CN109696915B - Test method and system - Google Patents

Test method and system Download PDF

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Publication number
CN109696915B
CN109696915B CN201910011330.3A CN201910011330A CN109696915B CN 109696915 B CN109696915 B CN 109696915B CN 201910011330 A CN201910011330 A CN 201910011330A CN 109696915 B CN109696915 B CN 109696915B
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mobile device
real
time
virtual
scheduling
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CN109696915A (en
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柳智
唐志福
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Shanghai Atovo Robotics Co ltd
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Shanghai Atovo Robotics Co ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Vision & Pattern Recognition (AREA)
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  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)
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Abstract

The invention provides a test method and a test system, wherein the method comprises the following steps: the scheduling equipment acquires a scheduling task; the scheduling equipment generates and transmits a scheduling command to the target equipment according to the scheduling task; the target equipment comprises any one or two of a real mobile device and an intelligent terminal; the virtual mobile device is generated by the simulation of the intelligent terminal; the target equipment operates according to the scheduling command; the simulation equipment acquires the real-time states of the real mobile device and the virtual mobile device, and displays the respective movement tracks in an augmented reality manner in the simulation environment after the initialization operation is completed according to the real-time states. The invention can systematically, collectively and visually display the functions and performances of the mobile device to others, can verify the operation effect of the mobile device under the real condition, can also verify the feasibility and stability of a large number of mobile devices with low cost and intuition and convenience, and helps the demander and the implementer of the project to communicate clearly and effectively.

Description

Test method and system
Technical Field
The invention relates to the technical field of virtual reality, in particular to a test method and a test system.
Background
When the intelligent and movable mobile devices such as an AGV (Automated Guided Vehicle), a robot, an unmanned Vehicle and the like are applied to project occasions such as production lines, storage logistics, transportation and the like, a plurality of links such as demand communication, design, implementation, test, acceptance and the like are required, and the period is long. At present, in the processes of implementation and product verification of mobile devices such as AGV products and robots, the industry adopts a simple virtual mobile device or a small number of real mobile devices to display products and evaluate functions and performances. Such methods have their drawbacks that are not negligible.
The virtual mobile device is used for simulating the operation scene of the real mobile device, product display and function and performance evaluation are carried out, various factors of operation of a whole test site are difficult to consider, the operation conditions are easy to be disjointed from actual operation conditions in the test site, and great persuasion is difficult to achieve during product display. The product is displayed by simply using a small number of real mobile devices, and the evaluation of functions and performance faces the problems of high test cost and long period.
Therefore, how to systematically, collectively and visually demonstrate the functions and performances of the mobile device to others in data is an urgent need to solve the problem of verifying the operation effect of the mobile device under real conditions, and also verifying the feasibility and stability of a large number of mobile devices in a low-cost, intuitive and convenient manner, so as to help the demand and implementation parties of projects to communicate clearly and effectively.
Disclosure of Invention
The invention aims to provide a testing method and a testing system, which can realize the functions and performances of a mobile device to be systematically, collectively and visually demonstrated to others by data, can verify the operation effect of the mobile device under the real condition, can also verify the feasibility and stability of a large number of mobile devices with low cost and intuition and convenience, and can help the demander and the implementer of a project to carry out clear and effective communication.
The technical scheme provided by the invention is as follows:
the invention provides a test method, which comprises the following steps:
the scheduling equipment acquires a scheduling task;
the scheduling equipment generates and issues a scheduling command to target equipment according to the scheduling task; the target equipment comprises any one or two of the real mobile device and the intelligent terminal; the virtual mobile device is generated by the simulation of the intelligent terminal;
the target equipment operates according to the scheduling command;
the simulation equipment acquires real-time states of the real mobile device and the virtual mobile device, and displays respective moving tracks in an augmented reality manner in a simulation environment after initialization operation is completed according to the real-time states.
Further, the method for acquiring the scheduling task by the scheduling device comprises the following steps:
the intelligent terminal loads and runs an analog simulation program to generate a plurality of virtual mobile devices; the simulation program sets the set appearance and the initial state of the virtual mobile device according to the rule; the initial state comprises an Identity (ID), an initial motion state and an initial electric quantity; the initial motion state comprises an initial position, an initial orientation and an initial working state.
Further, after the intelligent terminal loads and runs an analog simulation program and generates a plurality of virtual mobile devices, the step of generating and issuing a scheduling command to the target device by the scheduling device according to the scheduling task includes:
the scheduling device obtains a first initial state of the virtual mobile device; the first initial state is set in advance by adopting rules;
the scheduling device obtains a second initial state of the real mobile device; the second initial state is obtained from the real mobile device;
the step that the scheduling equipment generates and transmits the scheduling command to the target equipment according to the scheduling task comprises the following steps:
the scheduling equipment loads a scene map corresponding to the test site;
and the scheduling equipment performs unified scheduling according to the initial states of the scheduling task, the scene map, the virtual mobile device and the real mobile device, generates the scheduling command and sends the scheduling command to the target equipment.
Further, after the intelligent terminal loads and runs an analog simulation program and generates a plurality of virtual mobile devices, the step of generating and issuing a scheduling command to the target device by the scheduling device according to the scheduling task includes:
the simulation equipment acquires the actual appearance and the first initial state of the real mobile device and acquires the set appearance and the second initial state of the virtual mobile device; the first initial state and the second initial state comprise an Identity (ID), an initial motion state and an initial electric quantity; the initial motion state comprises an initial position, an initial orientation and an initial working state;
the simulation equipment initializes the shape and the state of the real mobile device according to the actual shape and the first initial state of the real mobile device, and initializes the shape and the state of the virtual mobile device according to the set shape and the second initial state of the virtual mobile device, so that the virtual mobile device and the real mobile device are presented in a simulation environment, and the initialization operation of the simulation environment is completed;
the simulation equipment acquires the real-time states of the real mobile device and the virtual mobile device, and displays the respective movement tracks in an augmented reality manner in the simulation environment after the initialization operation is completed according to the real-time states, wherein the method comprises the following steps:
the simulation equipment acquires real-time states of the real mobile device and the virtual mobile device; the real-time state comprises an Identity (ID), a real-time motion state and real-time electric quantity; the real-time motion state comprises a real-time position, a real-time orientation and a real-time working state;
and continuously enhancing, actually updating and displaying the real-time motion states of the virtual mobile device and the real mobile device in the simulation environment by the simulation equipment according to the real-time states of the virtual mobile device and the real mobile device.
Further, the simulation apparatus performs appearance initialization and state initialization of the real mobile device according to the actual appearance and the first initial state of the real mobile device, and performs appearance initialization and state initialization of the virtual mobile device according to the set appearance and the second initial state of the virtual mobile device, so that the virtual mobile device and the real mobile device are present in a simulation environment, and the initialization operation of the simulation environment is completed includes the steps of:
the simulation equipment starts simulation software and establishes a world coordinate system with a preset reference point as an origin in the simulation environment;
the simulation equipment initializes the shape of the real mobile device through a first icon matched with the actual shape, and searches the position and the orientation of the real mobile device corresponding to the world coordinate system according to the identity ID of the real mobile device and a first initial state corresponding to the identity ID, so as to complete the state initialization of the real mobile device;
and the simulation equipment initializes the appearance of the virtual mobile device through a second icon matched with the set appearance, and searches the position and the direction of the virtual mobile device corresponding to the world coordinate system according to the identity ID of the virtual mobile device and a second initial state corresponding to the identity ID, so as to complete the state initialization of the virtual mobile device.
Further, the step of continuously updating and displaying the real-time motion states of the virtual mobile device and the real mobile device in the simulation environment by the simulation equipment according to the real-time states of the virtual mobile device and the real mobile device includes:
continuously updating the position and the orientation of a first icon corresponding to the identity ID of the real mobile device on the world coordinate system by the simulation equipment according to the real-time state of the real mobile device so as to display the moving track of the real mobile device in the simulation environment in an augmented reality manner;
and the simulation equipment continuously updates the position and the orientation of the second icon corresponding to the identity ID of the virtual mobile device on the world coordinate system according to the real-time state of the virtual mobile device so as to enhance and practically display the moving track of the virtual mobile device in the simulation environment.
Further, the step of loading the scene map corresponding to the test site by the scheduling device includes:
the scheduling equipment acquires a test requirement input by a user;
the dispatching equipment creates a corresponding operation test site according to the test requirement, and obtains a scene map corresponding to the operation test site; the operation test site comprises a real test site, or the real test site and a virtual test site; the real test site is used for the virtual mobile device and/or the real mobile device to run; the virtual test site is used for the virtual mobile device to run.
Further, the target device operating according to the scheduling command includes the steps of:
when the real mobile device receives the scheduling command, the real mobile device moves according to the scheduling command, and the real-time state and the real-time electric quantity of the real mobile device are obtained through detection of a motion sensor and electric quantity detection equipment which are arranged on the real mobile device; sending the real-time state and the real-time electric quantity of the real mobile device to the scheduling device and the simulation device, and sending an actual appearance of the real mobile device to the simulation device;
when the intelligent terminal receives the scheduling command, the intelligent terminal controls the virtual mobile device to perform simulated movement according to the scheduling command, and calculates the real-time electric quantity of the virtual mobile device according to the electric quantity consumption condition of the real mobile device and the real-time state of the virtual mobile device; and sending the real-time state and the real-time electric quantity of the virtual mobile device to the dispatching equipment and the simulation equipment through a communication module of the intelligent terminal, and sending the set appearance of the virtual mobile device to the simulation equipment.
Further, the method also comprises the following steps:
and the scheduling equipment performs task scheduling according to the real-time motion corresponding to the real mobile device and the virtual mobile device to generate a new scheduling command, and issues the new scheduling command to the real mobile device and/or the virtual mobile device to complete all job tasks.
