CN114217594A - Method, device, medium and equipment for testing robot scheduling system - Google Patents
Method, device, medium and equipment for testing robot scheduling system Download PDFInfo
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Abstract
The invention provides a method, a device, a medium and equipment for testing a robot scheduling system, wherein the method comprises the following steps: creating a plurality of virtual robots based on historical movement data of the physical robot in the target site; creating a test task event for the virtual robot according to the task flow file of the entity robot; executing a test task event by using a virtual robot, and obtaining a current moving event corresponding to each point of a current running track of the virtual robot; testing the robot scheduling system based on the current running track and the current moving event; therefore, compared with the method that in the prior art, a plurality of entity robot devices need to be placed in a target place, an actual test environment is arranged, and hardware devices are debugged continuously for testing, the method for testing the scheduling strategy of the robot task scheduling system by using the virtual robots can save a complex test flow and does not need to debug the hardware devices fussy, and further the test efficiency can be improved.
Description
Technical Field
The invention relates to the technical field of robot scheduling test, in particular to a method, a device, a medium and equipment for testing a robot scheduling system.
Background
At present, in more and more scenes, a robot is used to complete some automatic and semi-automatic distribution tasks, and then a corresponding robot platform has a task scheduling system to arrange and plan the tasks and executions of all robot devices in each place in real time.
As the number of robots at each site increases, the requirements for the corresponding task scheduling system also increase, and therefore, the robot task scheduling system must be tested in the development stage before a plurality of robots are put into each site.
In the related art, a plurality of robot devices are required to be configured at corresponding places to test the task scheduling system, the method for testing by using pure hardware devices has high requirements on scheduling environment, and the whole testing process is complicated, so that the testing efficiency is very low.
Disclosure of Invention
Aiming at the problems in the prior art, the embodiment of the invention provides a method, a device, a medium and equipment for testing a robot scheduling system, which are used for solving the technical problem of low testing efficiency caused by complex testing process when the robot task scheduling system is tested in the prior art.
In a first aspect of the present invention, a method for testing a robot scheduling system is provided, the method comprising:
creating a plurality of virtual robots based on historical movement data of the physical robot in the target site;
creating a test task event for the virtual robot according to the task flow file of the entity robot;
executing the test task event by using the virtual robot, and obtaining the current running track of the virtual robot and the current movement event corresponding to each point reported by the virtual robot;
and testing the robot scheduling system based on the current running track and the current moving event.
In the foregoing solution, the creating a plurality of virtual robots based on historical movement data of the physical robot in the target location includes:
creating a plurality of robot shadow sub-tags for the physical robot;
and importing the map configuration data of the entity robot in the target location, the historical movement data of the entity robot in the target location and the equipment attribute information of the entity robot under each robot shadow tag to form a plurality of virtual robots.
In the foregoing solution, after creating a test task event for the virtual robot according to the task flow file of the entity robot, the method further includes:
analyzing a map configuration file of the entity robot in the target place to obtain point location coordinate information and obstacle information of the entity robot;
and planning a moving path between any two point locations for the virtual robot in a map of a target location by using a path planning algorithm based on the point location coordinate information of the entity robot and the obstacle information, and storing the moving path between any two point locations into a path planning set.
In the above scheme, obtaining the current running track of the virtual robot includes:
determining the frequency of reporting position information by the virtual robot;
and simulating the current running track of the virtual robot according to the frequency of the reported position information.
In the foregoing solution, the testing the robot scheduling system based on the current operation trajectory and the current movement event includes:
if the current running track is consistent with a preset planning moving path; alternatively, the first and second electrodes may be,
and if the current mobile events reported at all the point positions are determined to be successfully executed, determining that the test result of the robot task scheduling system meets the scheduling requirement.
In the foregoing solution, the testing the robot scheduling system based on the current operation trajectory and the current movement event includes:
when the current mobile event reported at any point position is received as execution failure, judging whether the subsequent scheduling strategy of the robot scheduling system for the virtual robot is consistent with a preset scheduling strategy or not;
and if so, determining that the test result of the robot task scheduling system meets the scheduling requirement.
In a second aspect of the present invention, there is provided an apparatus for testing a robot task scheduling system, the apparatus comprising:
a creating unit for creating a plurality of virtual robots based on historical movement data of the physical robot in the target site; creating a test task event for the virtual robot according to the task flow file of the entity robot;
the acquisition unit is used for executing the test task event by using the virtual robot and acquiring the current running track of the virtual robot and the current movement event corresponding to each point reported by the virtual robot;
and the test unit is used for testing the robot scheduling system based on the current running track and the current moving event.
