CN114217594B - Method, device, medium and equipment for testing robot scheduling system - Google Patents
Method, device, medium and equipment for testing robot scheduling system Download PDFInfo
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Abstract
The invention provides a method, a device, a medium and equipment for testing a robot scheduling system, wherein the method comprises the following steps: creating a plurality of virtual robots based on historical movement data of the physical robots in the target location; creating a test task event for the virtual robot according to the task flow file of the entity robot; executing a test task event by using a virtual robot, and obtaining a current movement event corresponding to each point position of a current running track of the virtual robot; testing a robot scheduling system based on the current running track and the current movement event; therefore, compared with the method that a plurality of entity robot devices are required to be placed at a target place and an actual test environment is arranged to continuously debug hardware devices for testing in the prior art, the method for testing the scheduling strategy of the robot task scheduling system by utilizing the plurality of virtual robots can omit complicated test flow, does not need to debug the hardware devices in a complicated way, and can further improve test efficiency.
Description
Technical Field
The present invention relates to the field of robot scheduling testing technologies, and in particular, to a method, an apparatus, a medium, and a device for testing a robot scheduling system.
Background
At present, robots are used for completing some automatic and semi-automatic delivery tasks in more and more scenes, and a task scheduling system is arranged on a corresponding robot platform to schedule and plan tasks and execution of all robot devices in each place in real time.
As the number of robots in each site increases, the requirements for the corresponding task scheduling system will be higher, and therefore the development stage must test the robot task scheduling system before a plurality of robots are put into each site.
In the related art, a plurality of robot devices are required to be configured at corresponding places to realize the test of the task scheduling system, and the method for testing by using pure hardware devices has high requirements on scheduling environment, and the whole testing process is complicated, so that the testing efficiency is very low.
Disclosure of Invention
Aiming at the problems existing in the prior art, the embodiment of the invention provides a method, a device, a medium and equipment for testing a robot scheduling system, which are used for solving the technical problem of low testing efficiency caused by complex testing flow when testing the robot task scheduling system in the prior art.
In a first aspect of the present invention, there is provided a method of testing a robotic dispatch system, the method comprising:
creating a plurality of virtual robots based on historical movement data of the physical robots in the target location;
creating a test task event for the virtual robot according to the task flow file of the entity robot;
executing the test task event by using the virtual robot, and obtaining a current running track of the virtual robot and a current movement event corresponding to each point position reported by the virtual robot;
and testing the robot scheduling system based on the current running track and the current moving event.
In the above-mentioned scheme, the creating a plurality of virtual robots based on the historical movement data of the physical robot in the target site includes:
creating a plurality of robot shadow tags for the physical robot;
and importing map configuration data of the physical robot at the target place, historical movement data of the physical robot at the target place and equipment attribute information of the physical robot under each robot shadow tag to form a plurality of virtual robots.
In the above solution, after the test task event is created for the virtual robot according to the task flow file of the physical robot, the method further includes:
analyzing a map configuration file of the entity robot under the target place to obtain point location coordinate information and obstacle information of the entity robot;
and planning a moving path between any two points of the virtual robot in a map of a target location by using a path planning algorithm based on the point location coordinate information of the physical robot and the obstacle information, and storing the moving path between any two points into a path planning set.
In the above scheme, obtaining the current running track of the virtual robot includes:
determining the frequency of reporting position information by the virtual robot;
and simulating the current running track of the virtual robot according to the frequency of the reported position information.
In the above scheme, the testing the robot scheduling system based on the current running track and the current movement event includes:
if the current running track is determined to be consistent with a preset planning moving path; or,
and if the current mobile event reported by all the points is determined to be successful in execution, determining that the test result of the robot task scheduling system meets the scheduling requirement.
In the above scheme, the testing the robot scheduling system based on the current running track and the current movement event includes:
when the current mobile event reported at any point is received as the execution failure, judging whether the subsequent scheduling strategy of the robot scheduling system to the virtual robot is consistent with a preset scheduling strategy or not;
if the test results are consistent, determining that the test results of the robot task scheduling system meet the scheduling requirements.
In a second aspect of the present invention, there is provided an apparatus for testing a task scheduling system of a robot, the apparatus comprising:
a creation unit for creating a plurality of virtual robots based on historical movement data of the physical robot in the target place; creating a test task event for the virtual robot according to the task flow file of the entity robot;
the acquisition unit is used for executing the test task event by using the virtual robot and acquiring the current running track of the virtual robot and the current movement event corresponding to each point position reported by the virtual robot;
and the testing unit is used for testing the robot scheduling system based on the current running track and the current moving event.