The present invention also provides a test system comprising: the system comprises scheduling equipment, simulation equipment, a real mobile device and an intelligent terminal for generating a virtual mobile device in a simulation mode; the scheduling device comprises a first communication module, a first control module and a first information acquisition module; the real mobile device comprises a second communication module and a first execution module; the intelligent terminal comprises a third communication module and a second execution module; the simulation equipment comprises a fourth communication module and a first processing module;
the first information acquisition module is used for acquiring a scheduling task;
the first control module is connected with the first information acquisition module and used for generating a scheduling command according to the scheduling task;
the first communication module is connected with the first control module, the second communication module and the third communication module, and is used for issuing a scheduling command to the second communication module and/or the third communication module;
the first execution module is connected with the second communication module and is used for running according to the scheduling command;
the second execution module is connected with the third communication module and is used for controlling the virtual mobile device to operate according to the scheduling command;
the fourth communication module is connected with the second communication module and the third communication module and is used for acquiring the real-time states of the real mobile device and the virtual mobile device;
and the first processing module is connected with the fourth communication module and used for displaying respective movement tracks in an augmented reality manner in the simulation environment after the initialization operation is completed according to the real-time state.
Further, the intelligent terminal further comprises: an operation module;
the operation module is used for loading and operating an analog simulation program to generate a plurality of virtual mobile devices; the simulation program sets the set appearance and the initial state of the virtual mobile device according to the rule; the initial state comprises an Identity (ID), an initial motion state and an initial electric quantity; the initial motion state comprises an initial position, an initial orientation and an initial working state.
Further, the scheduling apparatus further includes: a map acquisition module;
the first information acquisition module is further configured to acquire a first initial state of the virtual mobile device and acquire a second initial state of the real mobile device; the first initial state is set in advance by adopting rules; the second initial state is obtained from the real mobile device;
the map acquisition module is used for loading a scene map corresponding to the test site;
the first control module is connected with the map acquisition module and is further used for performing unified scheduling according to the scheduling tasks, the scene map, the virtual mobile device and the initial state of the real mobile device to generate the scheduling command.
Further, the method also comprises the following steps:
the fourth communication module is further configured to obtain an actual shape and a first initial state of the real mobile device from the second communication module, and obtain a set shape and a second initial state of the virtual mobile device from the third communication module; the first initial state and the second initial state comprise an Identity (ID), an initial motion state and an initial electric quantity; the initial motion state comprises an initial position, an initial orientation and an initial working state;
the fourth communication module is further configured to obtain a real-time status of the real mobile device from the second communication module, and obtain a real-time status of the virtual mobile device from the third communication module; the real-time state comprises an Identity (ID), a real-time motion state and real-time electric quantity; the real-time motion state comprises a real-time position, a real-time orientation and a real-time working state;
the first processing module comprises: an initialization unit and a simulation unit;
the initialization unit is used for initializing the shape and the state of the real mobile device according to the actual shape and the first initial state of the real mobile device, and initializing the shape and the state of the virtual mobile device according to the set shape and the second initial state of the virtual mobile device, so that the virtual mobile device and the real mobile device are presented in a simulation environment, and the initialization operation of the simulation environment is completed;
the simulation unit is connected with the initialization unit and used for continuously enhancing, actually updating and displaying the real-time motion states of the virtual mobile device and the real mobile device in the simulation environment according to the real-time states of the virtual mobile device and the real mobile device.
Further, the simulation apparatus further includes: starting a creating module;
the starting and establishing module is used for starting simulation software and establishing a world coordinate system with a preset reference point as an origin in the simulation environment;
the initialization unit is further configured to initialize the shape of the real mobile device through the first icon matched with the actual shape, and search a position and an orientation of the real mobile device corresponding to the world coordinate system according to the identity ID of the real mobile device and the first initial state corresponding to the identity ID, so as to complete state initialization of the real mobile device;
the initialization unit is further configured to initialize the shape of the virtual mobile device through the second icon matched with the set shape, and search a position and an orientation of the virtual mobile device corresponding to the world coordinate system according to the identity ID of the virtual mobile device and the second initial state corresponding to the identity ID, so as to complete state initialization of the virtual mobile device.
Further, the method also comprises the following steps:
the simulation unit is further configured to continuously update the position and the orientation of the first icon corresponding to the identity ID of the real mobile device on the world coordinate system according to the real-time state of the real mobile device, so as to display the movement track of the real mobile device in the simulation environment in an augmented reality manner;
the simulation unit is further configured to continuously update the position and the orientation of the second icon corresponding to the identity ID of the virtual mobile device on the world coordinate system according to the real-time state of the virtual mobile device, so as to enhance the realistic display of the movement track of the virtual mobile device in the simulation environment.
Further, the scheduling apparatus further includes: an input module and a map creation module;
the input module is used for acquiring the test requirements input by the user;
the map creating module is connected with the input module and used for creating a corresponding operation test site according to the test requirement and acquiring a scene map corresponding to the operation test site; the operation test site comprises a real test site, or the real test site and a virtual test site; the real test site is used for the virtual mobile device and/or the real mobile device to run; the virtual test site is used for the virtual mobile device to run.
Further, the real mobile device is provided with a motion sensor for detecting and obtaining a real-time state of the real mobile device, and an electric quantity detection device for detecting and obtaining a real-time electric quantity of the real mobile device: the intelligent terminal further comprises: a calculation module and a storage module;
when the second communication module receives the scheduling command, the first execution module is further used for moving according to the scheduling command;
the second communication module is further configured to send the real-time status and the real-time electric quantity of the real mobile device to the first communication module and the fourth communication module, and send an actual shape of the real mobile device to the fourth communication module;
when the third communication module receives the scheduling command, the second execution module is further configured to control the virtual mobile apparatus to perform simulated movement according to the scheduling command;
the storage module is used for storing historical electric quantity consumption data of a real mobile device;
the computing module is connected with the storage module and used for computing the real-time electric quantity of the virtual mobile device according to the historical electric quantity consumption data and the real-time state of the virtual mobile device;
the third communication module is further configured to send the real-time status and the real-time electric quantity of the virtual mobile device to the first communication module and the fourth communication module, and send the set shape of the virtual mobile device to the fourth communication module.
Further, the method also comprises the following steps:
the first communication module is further configured to obtain real-time statuses of the real mobile device and the virtual mobile device;
the first control module is connected with the first communication module, performs task scheduling according to real-time motion corresponding to the real mobile device and the virtual mobile device to generate a new scheduling command, and controls the first communication module to issue the new scheduling command to the second communication module and/or the third communication module to complete all job tasks.
The present invention also provides a test system comprising: the system comprises control equipment, a real mobile device and an intelligent terminal for generating a virtual mobile device in a simulation mode; the control equipment comprises a fifth communication module, a second control module, a second information acquisition module and a second processing module; the real mobile device comprises a second communication module and a first execution module; the intelligent terminal comprises a third communication module and a second execution module;
the second information acquisition module is used for acquiring a scheduling task;
the second control module is connected with the second information acquisition module and used for generating a scheduling command according to the scheduling task;
the fifth communication module is connected with the second control module, the second communication module and the third communication module, and is used for issuing a scheduling command to the second communication module and/or the third communication module;
the first execution module is connected with the second communication module and is used for running according to the scheduling command;
the second execution module is connected with the third communication module and is used for controlling the virtual mobile device to operate according to the scheduling command;
the fifth communication module is further configured to obtain real-time states of the real mobile device and the virtual mobile device;
and the second processing module is connected with the fifth communication module and is used for displaying respective movement tracks in an augmented reality manner in the simulation environment after the initialization operation is completed according to the real-time state.
The testing method and the testing system provided by the invention can systematically, collectively and visually display the functions and the performances of the mobile device to others, can verify the operation effect of the mobile device under the real condition, can also verify the feasibility and the stability of a large number of mobile devices with low cost and intuition and convenience, and can help the demander and the implementer of the project to carry out clear and effective communication.
Drawings
The foregoing features, technical features, advantages and implementations of a test method and system are further described in the following, in an explicitly understood manner, with reference to the accompanying drawings, which illustrate preferred embodiments.
FIG. 1 is a flow chart of one embodiment of a testing method of the present invention;
FIG. 2 is a flow chart of another embodiment of a testing method of the present invention;
FIG. 3 is a flow chart of another embodiment of a testing method of the present invention;
FIG. 4 is a schematic structural diagram of the overall control structure system framework of the present invention;
FIG. 5 is an overall scene effect of the test system of the present invention;
FIG. 6 is a schematic block diagram of one embodiment of a test system of the present invention;
FIG. 7 is a schematic block diagram of another embodiment of a test system of the present invention.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.
For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".
In one embodiment of the present invention, as shown in fig. 1, 5 and 6, a testing method includes:
s100, the scheduling device 1 acquires a scheduling task;
s200, the scheduling equipment 1 generates and transmits a scheduling command to target equipment according to the scheduling task; the virtual mobile device Nj is generated by the intelligent terminal 3 in a simulation mode; the target equipment comprises any one or two of a real mobile device Mi and an intelligent terminal 3;
s300, the target equipment operates according to the scheduling command;
s400, the simulation apparatus 2 obtains real-time states of the real mobile device Mi and the virtual mobile device Nj, and displays respective movement trajectories in the simulation environment after the initialization operation is completed in an augmented reality manner according to the real-time states.
Specifically, in this embodiment, the scheduling apparatus 1 can schedule and control the virtual mobile device Nj and the real mobile device Mi, and when a user needs to test the mobile device, the user can know the practicability of the mobile device in various complicated use places, for example, a plurality of mobile devices can react and adjust in time in complicated use places such as factories, hospitals, warehouses, intersections, and the like, so as to safely and efficiently prevent collision and reduce the probability of immobility of a stagnation. The user issues a command to the scheduling device 1, so that the scheduling device 1 performs analysis according to the command to obtain a corresponding scheduling task, then generates a scheduling command meeting the user requirement based on a scheduling control principle of the shortest moving distance or the shortest moving time according to the scheduling task and the working states and positions of each virtual mobile device Nj and the real mobile device Mi, and then the scheduling device 1 issues the generated scheduling command to the corresponding target device.