In the foregoing solution, the creating unit is specifically configured to:
creating a plurality of robot shadow sub-tags for the physical robot;
and importing the map configuration data of the entity robot in the target location, the historical movement data of the entity robot in the target location and the equipment attribute information of the entity robot under each robot shadow tag to form a plurality of virtual robots.
In a third aspect of the invention, a computer-readable storage medium is provided, on which a computer program is stored which, when being executed by a processor, carries out the method of any one of the first aspect.
In a fourth aspect of the invention, there is provided a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method of any one of the first aspect when executing the program.
The invention provides a method, a device, a medium and equipment for testing a robot scheduling system, wherein the method comprises the following steps: creating a plurality of virtual robots based on historical movement data of the physical robot in the target site; creating a test task event for the virtual robot according to the task flow file of the entity robot; executing the test task event by using the virtual robot, and obtaining the current running track of the virtual robot and the current movement event corresponding to each point reported by the virtual robot; testing the robot scheduling system based on the current running track and the current moving event; therefore, compared with the method that in the prior art, a plurality of entity robot devices need to be placed in a target place, an actual test environment is arranged, and hardware devices need to be debugged continuously to complete testing, a plurality of virtual robots are created according to historical movement data in the target place of the entity robots, test task events are created for the virtual robots, and a method that the virtual robots are used for testing the scheduling strategies of the robot task scheduling system can save complex test procedures and does not need to debug the hardware devices complexly, and therefore testing efficiency can be improved.
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Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a schematic flowchart of a method for testing a robot scheduling system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an apparatus for testing a robot scheduling system according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a computer device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The embodiment provides a method for testing a robot scheduling system, as shown in fig. 1, the method includes:
s110, creating a plurality of virtual robots based on historical movement data of the entity robot in a target place;
in different places, the map configuration information corresponding to the physical robot is different, so that for any target place, a plurality of virtual robots are created based on the historical movement data of the physical robot configured under the target place. Therefore, when the performance test is carried out on the robot dispatching system, the test can be finished without arranging corresponding entity robot equipment in a target place.
For example, the target location is a hall of an office building, an entity robot a exists in the hall of the office building, and if more robot devices are to be configured in the hall of the office building, a test needs to be performed on a robot scheduling policy of the hall of the office building before the entity robot devices are determined to be released. And the present embodiment may create a plurality of virtual robots based on the historical movement data of the physical robot a in the office hall.
In one embodiment, creating a plurality of virtual robots based on historical movement data of a physical robot in a target site includes:
creating a plurality of robot shadow sub-labels for the entity robot;
and importing the map configuration data of the entity robot in the target location and the historical movement data of the entity robot in the target location under each robot shadow label to form a plurality of virtual robots.
Here, the robot shadow tag may be understood as a robot simulation mark. Specifically, after the map configuration data of the entity robot in the target location, the historical movement data of the entity robot in the target location, and the device attribute information are copied to the configuration file corresponding to the robot shadow tag, it is considered that a virtual robot is formed. Wherein the device attribute information may include: the type of device.
After the virtual robot is created, the virtual robot is arranged in a virtual scheduling server of a robot scheduling system, corresponding virtual marks and numbers are added to the virtual robot, and the number of each virtual robot is unique, so that the robot can be identified as the virtual robot or the physical robot according to the virtual marks in the following process.
S111, creating a test task event for the virtual robot according to the task flow file of the entity robot;
in practical application, various tasks are created for the entity robot in a target place, and after the entity robot executes the tasks, corresponding task stream files are generated.
Continuing with the above example of the physical robot, for example, the task created for the physical robot a is to send a file for the user in the seventh floor; the corresponding task stream file should be: the entity robot A forwards to the elevator to reach an elevator of a floor 1, enters the elevator of the floor 1, arrives at the elevator of the floor 7, goes out of the elevator of the floor 7, arrives at a door of a room of a user of the floor 7, dials a telephone number of the user, confirms that the user receives a file, arrives at an elevator entrance of the floor 7, enters the elevator of the floor 7, arrives at the elevator of the floor 1, goes out of the elevator of the floor 1 and returns to an initial position.
When a test task event is created for the virtual robot, the test task event can be created according to the task stream file, so that the virtual robot can simulate the physical robot to execute a corresponding task.