In the above solution, the creating unit is specifically configured to:
creating a plurality of robot shadow tags for the physical robot;
and importing map configuration data of the physical robot at the target place, historical movement data of the physical robot at the target place and equipment attribute information of the physical robot under each robot shadow tag to form a plurality of virtual robots.
In a third aspect of the invention, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, implements the method according to any of the first aspects.
In a fourth aspect the present invention provides a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method of any one of the first aspects when executing the program.
The invention provides a method, a device, a medium and equipment for testing a robot scheduling system, wherein the method comprises the following steps: creating a plurality of virtual robots based on historical movement data of the physical robots in the target location; creating a test task event for the virtual robot according to the task flow file of the entity robot; executing the test task event by using the virtual robot, and obtaining a current running track of the virtual robot and a current movement event corresponding to each point position reported by the virtual robot; testing a robot scheduling system based on the current running track and the current moving event; therefore, compared with the method that a plurality of physical robot devices are required to be placed at a target place and an actual test environment is arranged, and hardware devices are continuously debugged to complete testing in the prior art, the method has the advantages that a plurality of virtual robots are created according to historical movement data in the target place of the physical robot, test task events are created for the plurality of virtual robots, and the method for testing the scheduling strategy of the robot task scheduling system by using the plurality of virtual robots can omit complicated test procedures, does not need to debug the hardware devices, and further can improve the test efficiency.
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Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
fig. 1 is a schematic flow chart of a method for testing a robot scheduling system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a device for testing a robot scheduling system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a computer device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a computer readable storage medium according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The embodiment provides a method for testing a robot scheduling system, as shown in fig. 1, the method includes:
s110, creating a plurality of virtual robots based on historical movement data of the entity robot in the target place;
since the map configuration information corresponding to the physical robot is different in different places, the present embodiment creates a plurality of virtual robots for any one target place based on the historical movement data of the physical robot configured at the target place. In this way, when the performance test is performed on the robot scheduling system, the test can be completed without providing corresponding physical robot equipment in the target site.
For example, the target site is a hall of a office building, one physical robot a exists in the hall of the office building, and if more robot devices are to be configured in the hall of the office building, a test is required for a robot scheduling policy of the hall of the office building before the physical robot devices are determined to be put in. While the present embodiment can create a plurality of virtual robots based on the historical movement data of the physical robot a in the hall of the writer building.
In one embodiment, creating a plurality of virtual robots based on historical movement data of an entity robot in a target location includes:
creating a plurality of robot shadow tags for the physical robot;
and importing map configuration data of the physical robot at the target place and historical movement data of the physical robot at the target place under each robot shadow tag to form a plurality of virtual robots.
Here, the robot tab may be understood as a robot simulation mark. Specifically, after the map configuration data of the physical robot at the target location, the historical movement data of the physical robot at the target location and the equipment attribute information are copied into the configuration file corresponding to the robot shadow tag, a virtual robot is considered to be formed. Wherein the device attribute information may include: device type.
After the virtual robots are created, the virtual robots are arranged in a virtual scheduling server of a robot scheduling system, corresponding virtual marks and numbers are added for the virtual robots, and the numbers of each virtual robot are unique, so that whether the robot is a virtual robot or an entity robot can be identified according to the virtual marks later.
S111, creating a test task event for the virtual robot according to the task flow file of the entity robot;
in practical application, various tasks are created for the entity robot in the target place, and the entity robot generates a corresponding task stream file after executing the tasks.
Continuing to describe the above physical robot as an example, for example, a file is sent to the user with the task of seven buildings created for the physical robot a; the corresponding task stream files should be: the physical robot A goes to the elevator to arrive at the elevator of the 1 th floor, enters the elevator of the 1 th floor, arrives at the elevator of the 7 th floor, arrives at the door of the room of the 7 th floor, dials the user, confirms the user to receive the file, arrives at the elevator of the 7 th floor, enters the elevator of the 7 th floor, arrives at the elevator of the 1 th floor, returns to the initial position.
When the test task event is created for the virtual robot, the test task event can be created according to the task stream file, so that the virtual robot can simulate the physical robot to execute the corresponding task.
Such as: the physical robot A goes to the elevator to reach the elevator of the building 1 as a test task event, enters the elevator of the building 1 from the entrance of the elevator of the building 1 as a test task event and the like.