When the target device is a real mobile device Mi, the real mobile device Mi moves on a real site according to the scheduling command, and the real mobile device Mi also periodically broadcasts and sends the real-time status of the real mobile device Mi to the scheduling device 1 and the simulation device 2. When the target device is the virtual mobile device Nj, the virtual mobile device Nj performs simulated movement according to the scheduling command, and the intelligent terminal 3 periodically broadcasts and sends the real-time state of the virtual mobile device Nj to the scheduling device 1 and the simulation device 2. The scheduling apparatus 1 can grasp the states of each virtual mobile device Nj and the real mobile device Mi in real time to perform scheduling control, and the simulation apparatus 2 can grasp the states of each virtual mobile device Nj and the real mobile device Mi in real time, so that the simulation apparatus 2 updates the moving tracks corresponding to each virtual mobile device Nj and the real mobile device Mi in real time in the simulation environment. Therefore, the user can observe the moving conditions of the virtual mobile device Nj and the real mobile device Mi displayed by the simulation software of the simulation equipment 2 through naked eyes, the visualization of the project is facilitated, the demander and the implementer of the project can be helped to carry out clear and effective communication, and the visual and effective performance test experience is improved.
The invention adopts a method of combining the virtual mobile device Nj and the real mobile device Mi to display respective moving tracks, and can systematically, clustered and data-visually display the operation scene of the mobile device.
Preferably, the virtual mobile devices Nj are larger than the number of real mobile devices Mi. Therefore, the mobile device operation scene can be systematically, clustered and data-visually displayed, so that the visualization of the project is facilitated, the demander and the implementer of the project are helped to carry out clear and effective communication, and the visual and effective performance test experience is improved. Moreover, since a small number of real mobile devices Mi and a large number of virtual mobile devices Nj can be used, and respective movement tracks are displayed by combining the virtual mobile devices Nj and the real mobile devices Mi, the operation effect of the real mobile devices Mi under the real condition can be verified, and the feasibility and stability of a large number of mobile devices can be verified visually and conveniently at low cost under the condition that the real condition does not exist and under the condition that the real condition is large number of real mobile devices Mi and a large place.
Based on the foregoing embodiment, as shown in fig. 2, a testing method includes:
s010 intelligent terminal 3 loads and runs simulation program, and generates a plurality of virtual mobile devices Nj; setting the set appearance and the initial state of the virtual mobile device Nj by the simulation program according to the rule; the initial state comprises an identity ID, an initial motion state and an initial electric quantity; the initial motion state comprises an initial position, an initial orientation and an initial working state;
s100, the scheduling device 1 acquires a scheduling task;
s101 the scheduling apparatus 1 obtains a first initial state of the virtual mobile device Nj; the first initial state is preset by adopting a rule;
s102 the scheduling device 1 obtains a second initial state of the real mobile device Mi; the second initial state is obtained from the real mobile device Mi;
s210, scheduling the equipment 1 to load a scene map corresponding to a test site;
s220, the scheduling equipment 1 performs unified scheduling according to the scheduling task, the scene map, the virtual mobile device Nj and the initial state of the real mobile device Mi, generates a scheduling command and sends the scheduling command to target equipment;
s300, the target equipment operates according to the scheduling command;
s400, the simulation apparatus 2 obtains real-time states of the real mobile device Mi and the virtual mobile device Nj, and displays respective movement trajectories in the simulation environment after the initialization operation is completed in an augmented reality manner according to the real-time states.
Specifically, in this embodiment, there is no sequence among S101, S102, and S100. The actual shape and the set shape comprise shape, size, limb and joint description, motor description and the like. The virtual simulation environment of the simulation apparatus 2 is Gazebo 7, the Gazebo 7 is a three-dimensional multi-robot dynamics simulation application software, and the Gazebo 7 is capable of simulating an articulated virtual mobile device Nj. In the Gazebo 7, three basic graphics of a sphere, a cylinder and a cube are provided, and a simplest three-dimensional simulation model of the virtual mobile device Nj can be designed by using the three basic graphics and the scaling transformation or the rotation transformation of the three basic graphics. Furthermore, the Gazebo 7 provides interfaces of various 2D and 3D design software such as CAD and blend, and can import a CAD drawing and a blend drawing, so that the virtual mobile device Nj created by the Gazebo 7 is more real. Meanwhile, the Gazebo 7 provides a motion simulation interface for the virtual mobile device Nj, and the motion of the virtual mobile device Nj can be simulated in the Gazebo 7.
Starting the Gazebo 7, entering Gazebo 7 software, entering a Model Editor Model editing interface, creating an ontology of a virtual mobile device Nj through a basic graph, for example, assuming that the virtual mobile device Nj is an AGV, dragging a cylinder into an editing panel, editing the properties of the cylinder into a chassis, and changing the radius and thickness of the cylinder to conform to the size of the ontology in the set shape. And then dragging four spheres into an editing panel, editing the properties of the spheres into a moving wheel, changing the radius and the thickness of the spheres to be in accordance with the size of the moving wheel in the set shape, wherein the joint type selected by the moving wheel is rotatable, so that the moving wheel can change the rotating direction, thereby changing the orientation of the virtual moving device Nj, completing the creation of one virtual moving device Nj, and allocating a unique identity ID to each virtual moving device Nj after the creation. The process is edited to generate an analog simulation program, the analog simulation program is stored, and the analog simulation program is imported into each intelligent terminal 3 through a USB interface or a wireless network transmission mode. The intelligent terminal 3 loads and runs the simulation program, so that a plurality of virtual mobile devices Nj are generated by a plurality of intelligent terminals 3. Since each intelligent terminal 3 can run a loading simulation program to generate at least one virtual mobile device Nj with a unique identity ID, and different setting shapes, initial motion states and initial electric quantities can be set for each virtual mobile device Nj, the scheduling apparatus 1 can obtain the initial state and the setting shape corresponding to the virtual mobile device Nj generated by the scheduling apparatus from each intelligent terminal 3. The scheduling device 1 can load a scene map corresponding to the test site, and in addition, the scheduling device 1 acquires the actual appearance and the initial state of the real mobile device Mi from the real mobile device Mi, and establishes a scene simulation model according to the set appearance of the virtual mobile device Nj, the actual appearance, the scene map and the initial state of the real mobile device Mi.
Based on the foregoing embodiment, as shown in fig. 3, a testing method includes:
s010 intelligent terminal 3 loads and runs simulation program, and generates a plurality of virtual mobile devices Nj; setting the set appearance and the initial state of the virtual mobile device Nj by the simulation program according to the rule; the initial state comprises an identity ID, an initial motion state and an initial electric quantity; the initial motion state comprises an initial position, an initial orientation and an initial working state;
s100, the scheduling device 1 acquires a scheduling task;
s101 the scheduling apparatus 1 obtains a first initial state of the virtual mobile device Nj; the first initial state is preset by adopting a rule;
s102 the scheduling device 1 obtains a second initial state of the real mobile device Mi; the second initial state is obtained from the real mobile device Mi;
s103, the simulation apparatus 2 obtains the actual shape and the first initial state of the real mobile device Mi, and obtains the set shape and the second initial state of the virtual mobile device Nj; the first initial state and the second initial state comprise an identity ID, an initial motion state and an initial electric quantity; the initial motion state comprises an initial position, an initial orientation and an initial working state;
s104, the simulation equipment 2 initializes the shape and the state of the real mobile device Mi according to the actual shape and the first initial state of the real mobile device Mi, initializes the shape and the state of the virtual mobile device Nj according to the set shape and the second initial state of the virtual mobile device Nj, enables the virtual mobile device Nj and the real mobile device Mi to be present in a simulation environment, and completes initialization operation of the simulation environment;
s210, scheduling the equipment 1 to load a scene map corresponding to a test site;
s220, the scheduling equipment 1 performs unified scheduling according to the scheduling task, the scene map, the virtual mobile device Nj and the initial state of the real mobile device Mi, generates a scheduling command and sends the scheduling command to target equipment;
s300, the target equipment operates according to the scheduling command;
s410 the simulation apparatus 2 obtains real-time states of the real mobile device Mi and the virtual mobile device Nj; the real-time state comprises an Identity (ID), a real-time motion state and real-time electric quantity; the real-time motion state comprises a real-time position, a real-time orientation and a real-time working state;
s420 the simulation apparatus 2 continuously enhances and actually updates and displays the real-time motion states of the virtual mobile device Nj and the real mobile device Mi in the simulation environment according to the real-time states of the virtual mobile device Nj and the real mobile device Mi.
Specifically, the same parts refer to the above embodiments, and are not described in detail herein. In this embodiment, S101, S102, S103, and S100 are not in sequence, and S104 is executed after S103. The execution order may be S010 → S100 → S101 → S102 → S103 → S104 → S200 (or S201). The execution order may be S010 → S101 → S102 → S100 → S103 → S104 → S200 (or S201). The execution order may also be S010 → S103 → S104 → S100 → S101 → S102 → S200 (or S201). The execution order may also be S010 → S100 → S103 → S104 → S101 → S102 → S200 (or S201). Other cases are not described again, and it is within the scope of the present invention that S010 is executed before S101, S102, S103, and S100, and that S103 is executed before S104.