Such as: the physical robot A forwards the elevator to reach the elevator of the 1 st floor to be a test task event, and the physical robot A enters the elevator of the 1 st floor from the elevator door of the 1 st floor to be a test task event and the like.
During specific testing, task events can be directly issued for the entity robot through the corresponding communication interface; however, since the virtual robot does not have a corresponding communication interface, when the virtual robot issues the test task event, the test task event can be directly issued to the virtual scheduling server in a test request manner. The test request comprises a test task event, a virtual robot number for executing the test task event, a task type corresponding to the test task event and an execution parameter required by the task type. The task types may include: move, return the charging post, and so on.
For example, when the task type is move, the corresponding execution parameters may include: the location of the origin and destination.
And the virtual scheduling server determines the virtual machine which needs to execute the test task event based on the virtual robot number in the test request, and sends the test task event to the virtual robot.
In this embodiment, after a test task event is created for the virtual robot according to the task flow file of the physical robot, a movement path corresponding to the test task event needs to be planned for the virtual robot.
Then in one embodiment, after creating the test task event for the virtual robot according to the task flow file of the physical robot, the method further comprises:
analyzing a map configuration file of the entity robot in a target place to obtain point location coordinate information and obstacle information of the entity robot;
based on the point location coordinate information and the obstacle information of the entity robot, a path planning algorithm is utilized to plan a moving path between any two point locations for the virtual robot in a map of a target location, and the moving path between any two point locations is stored into a path planning set.
The point positions described in this embodiment can be understood as positions that the robot needs to reach. Continuing with the example that the task created by the physical robot a is to file the user in the seventh floor, in the moving path, the point locations may include: the initial position, the position outside the door of the elevator of the building 1, the position inside the elevator of the building 1, the position outside the door of the elevator of the building 7, the position inside the door of the user room of the building 7 and the like.
Therefore, after the moving path between any two point positions is planned, the whole moving path corresponding to the test task event can be planned.
S112, executing the test task event by using the virtual robot, and obtaining the current running track of the virtual robot and the current movement event corresponding to each point reported by the virtual robot;
and when the virtual robot receives the test task event, the virtual robot can execute the test task event. In the execution process, the current running track of the virtual robot and the current moving event corresponding to each point reported by the virtual robot can be obtained.
In one embodiment, obtaining a current trajectory of a virtual robot comprises:
determining the frequency of position information reported by the virtual robot;
and simulating the current running track of the virtual robot according to the frequency of the reported position information and the corresponding position information.
In this embodiment, the frequency of reporting the location information by the virtual robot may be consistent with the frequency of reporting the location information by the physical robot, and the frequency of reporting the location information by the virtual robot may also be higher than the frequency of reporting the location information by the physical robot, for example, may be set to be n times of the frequency of reporting the location information by the physical robot.
For example, if the physical robot spends 5 minutes from point B to point C, and the frequency of reporting the location information is determined to be 1s once according to the record of the running track reported by the physical robot, the frequency of reporting the location information by the virtual robot may also be 1s once, or certainly may be 2s once, which is not limited herein.
And then simulating the front running track according to the reported position information and the frequency of reporting the position information.
Meanwhile, when the virtual robot reaches each point location, the current movement event corresponding to each point location is reported;
for example, assuming that the elevator entrance of floor 1 is point B, when the virtual robot arrives at the elevator entrance of floor 1, the reported current movement event is that the arrival at point B is successful; assuming that the interior of the elevator of the floor 1 is the point C, when the virtual robot reaches the interior of the elevator of the floor 1, the reported current movement event is successful in reaching the point C.
And S113, testing the robot scheduling system based on the current running track and the current moving event.
When the current running track and the current moving event of the virtual robot are obtained, the robot scheduling system can be tested based on the current running track and the current moving event.
In one embodiment, the robot scheduling system is tested based on the current operation track and the current movement event, and the method comprises the following steps:
if the current running track is consistent with the preset planning moving path; alternatively, the first and second electrodes may be,
and if the current mobile events reported at all the point positions are determined to be successfully executed, determining that the test result of the robot task scheduling system meets the scheduling requirement.
In this embodiment, if the current running track of the virtual robot is consistent with the moving path corresponding to the test task event, it is indicated that the scheduling performance of the robot task scheduling system is satisfactory; and if the reported current mobile events are successfully executed after the virtual robot reaches each point, the scheduling performance of the robot task scheduling system can be determined to meet the requirements.