During specific test, task events can be directly issued for the entity robot through the corresponding communication interfaces; however, since the virtual robot does not have a corresponding communication interface, when the test task event is issued for the virtual robot, the test task event can be directly issued to the virtual scheduling server in a test request manner. The test request comprises a test task event, a virtual robot number for executing the test task event, a task type corresponding to the test task event and execution parameters required by the task type. The task types may include: move, recharge the stake, etc.
For example, when the task type is mobile, the corresponding execution parameters may include: the location of the origin and destination.
The virtual scheduling server determines a virtual machine needing to execute the test task event based on the virtual robot number in the test request, and sends the test task event to the virtual robot.
In this embodiment, after a test task event is created for the virtual robot according to the task flow file of the physical robot, a movement path corresponding to the test task event needs to be planned for the virtual robot.
Then in one embodiment, after creating the test task event for the virtual robot from the task flow file of the physical robot, the method further comprises:
analyzing a map configuration file of the entity robot under the target place to obtain point location coordinate information and obstacle information of the entity robot;
and planning a moving path between any two points for the virtual robot in a map of the target location by using a path planning algorithm based on the point position coordinate information and the obstacle information of the entity robot, and storing the moving path between any two points into a path planning set.
The point location in this embodiment may be understood as each position that the robot needs to reach. Continuing with the description of the task created by the physical robot a being to send files for the user of the seventh building, in the moving path, the point location may include: initial position, outside the door opening of the elevator of the building 1, inside the elevator of the building 1, outside the door opening of the elevator of the building 7, the door opening of the room of the user of the building 7, inside the elevator of the building 7, and the like.
Thus, after the moving path between any two points is planned, the whole moving path corresponding to the test task event can be planned.
S112, executing the test task event by using the virtual robot, and obtaining a current running track of the virtual robot and a current movement event corresponding to each point position reported by the virtual robot;
when the virtual robot receives the test task event, the test task event may be executed. In the execution process, the current running track of the virtual robot and the current movement event corresponding to each point position reported by the virtual robot can be obtained.
In one embodiment, obtaining a current trajectory of a virtual robot includes:
determining the frequency of reporting position information by the virtual robot;
and simulating the current running track of the virtual robot according to the frequency of reporting the position information and the corresponding position information.
In this embodiment, the frequency of reporting position information by the virtual robot may be identical to the frequency of reporting position information by the physical robot, and the frequency of reporting position information by the virtual robot may also be higher than the frequency of reporting position information by the physical robot, for example, may be set to n times the frequency of reporting position information by the physical robot.
For example, if the physical robot takes 5 minutes from the point location B to the point location C, and it is determined that the frequency of reporting the position information is 1s according to the record of the running track reported by the physical robot, the frequency of reporting the position information by the virtual robot may be 1s once, or may be 2s once, which is not limited herein.
And then the previous running track can be simulated according to the reported position information and the frequency of reporting the position information.
Meanwhile, when the virtual robot reaches each point position, the current movement event corresponding to each point position is reported;
for example, assuming that the elevator hoistway of floor 1 is point B, when the virtual robot arrives at the elevator hoistway of floor 1, the reported current movement event is successful in arriving at point B; assuming that the inside of the elevator in the building 1 is the point C, when the virtual robot reaches the inside of the elevator in the building 1, the reported current movement event is successful in reaching the point C.
S113, testing the robot scheduling system based on the current running track and the current movement event.
When the current running track and the current moving event of the virtual robot are obtained, the robot scheduling system can be tested based on the current running track and the current moving event.
In one embodiment, testing the robotic dispatch system based on the current trajectory and the current movement event includes:
if the current running track is determined to be consistent with the preset planning moving path; or,
and if the current mobile event reported by all the points is determined to be successful in execution, determining that the test result of the robot task scheduling system meets the scheduling requirement.
In this embodiment, if the current running track of the virtual robot is consistent with the moving path corresponding to the test task event, it is indicated that the scheduling performance of the robot task scheduling system is satisfactory; and if the current mobile event reported after the virtual robot reaches each point location is successfully executed, the scheduling performance of the robot task scheduling system can be determined to be in accordance with the requirements.
In one embodiment, testing the robotic dispatch system based on the current trajectory and the current movement event includes:
when the current mobile event reported at any point is received as the execution failure, judging whether the subsequent scheduling strategy of the robot scheduling system to the virtual robot is consistent with a preset scheduling strategy or not;
if the test results are consistent, determining that the test results of the robot task scheduling system meet the scheduling requirements.