Preferably, the S104 simulation apparatus 2 performs the shape initialization and the state initialization of the real mobile device Mi according to the actual shape and the first initial state of the real mobile device Mi, and performs the shape initialization and the state initialization of the virtual mobile device Nj according to the set shape and the second initial state of the virtual mobile device Nj, so that the virtual mobile device Nj and the real mobile device Mi are present in the simulation environment, and the initialization operation of the simulation environment is completed includes the steps of:
s1041, starting simulation software by the simulation equipment 2, and establishing a world coordinate system with a preset reference point as an origin in a simulation environment;
s1042 simulation apparatus 2 initializes the shape of the real mobile device Mi by using the first icon matched with the actual shape, and searches for the position and orientation of the real mobile device Mi corresponding to the world coordinate system according to the identity ID of the real mobile device Mi and the corresponding first initial state, thereby completing the state initialization of the real mobile device Mi;
s1043 the simulation apparatus 2 initializes the appearance of the virtual mobile device Nj by using the second icon matched with the set appearance, and searches for the position and orientation of the virtual mobile device Nj corresponding to the world coordinate system according to the identity ID of the virtual mobile device Nj and the corresponding second initial state, thereby completing the state initialization of the virtual mobile device Nj;
s420 the simulation apparatus 2 continuously updates and displays the real-time motion states of the virtual mobile device Nj and the real mobile device Mi in the simulation environment according to the real-time states of the virtual mobile device Nj and the real mobile device Mi, including the steps of:
s421 the simulation apparatus 2 continuously updates the position and orientation of the first icon corresponding to the identity ID of the real mobile device Mi on the world coordinate system according to the real-time state of the real mobile device Mi, so as to display the movement track of the real mobile device Mi in the simulation environment in an augmented reality manner;
s422 the simulation apparatus 2 continuously updates the position and the orientation of the second icon corresponding to the identity ID of the virtual mobile device Nj on the world coordinate system according to the real-time status of the virtual mobile device Nj, so as to enhance and actually display the moving track of the virtual mobile device Nj in the simulation environment.
Specifically, the intelligent terminal 3 loads and runs an analog simulation program to generate a plurality of virtual mobile devices Nj, and the intelligent terminal 3 reports the real-time state of the virtual mobile devices Nj every other period, wherein the real-time state includes an identity ID, a real-time position, a real-time electric quantity and the like. The real mobile device Mi is started, obtains its real-time position according to its sensor (for example, a camera for measuring its position is positioned by image processing, or a GPS sensor performs GPS positioning, or a gyroscope and an acceleration sensor calculate positioning according to inertial navigation, etc.), obtains its real-time electric quantity according to its electric quantity detection device, and can also obtain its working state and fault information by other devices. The real mobile device Mi reports the real-time status of the real mobile device Mi every other cycle, and the real-time status includes an identity ID, a real-time location, a real-time electric quantity, and the like.
The scheduling device 1 obtains the initial states of the real mobile device Mi and the virtual mobile device Nj, and a scene map corresponding to the operation test site, and then the scheduling device 1 establishes a unified scheduling scene according to the initial states and the scene map of the virtual mobile device Nj and the real mobile device Mi, and knows various states of the virtual mobile device Nj and the real mobile device Mi in real time. The scheduling apparatus 1 initiates a scheduling command indiscriminately according to the state of the apparatus, so that the real mobile device Mi and the virtual mobile device Nj receive the command and complete the job.
The flow of augmented reality showing the movement trajectories of the virtual mobile device Nj and the real mobile device Mi is as follows:
the virtual mobile device Nj performs shape initialization and state initialization. The shape initialization adopts the shape description of the robot unified shape description language to the virtual mobile device Nj, which comprises limb and joint description, motor description and the like. The data for state initialization is given by rules, such as setting an AGV cart with a cylindrical shape for a virtual mobile device Nj, which is initially located at the origin position and oriented west, according to the user's needs and project requirements. Here, by way of example only, others may be configured according to the needs of the user and project requirements, and finally the virtual mobile device Nj is presented in the simulation environment.
The real mobile device Mi performs the shape initialization and the state initialization. The shape initialization adopts the shape description of the robot unified shape description language to the real mobile device Mi, which includes the description of limbs and joints, the description of motors, and the like. Eventually the real mobile device Mi is presented in the simulated environment. The shape initialization data and the state initialization data of the real mobile device Mi are obtained when the state report is performed from the real mobile device Mi through the network.
The scheduling apparatus 1 initiates a scheduling command, both the real mobile device Mi and the virtual mobile device Nj can receive the scheduling command issued by the scheduling apparatus 1, and the simulation apparatus 2 obtains the real-time status periodically uploaded by the real mobile device Mi and the virtual mobile device Nj in real time, so that the simulation apparatus 2 continuously updates data, and the positions of the real mobile device Mi and the virtual mobile device Nj in the world coordinate system of the simulation environment are continuously updated. Since the scheduling apparatus 1 acquires the real-time states periodically uploaded by the real mobile devices Mi and the virtual mobile devices Nj in real time, the scheduling apparatus 1 can grasp the states of the virtual mobile devices Nj and the real mobile devices Mi in real time to perform scheduling control, thereby realizing an augmented reality display effect of scheduling the virtual mobile devices Nj and the real mobile devices Mi. The method is beneficial to visualization of the project, helps the demander and the implementer of the project to carry out clear and effective communication, and improves visual and effective performance test experience.
Preferably, the step of S210 scheduling the device 1 to load the scene map corresponding to the test site includes:
s211, dispatching equipment 1 to obtain the test requirement input by the user;
s212, the dispatching equipment 1 creates a corresponding operation test site according to the test requirement, and obtains a scene map corresponding to the operation test site; the operation test site comprises a real test site, or a real test site and a virtual test site; the real test site is used for the virtual mobile device Nj and/or the real mobile device Mi to run; the virtual test site is used for the virtual mobile device Nj to run.
Specifically, in this embodiment, the scheduling device 1 acquires an environment map of a real test site from a supplier or a network. The simulation device 2 creates and generates an environment map corresponding to the virtual test site through the Gazebo 7. The Gazebo 7 can establish a virtual scene, imitate the real world by adding an object library, for example, putting icons corresponding to obstacles such as a garbage can and a wall, and can also establish a 3D house on the basis of a design drawing by adding a 2D house design drawing through a Building Editor. In a word, an environment map corresponding to the virtual test site can be generated through the simulation device 2, and the corresponding object icons can be added to the environment map at will according to the test requirements of the user. Preferably, when the mobile device is shipped and displayed, the environment map corresponding to the virtual test site is generally created in advance according to the use scene of the mobile device. Therefore, a user (including a client or a worker) can call the environment map corresponding to the virtual test site quickly and conveniently according to the test requirement, the test efficiency of different use scenes is improved, and the test experience is improved.
Illustratively, an AGV manufacturer completes AGV production and popularizes and sells in an exhibition site, and performances and functions of AGV products of the AGV manufacturer are required to be displayed. If a customer needs to use an AGV to transport drugs in a hospital scene, a small number of real AGVs can be directly placed in an exhibition field without carrying the real AGVs to the hospital, and then an operation simulation program is loaded on an intelligent terminal 3 (a notebook, a mobile phone or a desktop computer of a test worker and the like) in the exhibition field (namely the real test field), so that a large number of virtual AGVs are generated. Then, an environment map corresponding to a virtual test site of the hospital is created and generated according to the test requirements of the customer through the simulation device 2 (a desktop computer or a notebook computer with a simulation function), the environment map corresponding to the virtual test site of the hospital comprises icon scenes of hospital articles such as a transfusion rod, an operating room and a medical waste recycling bin, and the simulation device 2 stores an environment map corresponding to a real test site, namely an exhibition site. Therefore, the operation test site consists of the real test site and the virtual test site, and the scene map corresponding to the operation test site can be obtained by integrating the environment map corresponding to the real test site and the environment map corresponding to the virtual test site for creating and generating the hospital. The scheduling device 1 generates a scheduling command according to the scene map, the virtual mobile device Nj and the real-time state of the real mobile device Mi, issues the scheduling command to the real mobile device Mi and/or the virtual mobile device Nj, performs scheduling control, and completes all job tasks.
Illustratively, a transportation robot manufacturer completes the production of the transportation robot and popularizes and sells the transportation robot in an exhibition site, and the test requirement shows the performance and the function of a transportation robot product of the transportation robot manufacturer to a client. If a customer needs to use a transport robot to transport bottled drinking water needed by meeting participants in an exhibition site, a large number of real transport robots do not need to be arranged in the exhibition site of a transport robot manufacturer, a small number of real transport robots are placed in the exhibition site of the transport robot manufacturer (namely the real test site of the invention), and then an operation simulation program is loaded by using an intelligent terminal 3 (a notebook, a mobile phone or a desktop computer of a test worker and the like) in the exhibition site of the transport robot manufacturer, so that a large number of virtual transport robots are generated. And the dispatching equipment 1 stores the environment map corresponding to the display field of the transport robot manufacturer, so that the display field of the transport robot manufacturer is the operation test field, and the operation test field is composed of a real test field, namely the environment map corresponding to the display field of the transport robot manufacturer. The scheduling device 1 generates a scheduling command according to the scene map, the virtual mobile device Nj and the real-time state of the real mobile device Mi, issues the scheduling command to the real mobile device Mi and/or the virtual mobile device Nj, performs scheduling control, and completes all job tasks.
Specifically, the scene map includes an environment map corresponding to the real test site or an environment map corresponding to both the real test site and the virtual test site, so that a world coordinate system can be established with a point designated by any one of the real test site or the virtual test site, that is, a preset reference point, as an origin. The real mobile device Mi and the virtual mobile device Nj are then marked with different icons, for example the real mobile device Mi uses a first icon and the virtual mobile device Nj uses a second icon. In this way, when the real mobile device Mi moves in the real test site, the real mobile device Mi can be fed back to the simulation equipment 2 in real time, so that the simulation equipment 2 displays the moving track of the first icon on the world coordinate system in real time through the simulation environment, and the moving track of the first icon can feed back the moving track of the real mobile device Mi in the real test site to the user. When the virtual mobile device Nj is in a virtual test site or a real test site for simulation movement, the movement trajectory of the second icon on the world coordinate system can be displayed in real time by the simulation equipment 2 through the simulation environment, and the movement trajectory of the virtual mobile device Nj in the virtual test site can be fed back to a user. The scheduling device 1 generates a scheduling command according to the scene map, the virtual mobile device Nj and the real-time state of the real mobile device Mi, issues the scheduling command to the real mobile device Mi and/or the virtual mobile device Nj, performs scheduling control, and during the process of completing all job tasks, the real mobile device Mi and the virtual mobile device Nj report the respective real-time state to the scheduling device 1 every other period and report the respective real-time state to the simulation device 2, so that the simulation device 2 updates the respective moving trajectory of each virtual mobile device Nj and the real mobile device Mi in the simulation environment, and can also schedule and control the real mobile device or the virtual mobile device through the scheduling device 1 in real time.