In one embodiment, the robot scheduling system is tested based on the current operation track and the current movement event, and the method comprises the following steps:
when the current mobile event reported at any point position is received as execution failure, judging whether the subsequent scheduling strategy of the robot scheduling system for the virtual robot is consistent with a preset scheduling strategy or not;
and if so, determining that the test result of the robot task scheduling system meets the scheduling requirement.
In this embodiment, when a point location is located, a situation of execution failure may also occur, for example, the elevator cannot enter a floor 1 elevator, and the current movement event reported at the point location is execution failure. Under the abnormal condition, the subsequent scheduling strategy of the robot task scheduling system can be continuously tested.
For example, if the virtual robot subsequently executes an action of exiting and adjusting and then reentering the elevator of the floor 1, it is indicated that the test result of the robot task scheduling system meets the scheduling requirement. And if the virtual robot does not execute any action later, the test result of the robot task scheduling system is not in accordance with the scheduling requirement. Then the developer is required to continue debugging the scheduling policy code of the robot task scheduling system.
Compared with the method for testing the robot scheduling system in the prior art, in the method for testing the robot scheduling system, which is provided by the embodiment, the method needs to place a plurality of entity robot devices in a target site, arrange an actual testing environment and continuously debug hardware devices to complete testing, a plurality of virtual robots are created according to historical mobile data in the target site of the entity robot, test task events are created for the virtual robots, and a complex testing process can be omitted by using the virtual robots to test the scheduling strategy of the robot task scheduling system, and complex debugging of the hardware devices is not needed, so that the testing efficiency can be improved.
Based on the same inventive concept, an embodiment of the present invention further provides a device for testing a robot scheduling system, as shown in fig. 2, the device includes:
a creating unit 21 for creating a plurality of virtual robots based on historical movement data of the physical robot in the target site; creating a test task event for the virtual robot according to the task flow file of the entity robot;
an obtaining unit 22, configured to execute the test task event by using the virtual robot, and obtain a current running track of the virtual robot and a current movement event corresponding to each point reported by the virtual robot;
and the test unit 23 is configured to test the robot scheduling system based on the current running track and the current movement event.
In an embodiment, the creating unit 21 is specifically configured to:
creating a plurality of robot shadow sub-tags for the physical robot;
and importing the map configuration data of the entity robot in the target location, the historical movement data of the entity robot in the target location and the equipment attribute information of the entity robot under each robot shadow tag to form a plurality of virtual robots.
The device may be a computer, a server, or other equipment having a computing or storage function. The device may be a stand-alone server, and is not limited herein.
Since the apparatus described in the embodiment of the present invention is an apparatus used for implementing the method in the embodiment of the present invention, a person skilled in the art can understand the specific structure and the deformation of the apparatus based on the method described in the embodiment of the present invention, and thus the detailed description is omitted here. All devices adopted by the method of the embodiment of the invention belong to the protection scope of the invention.
Based on the same inventive concept, the present embodiment further provides a computer apparatus 300, as shown in fig. 3, including a memory 310, a processor 320, and a computer program 311 stored on the memory 310 and operable on the processor 320, wherein the processor 320 executes the computer program 311 to implement the following steps:
creating a plurality of virtual robots based on historical movement data of the physical robot in the target site;
creating a test task event for the virtual robot according to the task flow file of the entity robot;
executing the test task event by using the virtual robot, and obtaining the current running track of the virtual robot and the current movement event corresponding to each point reported by the virtual robot;
and testing the robot scheduling system based on the current running track and the current moving event. In particular embodiments, any of the foregoing embodiments may be implemented when processor 320 executes computer program 311.
Since the computer device described in this embodiment is a device used for implementing the method for testing the robot scheduling system according to the embodiment of the present application, a person skilled in the art can understand a specific implementation manner of the computer device of this embodiment and various variations thereof based on the methods described in the foregoing embodiments of the present application, and therefore, how to implement the method in the embodiment of the present application by the server is not described in detail herein. The equipment used by those skilled in the art to implement the methods in the embodiments of the present application is within the scope of the present application.
Based on the same inventive concept, the present embodiment also provides a computer-readable storage medium 400, as shown in fig. 4, on which a computer program 411 is stored, and the computer program 411 implements the following steps when being executed by a processor:
creating a plurality of virtual robots based on historical movement data of the physical robot in the target site;
creating a test task event for the virtual robot according to the task flow file of the entity robot;
executing the test task event by using the virtual robot, and obtaining the current running track of the virtual robot and the current movement event corresponding to each point reported by the virtual robot;
and testing the robot scheduling system based on the current running track and the current moving event. In a specific implementation, the computer program 411 may implement any of the foregoing embodiments when executed by a processor.
