breaking point. The touch actuator has a capacitive, semi-circular tip that simulates a finger touch and can be spring-mounted.

[0047] Fig. 3 shows a first possible arrangement of the first slide group 3 and the second slide group 5 from a top view. This means that the lifting movement of the first end effector 7 of the first slide group 3 and the second end effector 9 of the second slide group 5 each occurs into and out of the plane of the drawing. The other two slide movements, however, lie within the plane of the drawing. Here, a proximal linear axis of the first slide group 3 and a proximal linear axis of the second slide group 5 are formed by two parallel and opposing guide rails 15. Overlapping working ranges of the end effectors 7 and 9 can thus be achieved. The advantage of this arrangement is its cost-effective design due to fewer components; the disadvantages are low accuracy, low dynamics, and low payload capacity.

[0048] Fig. 4 shows another possible arrangement of the first slide group 3 and the second slide group 5 from a top view. Here, a proximal linear axis of the first slide group 3 is formed by two parallel and opposing guide rails 15, and a proximal linear axis of the second slide group 5 is formed by two parallel and opposing guide rails 15. The guide rails 15 of the proximal linear axis of the first slide group 3 and the guide rails 15 of the proximal linear axis of the second slide group 5 do not overlap, and thus there is no overlapping working area for the end effectors 7 and 9. The middle linear axis, which lies transversely to the proximal linear axis, is supported at two points, with the first and second end effectors 7 and 9 being able to move between the bearings.As a disadvantage, two-finger gestures can therefore not be performed or only to a very limited extent; however, advantages include a uniform load distribution, higher dynamics, and higher accuracy in positioning the end effectors 7 and 9. A synchronous shaft 17 serves to simultaneously drive parallel opposing slides of respective slide groups 3, 5, so that the slides do not become misaligned. This synchronous shaft 17 can also be used, among other things, in the embodiments shown in Figures 5 and 6.

[0049] Fig. 5 shows another possible arrangement of the first slide group 3 and the second slide group 5 from a top view. Here, a proximal linear axis of the first slide group 3 is formed by two parallel and opposing guide rails 15, and a proximal linear axis of the second slide group 5 is formed by two parallel and opposing guide rails 15. The guide rails 15 of the proximal linear axis of the first slide group 3 and the guide rails 15 of the proximal linear axis of the second slide group 5 are offset from each other and overlap at least over a certain area. Again, a common working space for the end effectors 7, 9 is achieved; however, a disadvantage is a large installation space with a relatively small working space in the transverse direction to the guide rails 15 and a high system weight.

[0050] Fig. 6 shows another possible arrangement of the first slide group 3 and the second slide group 5 from a top view. Here, a proximal linear axis of the first slide group 3 and a proximal linear axis of the second slide group 5 are formed by common guide rails 15. Advantages include high dynamics and high accuracy, the ability to simulate two-finger gestures, and the requirement for a relatively small installation space with a larger working area for the two end effectors 7, 9.

[0051] Although the invention has been further illustrated and explained in detail by means of preferred embodiments, the invention is not limited by the disclosed examples, and other variations can be derived from them by a person skilled in the art without departing from the scope of protection of the invention. It is therefore clear that a multitude of possible variations exist. It is also clear that the embodiments mentioned as examples are truly only examples and are not to be understood in any way as limiting, for example, the scope of protection, the possible applications, or the configuration of the invention.Rather, the preceding description and the description of the figures enable the person skilled in the art to implement the exemplary embodiments in concrete terms, whereby the person skilled in the art, with knowledge of the disclosed inventive concept, can make various changes, for example with regard to the function or the arrangement of individual elements mentioned in an exemplary embodiment, without leaving the scope of protection defined by the claims and their legal equivalents, such as further explanations in the description.

Claims

Mercedes-Benz Group AG Patent claims 1. Portal robot arrangement for the automated inspection of a curved touch-sensitive pillar-to-pillar screen for a vehicle, comprising a receptacle (1) for the screen to fix the screen in the portal robot arrangement during inspection, and comprising a first carriage group (3) and a second carriage group (5), each of which has three carriages which are motorically movable along mutually perpendicular linear axes in each carriage group (3, 5), wherein a first end effector (7) is arranged at the distal end of the first carriage group (3) and a second end effector (9) is arranged at the distal end of the second carriage group (5), and a respective touch actuator is arranged at each end effector (7, 9) which serves to touch the surface of the screen in order to trigger a signal at the screen.and comprising a control unit (11) for controlling a carriage movement and for detecting the signal on the screen when touched by at least one touch actuator, wherein each touch actuator has a respective structure-borne sound sensor which is connected to the control unit (11) in order to detect haptic feedback from the screen when touched by the touch actuator.

2. Portal robot arrangement according to claim 1, comprising a frame with wheels (13) such that the portal robot arrangement can be rolled over a floor.

3. Portal robot arrangement according to one of claims 1 to 2, wherein a proximal linear axis of the first slide group (3) and a proximal linear axis of the second slide group (5) are formed by two parallel and opposing guide rails (15).

4. Portal robot arrangement according to one of claims 1 to 2, wherein a proximal linear axis of the first slide group (3) is formed by two parallel and opposing guide rails (15), and a proximal linear axis of the second slide group (5) is formed by two parallel and opposing guide rails (15), wherein the guide rails (15) of the proximal linear axis of the first slide group (3) and the guide rails (15) of the proximal linear axis of the second slide group (5) are arranged next to each other without overlapping.

5. Portal robot arrangement according to one of claims 1 to 2, wherein a proximal linear axis of the first slide group (3) is formed by two parallel and opposing guide rails (15), and a proximal linear axis of the second slide group (5) is formed by two parallel and opposing guide rails (15), wherein the guide rails (15) of the proximal linear axis of the first slide group (3) and the guide rails (15) of the proximal linear axis of the second slide group (5) are offset from each other and overlap at least over a region.

6. Portal robot arrangement according to one of claims 1 to 2, wherein a proximal linear axis of the first slide group (3) and a proximal linear axis of the second slide group (5) are formed by common guide rails (15).

7. Portal robot arrangement according to one of the preceding claims, wherein the control unit (11) is configured to move at least one touch actuator over the surface of the screen and to determine a respective surface coordinate with respect to a respective plane coordinate by means of a force sensor on the touch actuator in order to measure a height profile of the screen.

8. Portal robot arrangement according to one of the preceding claims, comprising two receptacles (1), and two pairs of first slide group (3) and second slide group (5) to simultaneously receive two touch-sensitive screens and test them by means of the control unit (11).

9. Portal robot arrangement according to one of the preceding claims, wherein the receptacle (1) is embedded in a drawer system, wherein, when the drawer of the drawer system is open, the screen can be placed in the receptacle (1) and, by closing the drawer, can be moved into working areas of the first end effector (7) and the second end effector (9).

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