The virtual test site to be tested can be created at will, so that the scene map corresponding to the running test site is created according to the test requirement, a large amount of real mobile devices Mi do not need to be transported to different use scenes for deployment, the efforts of customers and workers do not need to be consumed to go to different use scenes for deployment, the deployment can be directly performed in any site, the test cost is low, convenience and rapidness are realized, the simplicity and practicability are realized, and the test experience is high.
Based on the foregoing embodiment, the S400 target device operating according to the scheduling command includes the steps of:
s410, when the real mobile device Mi receives the scheduling command, the real mobile device Mi moves according to the scheduling command, and the real state and the real-time electric quantity of the real mobile device Mi are obtained through detection of a motion sensor and electric quantity detection equipment which are arranged on the real mobile device Mi; sending the real-time state and real-time electric quantity of the real mobile device Mi to the dispatching equipment 1 and the simulation equipment 2, and sending the actual appearance of the real mobile device Mi to the simulation equipment 2;
s420, when the intelligent terminal 3 receives the scheduling command, the intelligent terminal 3 controls the virtual mobile device Nj to perform simulated movement according to the scheduling command, and calculates a real-time electric quantity of the virtual mobile device Nj according to the electric quantity consumption condition of the real mobile device Mi and the real-time state of the virtual mobile device Nj; the real-time state and the real-time electric quantity of the virtual mobile device Nj are sent to the dispatching equipment 1 and the simulation equipment 2 through a communication module of the intelligent terminal 3, and the set appearance of the virtual mobile device Nj is sent to the simulation equipment 2.
Specifically, the real mobile device Mi can respectively detect the real-time state and the real-time electric quantity through the motion sensor and the electric quantity detection device arranged on the real mobile device Mi, and then send a report to the scheduling device 1 through the real mobile device Mi. The virtual mobile device Nj may obtain the real-time state of the virtual mobile device Nj by the scheduling apparatus 1, and calculate the real-time position information of the virtual mobile device Nj according to the real-time position information in the real-time state of the virtual mobile device Nj to obtain the position information of the virtual mobile device Nj in the slave TkTime to Tk+1Distance of movement S within a momentNjObtaining the moving distance S of the real mobile device MiMiAnd its moving distance SMiThe consumed electric quantity E is calculated to obtain a unit electric quantity value Wo ═ E ÷ S consumed by the real mobile device Mi per a preset moving length (for example, 1m)Mi. The scheduling device 1 will then be able to calculate the distance of movement S from the calculated distance of movementNjCalculating to obtain the Nj of the virtual mobile device at TkTime to Tk+1Consumption electric quantity value W in timeNj＝E÷SMi×SNj. Then, according to the Nj at T according to the virtual mobile devicek-1Time to TkAnd calculating the consumed electric quantity value in the moment and the initial electric quantity. Computing virtual mobile Nj at TkReal-time power at a moment.
The overall control structure system framework is shown in fig. 4, and includes a plurality of virtual mobile devices Nj, real mobile devices Mi, and a scheduling device 1, where the virtual mobile devices Nj, the real mobile devices Mi, the simulation device 2, and the scheduling device 1 are connected through a communication platform to implement information interaction. The virtual mobile device Nj and the real mobile device Mi are connected with the scheduling device 1 and the simulation device 2 through communication platforms such as Ethernet (Ethernet), WIFI, bluetooth, 2G, 3G, 4G or 5G networks and the like.
The method comprises the steps that a real mobile device Mi is powered on and initialized, an intelligent terminal 3 is powered on and loads and runs an analog simulation program, initialization of a virtual mobile device Nj is started, and a scheduling device 1 and a simulation device 2 are powered on for initialization. After the real mobile device Mi, the intelligent terminal 3, the scheduling device 1 and the simulation device 2 are initialized, the whole system enters a working state. The scheduling apparatus 1 waits for receiving the real-time status of each real mobile device Mi and virtual mobile device Nj, and the scheduling apparatus 1 issues a scheduling command according to the real-time status. In the whole process, the real mobile device Mi reports its own real-time state to the scheduling device 1 and the simulation device 2 every other cycle, and the virtual mobile device Nj reports its own real-time state to the scheduling device 1 and the simulation device 2 every other cycle through the intelligent terminal 3. The simulation device 2 displays respective movement trajectories in the simulation scene according to the real-time state of the real mobile device Mi and the real-time state of the virtual mobile device Nj acquired in real time. After the test is completed for one time, the real mobile device Mi, the intelligent terminal 3 and the scheduling device 1 are offline to release respective memory resources and CPU resources, so that the next time the power-on test can be performed more quickly and efficiently, and the system stability and the test performance are improved.
The virtual mobile device Nj has no hardware part, and the virtual mobile device Nj runs in the intelligent terminal 3 such as a computer and a mobile phone. The intelligent terminal 3 is powered on and started, runs an analog simulation program, and generates a virtual mobile device Nj according to the analog simulation program. The simulation apparatus 2 initially sets the initial position, initial orientation, and initial velocity information of the virtual mobile device Nj in the simulation environment Gazebo 7. The intelligent terminal 3 reports the real-time state (including real-time position information, real-time orientation, real-time speed information and real-time electric quantity) of the virtual mobile device Nj through the state theme of the ROS. The intelligent terminal 3 receives the scheduling command of the scheduling device 1 by subscribing the ROS scheduling theme of the scheduling device 1, continuously updates the real-time electric quantity, the real-time position information and the real-time orientation during the moving process of the virtual mobile device Nj according to the scheduling command, and reports the real-time electric quantity, the real-time position information and the real-time orientation to the scheduling device 1 and the simulation device 2 at intervals of a time period. When a test is completed, the intelligent terminal 3 stops running the simulation program and releases resources occupied by the process.
The scheduling apparatus 1 is responsible for scheduling all real mobile devices Mi and virtual mobile devices Nj, the scheduling apparatus 1 subscribes to receive status reports of the real mobile devices Mi and the virtual mobile devices Nj, schedules jobs according to status information sent by all the mobile devices (the real mobile devices Mi and the virtual mobile devices Nj), and the scheduling apparatus 1 issues scheduling commands to all the mobile devices. All mobile devices are shown in the Gazebo 7 simulation environment of the simulation apparatus 2, and all mobile devices need to continuously update their positions in the Gazebo 7 simulation environment in the runtime phase. All mobile devices have corresponding model files for presenting the appearance, size and identity ID of the virtual mobile device Nj and the real mobile device Mi in a Gazebo 7 simulation environment. The display of the real mobile device Mi in the Gazebo 7 simulation environment is performed by the control program corresponding to the real mobile device Mi, and the control program is responsible for subscribing to the real-time location information of the real mobile device Mi, updating the location and orientation of the real mobile device Mi in the Gazebo 7 simulation environment. The exhibition of the virtual mobile device Nj in the Gazebo 7 simulation environment is performed by a control program corresponding to the virtual mobile device Nj, and the control program is responsible for subscribing the real-time position information of the virtual mobile device Nj, updating the real-time orientation, and updating the position and orientation of the virtual mobile device Nj in the Gazebo 7 simulation environment.
The scheduling device 1 performs task scheduling according to real-time motions corresponding to the real mobile device Mi and the virtual mobile device Nj to generate a new scheduling command, and issues the new scheduling command to the real mobile device Mi and/or the virtual mobile device Nj to complete all job tasks.
Preferably, in the Gazebo 7 simulation environment, the real-time speed information and the real-time power of the virtual mobile device Nj may be displayed near the second icon representing the virtual mobile device Nj, and the real-time speed information and the real-time power of the real mobile device Mi may be displayed near the first icon representing the real mobile device Mi. Like this, also can be convenient for the user directly to know fast and master the removal speed of each real mobile device Mi and virtual mobile device Nj to according to real-time electric quantity, real mobile device Mi and the virtual mobile device Nj that the quick in time control electric quantity is not enough go to fill electric pile department and charge, make the test scene more press close to the use scene that accords with reality, promoted greatly under the real mobile device Mi of the large quantity that the reality condition does not possess and the condition on the big place, low cost, verify feasibility and the stability of a large amount of mobile device directly perceived conveniently.
For example, 5 real AGVs, 30 square meters of real sites, 200 virtual AGVs, 2000 square meters of virtual sites are used to run the test together, the overall scene effect of the test system is shown in fig. 5, the real AGVs are rectangular, the virtual AGVs are triangular, the real AGVs Mi can only move in the real test sites 5, and the virtual AGVs Nj can move in the real test sites 5 and the virtual test sites 6. The real test site 5 and the virtual test site 6 can be drawn as a region of 1.2m by 1.2m squares using a Gazebo 7. The system can stably operate for more than one month, and the dispatching equipment 1 is verified to be capable of dispatching a large number of AGVs through the communication platform and stably and reliably operate. If the traditional simulation test method completely depending on software is used, the fact that the AGV dispatching system can stably and reliably dispatch when a real AGV runs cannot be proved; whereas, if a real AGV is used for authentication in its entirety, tens of millions of AGVs and a field of more than two thousand square meters are required. Therefore, the testing method can greatly reduce the cost and period of the verification of the AGV system, so that users (clients and workers) can quickly and conveniently verify the feasibility and stability of a large number of mobile devices visually, and clear and effective communication between a project demander and a project implementer is facilitated.