The method, the device, the medium and the equipment for testing the robot scheduling system provided by the invention have the beneficial effects that at least:
the invention provides a method, a device, a medium and equipment for testing a robot scheduling system, wherein the method comprises the following steps: creating a plurality of virtual robots based on historical movement data of the physical robot in the target site; creating a test task event for the virtual robot according to the task flow file of the entity robot; executing the test task event by using the virtual robot, and obtaining the current running track of the virtual robot and the current movement event corresponding to each point reported by the virtual robot; testing the robot scheduling system based on the current running track and the current moving event; therefore, compared with the method that in the prior art, a plurality of entity robot devices need to be placed in a target place, an actual test environment is arranged, and hardware devices need to be debugged continuously to complete testing, a plurality of virtual robots are created according to historical movement data in the target place of the entity robots, test task events are created for the virtual robots, and a method that the virtual robots are used for testing the scheduling strategies of the robot task scheduling system can save complex test procedures and does not need to debug the hardware devices complexly, and therefore testing efficiency can be improved.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, and any modifications, equivalents, improvements, etc. that are within the spirit and principle of the present invention should be included in the present invention.
Claims (10)
1. A method of testing a robot scheduling system, the method comprising:
creating a plurality of virtual robots based on historical movement data of the physical robot in the target site;
creating a test task event for the virtual robot according to the task flow file of the entity robot;
executing the test task event by using the virtual robot, and obtaining the current running track of the virtual robot and the current movement event corresponding to each point reported by the virtual robot;
and testing the robot scheduling system based on the current running track and the current moving event.
2. The method of claim 1, wherein creating a plurality of virtual robots based on historical movement data of physical robots in a target site comprises:
creating a plurality of robot shadow sub-tags for the physical robot;
and importing the map configuration data of the entity robot in the target location, the historical movement data of the entity robot in the target location and the equipment attribute information of the entity robot under each robot shadow tag to form a plurality of virtual robots.
3. The method of claim 1, wherein after creating a test task event for the virtual robot from the task flow file of the physical robot, the method further comprises:
analyzing a map configuration file of the entity robot in the target place to obtain point location coordinate information and obstacle information of the entity robot;
and planning a moving path between any two point locations for the virtual robot in a map of a target location by using a path planning algorithm based on the point location coordinate information of the entity robot and the obstacle information, and storing the moving path between any two point locations into a path planning set.
4. The method of claim 1, wherein obtaining the current trajectory of the virtual robot comprises:
determining the frequency of reporting position information by the virtual robot;
and simulating the current running track of the virtual robot according to the frequency of the reported position information and the corresponding position information.
5. The method of claim 1, wherein said testing a robot scheduling system based on said current trajectory and said current movement event comprises:
if the current running track is consistent with a preset planning moving path; alternatively, the first and second electrodes may be,
and if the current mobile events reported at all the point positions are determined to be successfully executed, determining that the test result of the robot task scheduling system meets the scheduling requirement.
6. The method of claim 1, wherein said testing a robot scheduling system based on said current trajectory and said current movement event comprises:
when the current mobile event reported at any point position is received as execution failure, judging whether the subsequent scheduling strategy of the robot scheduling system for the virtual robot is consistent with a preset scheduling strategy or not;
and if so, determining that the test result of the robot task scheduling system meets the scheduling requirement.
7. An apparatus for testing a robotic task scheduling system, the apparatus comprising:
a creating unit for creating a plurality of virtual robots based on historical movement data of the physical robot in the target site; creating a test task event for the virtual robot according to the task flow file of the entity robot;
the acquisition unit is used for executing the test task event by using the virtual robot and acquiring the current running track of the virtual robot and the current movement event corresponding to each point reported by the virtual robot;
and the test unit is used for testing the robot scheduling system based on the current running track and the current moving event.
8. The apparatus as claimed in claim 7, wherein said creating unit is specifically configured to:
creating a plurality of robot shadow sub-tags for the physical robot;
and importing the map configuration data of the entity robot in the target location, the historical movement data of the entity robot in the target location and the equipment attribute information of the entity robot under each robot shadow tag to form a plurality of virtual robots.
9. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out the method of any one of claims 1 to 6.
10. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method of any of claims 1 to 6 when executing the program.
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