In this embodiment, when the current movement event reported at a certain point is an execution failure, for example, the current movement event cannot enter the elevator of floor 1. The abnormal situation can be detected continuously for the follow-up scheduling strategy of the robot task scheduling system.
For example, if the virtual robot subsequently executes the action of exiting, adjusting and re-entering the elevator of the building 1, the test result of the robot task scheduling system is proved to meet the scheduling requirement. If the virtual robot does not execute any action later, the test result of the robot task scheduling system is not in accordance with the scheduling requirement. Then the developer is required to continue debugging the scheduling policy code of the robot task scheduling system.
Compared with the method for testing the robot scheduling system, which is provided by the embodiment, in the prior art, in which a plurality of physical robot devices are required to be placed at a target place and an actual testing environment is arranged, in the method for continuously debugging hardware devices to complete testing, a plurality of virtual robots are created according to historical movement data in the target place of the physical robot, testing task events are created for the plurality of virtual robots, and the method for testing the scheduling strategy of the robot task scheduling system by using the plurality of virtual robots can omit complicated testing procedures, does not need to debug the hardware devices, and can further improve testing efficiency.
Based on the same inventive concept, the embodiment of the invention also provides a device for testing a robot scheduling system, as shown in fig. 2, the device comprises:
a creation unit 21 for creating a plurality of virtual robots based on historical movement data of the physical robot in the target place; creating a test task event for the virtual robot according to the task flow file of the entity robot;
the obtaining unit 22 is configured to execute the test task event by using the virtual robot, and obtain a current running track of the virtual robot and a current movement event corresponding to each point position reported by the virtual robot;
and the testing unit 23 is used for testing the robot scheduling system based on the current running track and the current movement event.
In one embodiment, the creation unit 21 is specifically configured to:
creating a plurality of robot shadow tags for the physical robot;
and importing map configuration data of the physical robot at the target place, historical movement data of the physical robot at the target place and equipment attribute information of the physical robot under each robot shadow tag to form a plurality of virtual robots.
The device may be a device having a computing or storage function, such as a computer or a server. The device may be a stand-alone server, without limitation.
Since the device described in the embodiments of the present invention is a device used for implementing the method of the embodiments of the present invention, based on the method described in the embodiments of the present invention, a person skilled in the art can understand the specific structure and the deformation of the device, and therefore, the description thereof is omitted herein. All devices used in the method of the embodiment of the invention are within the scope of the invention.
Based on the same inventive concept, the present embodiment also provides a computer device 300, as shown in fig. 3, including a memory 310, a processor 320, and a computer program 311 stored in the memory 310 and executable on the processor 320, wherein the processor 320 implements the following steps when executing the computer program 311:
creating a plurality of virtual robots based on historical movement data of the physical robots in the target location;
creating a test task event for the virtual robot according to the task flow file of the entity robot;
executing the test task event by using the virtual robot, and obtaining a current running track of the virtual robot and a current movement event corresponding to each point position reported by the virtual robot;
and testing the robot scheduling system based on the current running track and the current moving event. In a specific implementation, when the processor 320 executes the computer program 311, any of the foregoing embodiments may be implemented.
Since the computer device described in this embodiment is a device for implementing the method for testing the robot scheduling system according to the embodiment of the present application, based on the method described in the foregoing embodiments of the present application, those skilled in the art can understand the specific implementation of the computer device of this embodiment and various modifications thereof, so how the server implements the method in the embodiment of the present application will not be described in detail herein. The apparatus used to implement the methods of the embodiments of the present application are within the scope of what is intended to be protected by the present application.
Based on the same inventive concept, the present embodiment also provides a computer-readable storage medium 400, as shown in fig. 4, having stored thereon a computer program 411, which computer program 411, when executed by a processor, realizes the steps of:
creating a plurality of virtual robots based on historical movement data of the physical robots in the target location;
creating a test task event for the virtual robot according to the task flow file of the entity robot;
executing the test task event by using the virtual robot, and obtaining a current running track of the virtual robot and a current movement event corresponding to each point position reported by the virtual robot;
and testing the robot scheduling system based on the current running track and the current moving event. In a specific implementation, the computer program 411 may implement any of the foregoing embodiments when executed by a processor.