Another embodiment of the present invention, a test system, as shown in fig. 6, includes: the system comprises scheduling equipment 1, simulation equipment 2, a real mobile device Mi and an intelligent terminal 3 for generating a virtual mobile device Nj in a simulation mode; the dispatching equipment 1 comprises a first communication module 11, a first control module 12 and an information acquisition module 13; the real mobile device Mi comprises a second communication module 20 and a first execution module 30; the intelligent terminal 3 comprises a third communication module 31 and a second execution module 32; the simulation device 2 comprises a fourth communication module 21 and a first processing module 22;
the information acquisition module 13 is used for acquiring scheduling tasks;
the first control module 12 is connected with the information acquisition module 13 and used for generating a scheduling command according to the scheduling task;
the first communication module 11 is connected with the first control module 12, the second communication module 20 and the third communication module 31, and is used for issuing a scheduling command to the second communication module 20 and/or the third communication module 31;
the first execution module 30 is connected with the second communication module 20 and is used for operating according to the scheduling command;
a second executing module 32, connected to the third communication module 31, for controlling the virtual mobile apparatus Nj to operate according to the scheduling command;
the fourth communication module 21 is connected to the second communication module 20 and the third communication module 31, and configured to acquire real-time states of the real mobile device Mi and the virtual mobile device Nj;
and the first processing module 22 is connected to the fourth communication module 21, and configured to display respective movement trajectories augmented in the simulation environment after the initialization operation is completed according to the real-time status.
Preferably, the intelligent terminal 3 further includes: an operation module;
the operation module is used for loading and operating an analog simulation program and generating a plurality of virtual mobile devices Nj; setting the set appearance and the initial state of the virtual mobile device Nj by the simulation program according to the rule; the initial state comprises an identity ID, an initial motion state and an initial electric quantity; the initial motion state comprises an initial position, an initial orientation and an initial working state.
Preferably, the scheduling apparatus 1 further includes: a map acquisition module;
the information obtaining module 13 is further configured to obtain a first initial state of the virtual mobile device Nj, and obtain a second initial state of the real mobile device Mi; the first initial state is preset by adopting a rule; the second initial state is obtained from the real mobile device Mi;
the map acquisition module is used for loading a scene map corresponding to the test site;
the first control module 12 is connected to the map obtaining module, and is further configured to perform unified scheduling according to the scheduling task, the scene map, the virtual mobile device Nj, and the initial state of the real mobile device Mi, and generate a scheduling command.
Preferably, the method further comprises the following steps:
the fourth communication module 21 is further configured to obtain the actual shape and the first initial state of the real mobile device Mi from the second communication module 20, and obtain the set shape and the second initial state of the virtual mobile device Nj from the third communication module 31; the first initial state and the second initial state comprise an identity ID, an initial motion state and an initial electric quantity; the initial motion state comprises an initial position, an initial orientation and an initial working state;
the fourth communication module 21 is further configured to obtain a real-time status of the real mobile device Mi from the second communication module 20, and obtain a real-time status of the virtual mobile device Nj from the third communication module 31; the real-time state comprises an Identity (ID), a real-time motion state and real-time electric quantity; the real-time motion state comprises a real-time position, a real-time orientation and a real-time working state;
the first processing module 22 includes: an initialization unit and a simulation unit;
an initialization unit, configured to perform shape initialization and state initialization of the real mobile device Mi according to an actual shape and a first initial state of the real mobile device Mi, and perform shape initialization and state initialization of the virtual mobile device Nj according to a set shape and a second initial state of the virtual mobile device Nj, so that the virtual mobile device Nj and the real mobile device Mi are present in a simulation environment, and an initialization operation on the simulation environment is completed;
and the simulation unit is connected with the initialization unit and used for continuously enhancing, actually updating and displaying the real-time motion states of the virtual mobile device Nj and the real mobile device Mi in a simulation environment according to the real-time states of the virtual mobile device Nj and the real mobile device Mi.
Preferably, the simulation apparatus 2 further includes: starting a creating module;
the starting and establishing module is used for starting simulation software and establishing a world coordinate system with a preset reference point as an origin in a simulation environment;
the initialization unit is further used for initializing the shape of the real mobile device Mi through the first icon matched with the actual shape, searching the position and the orientation of the real mobile device Mi corresponding to the world coordinate system according to the identity ID of the real mobile device Mi and the corresponding first initial state of the real mobile device Mi, and completing the state initialization of the real mobile device Mi;
and the initialization unit is further configured to initialize the shape of the virtual mobile device Nj through the second icon matched with the set shape, and search a position and an orientation of the virtual mobile device Nj corresponding to the world coordinate system according to the identity ID of the virtual mobile device Nj and the corresponding second initial state of the virtual mobile device Nj, so as to complete state initialization of the virtual mobile device Nj.
Preferably, the method further comprises the following steps: the simulation unit is further used for continuously updating the position and the orientation of the first icon corresponding to the identity ID of the real mobile device Mi on the world coordinate system according to the real-time state of the real mobile device Mi so as to display the movement track of the real mobile device Mi in the simulation environment in an augmented reality manner;
and the simulation unit is further configured to continuously update the position and the orientation of the second icon corresponding to the identity ID of the virtual mobile device Nj on the world coordinate system according to the real-time state of the virtual mobile device Nj, so as to enhance and actually display the movement track of the virtual mobile device Nj in the simulation environment.
Preferably, the scheduling apparatus 1 further includes: an input module and a map creation module;
the input module is used for acquiring the test requirements input by the user;
the map creating module is connected with the input module and used for creating a corresponding operation test site according to the test requirement and acquiring a scene map corresponding to the operation test site; the operation test site comprises a real test site, or a real test site and a virtual test site; the real test site is used for the virtual mobile device Nj and/or the real mobile device Mi to run; the virtual test site is used for the virtual mobile device Nj to run.
Preferably, the real mobile device Mi is provided with a motion sensor for detecting and obtaining a real-time state of the real mobile device Mi, and an electric quantity detection device for detecting and obtaining a real-time electric quantity of the real mobile device Mi: the intelligent terminal 3 further includes: a calculation module and a storage module;
when the second communication module 20 receives the scheduling command, the first execution module 30 is further configured to move according to the scheduling command;
the second communication module 20 is further configured to send the real-time status and the real-time electric quantity of the real mobile device Mi to the first communication module 11 and the fourth communication module 21, and send the actual shape of the real mobile device Mi to the fourth communication module 21;
when the third communication module 31 receives the scheduling command, the second execution module 32 is further configured to control the virtual mobile apparatus Nj to perform simulated movement according to the scheduling command;
the storage module is used for storing historical electric quantity consumption data of the real mobile device Mi;
the calculating module is connected with the storage module and used for calculating the real-time electric quantity of the virtual mobile device Nj according to the historical electric quantity consumption data and the real-time state of the virtual mobile device Nj;
the third communication module 31 is further configured to send the real-time status and the real-time power of the virtual mobile device Nj to the first communication module 11 and the fourth communication module 21, and send the set shape of the virtual mobile device Nj to the fourth communication module 21.
Preferably, the method further comprises the following steps:
the first communication module 11 is further configured to obtain real-time states of the real mobile device Mi and the virtual mobile device Nj;
the first control module 12 is connected to the first communication module 11, performs task scheduling according to real-time motions corresponding to the real mobile device Mi and the virtual mobile device Nj to generate a new scheduling command, and controls the first communication module 11 to issue the new scheduling command to the second communication module 20 and/or the third communication module 31, so as to complete all job tasks.
Specifically, this embodiment is a system embodiment corresponding to the above method embodiment, and specific effects refer to the above method embodiment, which is not described in detail herein.
Another embodiment of the present invention, a test system, as shown in fig. 7, includes: the system comprises a control device 4, a real mobile device Mi and an intelligent terminal 3 for generating a virtual mobile device Nj in a simulation mode; the control device 4 comprises a fifth communication module 43, a second control module 42, a second information acquisition module 41 and a second processing module 44; the real mobile device Mi comprises a second communication module 20 and a first execution module 30; the intelligent terminal 3 comprises a third communication module 31 and a second execution module 32;
a second information obtaining module 41, configured to obtain a scheduling task;
the second control module 42 is connected with the second information acquisition module 41 and is used for generating a scheduling command according to the scheduling task;
the fifth communication module 43 is connected to the second control module 42, the second communication module 20 and the third communication module 31, and configured to issue a scheduling command to the second communication module 20 and/or the third communication module 31;
the first execution module 30 is connected with the second communication module 20 and is used for operating according to the scheduling command;
a second executing module 32, connected to the third communication module 31, for controlling the virtual mobile apparatus Nj to operate according to the scheduling command;
a fifth communication module 43, configured to obtain real-time states of the real mobile device Mi and the virtual mobile device Nj;
and the second processing module 44 is connected to the fifth communication module 43, and is configured to display respective movement trajectories in an augmented reality manner in the simulation environment after the initialization operation is completed according to the real-time state.
Specifically, in this embodiment, compared to the system embodiment, the control device 4 integrates the functions of the scheduling device 1 and the simulation device in the system embodiment, and the system embodiment separately locates scheduling and simulation on different devices, so that CPU consumption of the devices can be reduced, and the efficiency of scheduling control and the simulation rate are improved, thereby improving test efficiency and greatly increasing test experience of users. In the embodiment, the scheduling and the simulation are concentrated on one control device 4, so that the real-time state of the real mobile device Mi and the intelligent terminal 3 which need to be uploaded to the scheduling device 1 and the simulation device and reported to the control device 4 is reduced, the occupancy rate of the network resource bandwidth is reduced, and the communication efficiency is improved, so that the test efficiency is indirectly improved.