The method, the device, the medium and the equipment for testing the robot scheduling system have the advantages that:
the invention provides a method, a device, a medium and equipment for testing a robot scheduling system, wherein the method comprises the following steps: creating a plurality of virtual robots based on historical movement data of the physical robots in the target location; creating a test task event for the virtual robot according to the task flow file of the entity robot; executing the test task event by using the virtual robot, and obtaining a current running track of the virtual robot and a current movement event corresponding to each point position reported by the virtual robot; testing a robot scheduling system based on the current running track and the current moving event; therefore, compared with the method that a plurality of physical robot devices are required to be placed at a target place and an actual test environment is arranged, and hardware devices are continuously debugged to complete testing in the prior art, the method has the advantages that a plurality of virtual robots are created according to historical movement data in the target place of the physical robot, test task events are created for the plurality of virtual robots, and the method for testing the scheduling strategy of the robot task scheduling system by using the plurality of virtual robots can omit complicated test procedures, does not need to debug the hardware devices, and further can improve the test efficiency.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the application.
The above description is not intended to limit the scope of the invention, but is intended to cover any modifications, equivalents, and improvements within the spirit and principles of the invention.
Claims (6)
1. A method of testing a robotic dispatch system, the method comprising: creating a plurality of virtual robots based on historical movement data of the physical robots in the target location;
creating a test task event for the virtual robot according to the task flow file of the entity robot;
executing the test task event by using the virtual robot, and obtaining a current running track of the virtual robot and a current movement event corresponding to each point position reported by the virtual robot;
testing a robot scheduling system based on the current running track and the current moving event; wherein creating a plurality of virtual robots based on historical movement data of the physical robot in the target site comprises:
creating a plurality of robot shadow tags for the physical robot;
importing map configuration data of the physical robot at the target place, historical movement data of the physical robot at the target place and equipment attribute information of the physical robot under each robot shadow tag to form a plurality of virtual robots;
the testing of the robot scheduling system based on the current running track and the current movement event comprises the following steps:
if the current running track is determined to be consistent with a preset planning moving path; or,
if the current mobile event reported by all the points is determined to be successfully executed, determining that the test result of the robot scheduling system meets the scheduling requirement;
the testing of the robot scheduling system based on the current running track and the current movement event comprises the following steps:
when the current mobile event reported at any point is received as the execution failure, judging whether the subsequent scheduling strategy of the robot scheduling system to the virtual robot is consistent with a preset scheduling strategy or not;
if the test results are consistent, determining that the test results of the robot dispatching system meet the dispatching requirements.
2. The method of claim 1, wherein after creating a test task event for the virtual robot from the task flow file of the physical robot, the method further comprises:
analyzing a map configuration file of the entity robot under the target place to obtain point location coordinate information and obstacle information of the entity robot;
and planning a moving path between any two points of the virtual robot in a map of a target location by using a path planning algorithm based on the point location coordinate information of the physical robot and the obstacle information, and storing the moving path between any two points into a path planning set.
3. The method of claim 1, wherein obtaining the current trajectory of the virtual robot comprises:
determining the frequency of reporting position information by the virtual robot;
and simulating the current running track of the virtual robot according to the frequency of the reported position information and the corresponding position information.
4. An apparatus for testing a robotic dispatch system, the apparatus comprising:
a creation unit for creating a plurality of virtual robots based on historical movement data of the physical robot in the target place; creating a test task event for the virtual robot according to the task flow file of the entity robot;
the acquisition unit is used for executing the test task event by using the virtual robot and acquiring the current running track of the virtual robot and the current movement event corresponding to each point position reported by the virtual robot;
the testing unit is used for testing the robot scheduling system based on the current running track and the current moving event; wherein,
the creation unit is specifically configured to:
creating a plurality of robot shadow tags for the physical robot;
importing map configuration data of the physical robot at the target place, historical movement data of the physical robot at the target place and equipment attribute information of the physical robot under each robot shadow tag to form a plurality of virtual robots;
the testing of the robot scheduling system based on the current running track and the current movement event comprises the following steps:
if the current running track is determined to be consistent with a preset planning moving path; or,
if the current mobile event reported by all the points is determined to be successfully executed, determining that the test result of the robot scheduling system meets the scheduling requirement;
the testing of the robot scheduling system based on the current running track and the current movement event comprises the following steps:
when the current mobile event reported at any point is received as the execution failure, judging whether the subsequent scheduling strategy of the robot scheduling system to the virtual robot is consistent with a preset scheduling strategy or not;
if the test results are consistent, determining that the test results of the robot dispatching system meet the dispatching requirements.
5. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method of any one of claims 1 to 3.
6. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method of any of claims 1 to 3 when executing the program.
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