It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (17)

1. A method of testing, comprising the steps of:
the scheduling equipment acquires a scheduling task;
the scheduling equipment generates and issues a scheduling command to target equipment according to the scheduling task; the target equipment comprises any one or two of a real mobile device and an intelligent terminal; the virtual mobile device is generated by the simulation of the intelligent terminal;
the target equipment operates according to the scheduling command;
the target device running according to the scheduling command comprises the following steps:
when the real mobile device receives the scheduling command, the real mobile device moves according to the scheduling command, and a real-time state and a real-time electric quantity of the real mobile device are obtained through detection of a motion sensor and electric quantity detection equipment which are arranged on the real mobile device; sending the real-time state and the real-time electric quantity of the real mobile device to the dispatching equipment and the simulation equipment, and sending the actual appearance of the real mobile device to the simulation equipment;
when the intelligent terminal receives the scheduling command, the intelligent terminal controls the virtual mobile device to perform simulated movement according to the scheduling command, and calculates the real-time electric quantity of the virtual mobile device according to the electric quantity consumption condition of the real mobile device and the real-time state of the virtual mobile device; sending the real-time state and the real-time electric quantity of the virtual mobile device to the dispatching equipment and the simulation equipment through a communication module of the intelligent terminal, and sending the set appearance of the virtual mobile device to the simulation equipment;
the calculating the real-time electric quantity of the virtual mobile device according to the electric quantity consumption condition of the real mobile device and the real-time state of the virtual mobile device specifically includes:
the scheduling equipment acquires the real-time state of the virtual mobile device, and calculates the slave T according to the real-time position information in the real-time state of the virtual mobile devicekTime to Tk+1The moving distance within the moment is obtained, the moving distance of the real mobile device and the electric quantity consumed by the moving distance are obtained, and the unit electric quantity value consumed by the real mobile device for moving the preset length is calculated;
Wo=E÷SMi；
the scheduling device is based on the calculationCalculating the obtained moving distance to obtain the virtual moving device at TkTime to Tk+1A consumption electric quantity value within a time;
WNj=E÷SMi×SNj
the scheduling apparatus is based on the virtual mobile device being at Tk-1Time to TkCalculating the consumption electric quantity value in the moment and the initial electric quantity to obtain the T of the virtual mobile devicekReal-time electric quantity of time;
wo is a unit electric quantity value consumed by the real mobile device per a preset moving length, SMiThe moving distance of the real mobile device is E, the moving distance of the real mobile device is SMiThe amount of electricity consumed, SNjTo calculate the real-time position information of the virtual mobile device according to the real-time state of the virtual mobile devicekTime to Tk+1Distance of movement within a moment, WNjFor virtual mobile devices at TkTime to Tk+1A consumption electric quantity value within a time;
the simulation equipment acquires real-time states of the real mobile device and the virtual mobile device, and displays respective moving tracks in an augmented reality manner in a simulation environment after initialization operation is completed according to the real-time states;
the simulation environment comprises an operation test site, the operation test site comprises a real test site, or the real test site and a virtual test site.
2. The testing method according to claim 1, wherein the scheduling device comprises, before acquiring the scheduling task, the steps of:
the intelligent terminal loads and runs an analog simulation program to generate a plurality of virtual mobile devices; the simulation program sets the set appearance and the initial state of the virtual mobile device according to the rule; the initial state comprises an Identity (ID), an initial motion state and an initial electric quantity; the initial motion state comprises an initial position, an initial orientation and an initial working state.
3. The testing method of claim 2, wherein after the intelligent terminal loads and runs an analog simulation program to generate a plurality of virtual mobile devices, the step of generating and issuing a scheduling command to the target device by the scheduling device according to the scheduling task comprises:
the scheduling device obtains a first initial state of the virtual mobile device; the first initial state is set in advance by adopting rules;
the scheduling device obtains a second initial state of the real mobile device; the second initial state is obtained from the real mobile device;
the step that the scheduling equipment generates and transmits the scheduling command to the target equipment according to the scheduling task comprises the following steps:
the scheduling equipment loads a scene map corresponding to the test site;
and the scheduling equipment performs unified scheduling according to the initial states of the scheduling task, the scene map, the virtual mobile device and the real mobile device, generates the scheduling command and sends the scheduling command to the target equipment.
4. The testing method according to claim 3, wherein after the intelligent terminal loads and runs an analog simulation program and generates a plurality of virtual mobile devices, the step of generating and issuing a scheduling command to the target device by the scheduling device according to the scheduling task comprises:
the simulation equipment acquires the actual appearance and the first initial state of the real mobile device and acquires the set appearance and the second initial state of the virtual mobile device; the first initial state and the second initial state comprise an Identity (ID), an initial motion state and an initial electric quantity; the initial motion state comprises an initial position, an initial orientation and an initial working state;
the simulation equipment initializes the shape and the state of the real mobile device according to the actual shape and the first initial state of the real mobile device, and initializes the shape and the state of the virtual mobile device according to the set shape and the second initial state of the virtual mobile device, so that the virtual mobile device and the real mobile device are presented in a simulation environment, and the initialization operation of the simulation environment is completed;
the simulation equipment acquires the real-time states of the real mobile device and the virtual mobile device, and displays the respective movement tracks in an augmented reality manner in the simulation environment after the initialization operation is completed according to the real-time states, wherein the method comprises the following steps:
the simulation equipment acquires real-time states of the real mobile device and the virtual mobile device; the real-time state comprises an Identity (ID), a real-time motion state and real-time electric quantity; the real-time motion state comprises a real-time position, a real-time orientation and a real-time working state;
and continuously enhancing, actually updating and displaying the real-time motion states of the virtual mobile device and the real mobile device in the simulation environment by the simulation equipment according to the real-time states of the virtual mobile device and the real mobile device.
5. The testing method according to claim 4, wherein the simulation apparatus performs shape initialization and state initialization of the real mobile device according to an actual shape and a first initial state of the real mobile device, and performs shape initialization and state initialization of the virtual mobile device according to a set shape and a second initial state of the virtual mobile device, so that the virtual mobile device and the real mobile device are present in a simulation environment, and the initialization operation of the simulation environment is completed includes the steps of:
the simulation equipment starts simulation software and establishes a world coordinate system with a preset reference point as an origin in the simulation environment;
the simulation equipment initializes the shape of the real mobile device through a first icon matched with the actual shape, and searches the position and the orientation of the real mobile device corresponding to the world coordinate system according to the identity ID of the real mobile device and a first initial state corresponding to the identity ID, so as to complete the state initialization of the real mobile device;
and the simulation equipment initializes the appearance of the virtual mobile device through a second icon matched with the set appearance, and searches the position and the direction of the virtual mobile device corresponding to the world coordinate system according to the identity ID of the virtual mobile device and a second initial state corresponding to the identity ID, so as to complete the state initialization of the virtual mobile device.
6. The testing method of claim 5, wherein the step of continuously updating and displaying the real-time motion state of the virtual mobile device and the real mobile device in the simulation environment according to the real-time state of the virtual mobile device and the real mobile device by the simulation equipment comprises the steps of:
continuously updating the position and the orientation of a first icon corresponding to the identity ID of the real mobile device on the world coordinate system by the simulation equipment according to the real-time state of the real mobile device so as to display the moving track of the real mobile device in the simulation environment in an augmented reality manner;
and the simulation equipment continuously updates the position and the orientation of the second icon corresponding to the identity ID of the virtual mobile device on the world coordinate system according to the real-time state of the virtual mobile device so as to enhance and practically display the moving track of the virtual mobile device in the simulation environment.
7. The testing method of claim 6, wherein the step of loading the scene map corresponding to the testing site by the scheduling device comprises the steps of:
the scheduling equipment acquires a test requirement input by a user;
the dispatching equipment creates a corresponding operation test site according to the test requirement, and obtains a scene map corresponding to the operation test site; the operation test site comprises a real test site, or the real test site and a virtual test site; the real test site is used for the virtual mobile device and/or the real mobile device to run; the virtual test site is used for the virtual mobile device to run.
8. The test method according to any one of claims 1 to 7, further comprising the steps of:
and the scheduling equipment performs task scheduling according to the real-time motion corresponding to the real mobile device and the virtual mobile device to generate a new scheduling command, and issues the new scheduling command to the real mobile device and/or the virtual mobile device to complete all job tasks.
9. A test system, comprising: the system comprises scheduling equipment, simulation equipment, a real mobile device and an intelligent terminal for generating a virtual mobile device in a simulation mode; the scheduling device comprises a first communication module, a first control module and a first information acquisition module; the real mobile device comprises a second communication module and a first execution module; the intelligent terminal comprises a third communication module and a second execution module; the simulation equipment comprises a fourth communication module and a first processing module;
the first information acquisition module is used for acquiring a scheduling task;
the first control module is connected with the first information acquisition module and used for generating a scheduling command according to the scheduling task;
the first communication module is connected with the first control module, the second communication module and the third communication module, and is used for issuing a scheduling command to the second communication module and/or the third communication module;
the first execution module is connected with the second communication module and is used for running according to the scheduling command;
the second execution module is connected with the third communication module and is used for controlling the virtual mobile device to operate according to the scheduling command;
the fourth communication module is connected with the second communication module and the third communication module and is used for acquiring the real-time states of the real mobile device and the virtual mobile device;
the first processing module is connected with the fourth communication module and used for displaying respective movement tracks in an augmented reality manner in the simulation environment after the initialization operation is completed according to the real-time state;
the real mobile device is provided with a motion sensor for detecting and obtaining the real-time state of the real mobile device, and electric quantity detection equipment for detecting and obtaining the real-time electric quantity of the real mobile device: the intelligent terminal further comprises: a calculation module and a storage module;
when the second communication module receives the scheduling command, the first execution module is further used for moving according to the scheduling command;
the second communication module is further configured to send the real-time status and the real-time electric quantity of the real mobile device to the first communication module and the fourth communication module, and send an actual shape of the real mobile device to the fourth communication module;
when the third communication module receives the scheduling command, the second execution module is further configured to control the virtual mobile apparatus to perform simulated movement according to the scheduling command;
the storage module is used for storing historical electric quantity consumption data of a real mobile device;
the computing module is connected with the storage module and used for computing the real-time electric quantity of the virtual mobile device according to the historical electric quantity consumption data and the real-time state of the virtual mobile device;
the calculating the real-time electric quantity of the virtual mobile device according to the electric quantity consumption condition of the real mobile device and the real-time state of the virtual mobile device specifically includes:
the scheduling equipment acquires the real-time state of the virtual mobile device, and calculates the slave T according to the real-time position information in the real-time state of the virtual mobile devicekTime to Tk+1The moving distance within the moment is obtained, the moving distance of the real mobile device and the electric quantity consumed by the moving distance are obtained, and the preset length of each moving time of the real mobile device is calculatedThe amount of unit electricity consumed;
Wo=E÷SMi；
the dispatching equipment calculates the virtual mobile device at T according to the calculated moving distancekTime to Tk+1A consumption electric quantity value within a time;
WNj=E÷SMi×SNj
the scheduling apparatus is based on the virtual mobile device being at Tk-1Time to TkCalculating the consumption electric quantity value in the moment and the initial electric quantity to obtain the T of the virtual mobile devicekReal-time electric quantity of time;
wo is a unit electric quantity value consumed by the real mobile device per a preset moving length, SMiThe moving distance of the real mobile device is E, the moving distance of the real mobile device is SMiThe amount of electricity consumed, SNjTo calculate the real-time position information of the virtual mobile device according to the real-time state of the virtual mobile devicekTime to Tk+1Distance of movement within a moment, WNjFor virtual mobile devices at TkTime to Tk+1A consumption electric quantity value within a time;
the simulation equipment acquires real-time states of the real mobile device and the virtual mobile device, and displays respective moving tracks in an augmented reality manner in a simulation environment after initialization operation is completed according to the real-time states;
the third communication module is further configured to send the real-time status and the real-time electric quantity of the virtual mobile device to the first communication module and the fourth communication module, and send a set shape of the virtual mobile device to the fourth communication module;
the simulation environment comprises an operation test site, the operation test site comprises a real test site, or the real test site and a virtual test site.
10. The test system of claim 9, wherein the intelligent terminal further comprises: an operation module;
the operation module is used for loading and operating an analog simulation program to generate a plurality of virtual mobile devices; the simulation program sets the set appearance and the initial state of the virtual mobile device according to the rule; the initial state comprises an Identity (ID), an initial motion state and an initial electric quantity; the initial motion state comprises an initial position, an initial orientation and an initial working state.
11. The test system of claim 10, wherein the scheduling apparatus further comprises: a map acquisition module;
the first information acquisition module is further configured to acquire a first initial state of the virtual mobile device and acquire a second initial state of the real mobile device; the first initial state is set in advance by adopting rules; the second initial state is obtained from the real mobile device;
the map acquisition module is used for loading a scene map corresponding to the test site;
the first control module is connected with the map acquisition module and is further used for performing unified scheduling according to the scheduling tasks, the scene map, the virtual mobile device and the initial state of the real mobile device to generate the scheduling command.
12. The test system of claim 11, wherein:
the fourth communication module is further configured to obtain an actual shape and a first initial state of the real mobile device from the second communication module, and obtain a set shape and a second initial state of the virtual mobile device from the third communication module; the first initial state and the second initial state comprise an Identity (ID), an initial motion state and an initial electric quantity; the initial motion state comprises an initial position, an initial orientation and an initial working state;
the fourth communication module is further configured to obtain a real-time status of the real mobile device from the second communication module, and obtain a real-time status of the virtual mobile device from the third communication module; the real-time state comprises an Identity (ID), a real-time motion state and real-time electric quantity; the real-time motion state comprises a real-time position, a real-time orientation and a real-time working state;
the first processing module comprises: an initialization unit and a simulation unit;
the initialization unit is used for initializing the shape and the state of the real mobile device according to the actual shape and the first initial state of the real mobile device, and initializing the shape and the state of the virtual mobile device according to the set shape and the second initial state of the virtual mobile device, so that the virtual mobile device and the real mobile device are presented in a simulation environment, and the initialization operation of the simulation environment is completed;
the simulation unit is connected with the initialization unit and used for continuously enhancing, actually updating and displaying the real-time motion states of the virtual mobile device and the real mobile device in the simulation environment according to the real-time states of the virtual mobile device and the real mobile device.
13. The test system of claim 12, wherein the simulation device further comprises: starting a creating module;
the starting and establishing module is used for starting simulation software and establishing a world coordinate system with a preset reference point as an origin in the simulation environment;
the initialization unit is further configured to initialize the shape of the real mobile device through the first icon matched with the actual shape, and search a position and an orientation of the real mobile device corresponding to the world coordinate system according to the identity ID of the real mobile device and the first initial state corresponding to the identity ID, so as to complete state initialization of the real mobile device;
the initialization unit is further configured to initialize the shape of the virtual mobile device through the second icon matched with the set shape, and search a position and an orientation of the virtual mobile device corresponding to the world coordinate system according to the identity ID of the virtual mobile device and the second initial state corresponding to the identity ID, so as to complete state initialization of the virtual mobile device.
14. The test system of claim 13, wherein:
the simulation unit is further configured to continuously update the position and the orientation of the first icon corresponding to the identity ID of the real mobile device on the world coordinate system according to the real-time state of the real mobile device, so as to display the movement track of the real mobile device in the simulation environment in an augmented reality manner;
the simulation unit is further configured to continuously update the position and the orientation of the second icon corresponding to the identity ID of the virtual mobile device on the world coordinate system according to the real-time state of the virtual mobile device, so as to enhance the realistic display of the movement track of the virtual mobile device in the simulation environment.
15. The test system of claim 14, wherein the scheduling apparatus further comprises: an input module and a map creation module;
the input module is used for acquiring the test requirements input by the user;
the map creating module is connected with the input module and used for creating a corresponding operation test site according to the test requirement and acquiring a scene map corresponding to the operation test site; the operation test site comprises a real test site, or the real test site and a virtual test site; the real test site is used for the virtual mobile device and/or the real mobile device to run; the virtual test site is used for the virtual mobile device to run.
16. The test system according to any one of claims 9-15, wherein:
the first communication module is further configured to obtain real-time statuses of the real mobile device and the virtual mobile device;
the first control module is connected with the first communication module, performs task scheduling according to real-time motion corresponding to the real mobile device and the virtual mobile device to generate a new scheduling command, and controls the first communication module to issue the new scheduling command to the second communication module and/or the third communication module to complete all job tasks.
17. A test system, comprising: the system comprises control equipment, a real mobile device and an intelligent terminal for generating a virtual mobile device in a simulation mode; the control equipment comprises a fifth communication module, a second control module, a second information acquisition module and a second processing module; the real mobile device comprises a second communication module and a first execution module; the intelligent terminal comprises a third communication module and a second execution module;
the second information acquisition module is used for acquiring a scheduling task;
the second control module is connected with the second information acquisition module and used for generating a scheduling command according to the scheduling task;
the fifth communication module is connected with the second control module, the second communication module and the third communication module, and is used for issuing a scheduling command to the second communication module and/or the third communication module;
the first execution module is connected with the second communication module and is used for running according to the scheduling command;
the second execution module is connected with the third communication module and is used for controlling the virtual mobile device to operate according to the scheduling command;
the fifth communication module is further configured to obtain real-time states of the real mobile device and the virtual mobile device;
the second processing module is connected with the fifth communication module and used for displaying respective movement tracks in an augmented reality manner in the simulation environment after the initialization operation is completed according to the real-time state;
when the real mobile device receives the scheduling command, the real mobile device moves according to the scheduling command, and a real-time state and a real-time electric quantity of the real mobile device are obtained through detection of a motion sensor and electric quantity detection equipment which are arranged on the real mobile device; sending the real-time state and the real-time electric quantity of the real mobile device to the control equipment, and sending the actual appearance of the real mobile device to the control equipment;
when the intelligent terminal receives the scheduling command, the intelligent terminal controls the virtual mobile device to perform simulated movement according to the scheduling command, and calculates the real-time electric quantity of the virtual mobile device according to the electric quantity consumption condition of the real mobile device and the real-time state of the virtual mobile device; sending the real-time state and the real-time electric quantity of the virtual mobile device to the control equipment through a communication module of the intelligent terminal, and sending the set appearance of the virtual mobile device to the control equipment;
the calculating the real-time electric quantity of the virtual mobile device according to the electric quantity consumption condition of the real mobile device and the real-time state of the virtual mobile device specifically includes:
the control equipment acquires the real-time state of the virtual mobile device, and calculates the slave T according to the real-time position information in the real-time state of the virtual mobile devicekTime to Tk+1The moving distance within the moment is obtained, the moving distance of the real mobile device and the electric quantity consumed by the moving distance are obtained, and the unit electric quantity value consumed by the real mobile device for moving the preset length is calculated;
Wo=E÷SMi；
the control equipment calculates the virtual mobile device at T according to the calculated moving distancekTime to Tk+1A consumption electric quantity value within a time;
WNj=E÷SMi×SNj
the control device is at T according to the virtual mobile devicek-1Time to TkCalculating the consumption electric quantity value in the moment and the initial electric quantity to obtain the T of the virtual mobile devicekReal-time electric quantity of time;
wo is a unit electric quantity value consumed by the real mobile device per a preset moving length, SMiThe moving distance of the real mobile device is E, the moving distance of the real mobile device is SMiThe amount of electricity consumed, SNjTo calculate the real-time position information of the virtual mobile device according to the real-time state of the virtual mobile devicekTime to Tk+1Distance of movement within a moment, WNjFor virtual mobile devices at TkTime to Tk+1A consumption electric quantity value within a time;
the control equipment acquires real-time states of the real mobile device and the virtual mobile device, and displays respective moving tracks in an augmented reality manner in a simulation environment after initialization operation is completed according to the real-time states;
the simulation environment comprises an operation test site, the operation test site comprises a real test site, or the real test site and a virtual test site.
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