CN110853176B - Visualization method of robot operation data, electronic equipment and storage medium - Google Patents
Visualization method of robot operation data, electronic equipment and storage medium Download PDFInfo
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- CN110853176B CN110853176B CN201911084309.2A CN201911084309A CN110853176B CN 110853176 B CN110853176 B CN 110853176B CN 201911084309 A CN201911084309 A CN 201911084309A CN 110853176 B CN110853176 B CN 110853176B
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Abstract
The invention discloses a visualization method of robot running data, an electronic device and a storage medium, which are used for acquiring state information of a robot and determining position information of the robot in a map at the current acquisition moment; digitizing the state information to obtain a state information value, and mapping the state information value to a corresponding color value; and drawing the target visual object according to the color value and the position information of the current acquisition moment. The invention processes the state information in a numeralization way, maps the state information numerical value into the corresponding color value, has small calculation amount and simple and effective calculation process. When the robot is in different states, different colors are displayed, and the display effect is more visual. By adopting the method, the long-term operation data of the robot is visually presented, and the fault diagnosis and operation analysis of the robot are facilitated.
Description
Technical Field
The invention relates to the field of mobile robots, in particular to a visualization method of robot running data, electronic equipment and a storage medium.
Background
With the development of science and technology, mobile robots are gradually applied to industries such as automatic transportation, unmanned driving, storage and logistics. The robot can navigate, position and drive only by a map, and the robot can position only by the map when moving autonomously. And when the robot moves autonomously, the data on the map are matched according to the current sensing observation, so that the positioning is realized.
In the long-term operation process of the mobile robot, constantly changing external environmental challenges such as dynamic pedestrians, vehicles, temporarily stacked goods, local reconstruction and shielding of buildings and the like are faced. The accumulation of these external environmental changes results in a gradual mismatch of the mobile robot's sensory observations with the map, i.e., a degradation of the localization quality. When the positioning quality is reduced to a certain degree, positioning errors of the robot can be caused, so that the problems of abnormal operation, line deviation, collision and the like are caused, and the personal safety of surrounding pedestrians is threatened. On the other hand, a mobile robot operating for a long time also faces the problems of WIFI signal fluctuation, hardware failure, local area ground slipping and the like, which are often related to the field environment, but are difficult to find before operation and even appear only after stable operation for a long time.
The most recent technology in the prior art is to analyze a script related to event logic in advance, generate an event monitoring program according to the event logic, obtain operation data of a robot, and operate the event monitoring program according to the operation data of the robot to obtain an event monitoring result. But no aggregate analysis and presentation of the monitoring results is achieved.
The existing method for acquiring the diagnostic tool for monitoring and alarming of the robot has low identifiability, and if the process of analyzing the operation data is more complicated, the diagnostic result of monitoring and alarming cannot be intuitively presented and displayed.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a visualization method, an electronic device and a storage medium for robot operation data of a diagnosis tool, which can monitor and alarm for a long time.
In order to achieve the purpose, the technical scheme of the invention is as follows:
the invention discloses a visualization method of robot running data, which comprises the steps of acquiring state information of a robot, and determining position information of the robot in a map at the current acquisition moment; digitizing the state information to obtain a state information value, and mapping the state information value to a corresponding color value; and drawing the target visual object according to the color value and the position information of the current acquisition moment.
As a further improvement, the state information is continuously acquired within a preset time period, the target visual object of each state information is drawn, the drawn target visual objects within the preset time period are overlaid, the target visual objects and the moving track images thereof are obtained, and the running state diagram is generated.
As a further improvement, the status information of the present invention includes one or more kinds of key status information.
As a further improvement, the key status information of the present invention includes at least one of the number of switches and the number of values;
the switching value is used for representing the switching or success or failure state of the task executed at the current acquisition moment;
the numerical quantity is used for representing at least one of the four states of the positioning matching degree, the transmission signal strength, the current position staying time and the abnormal degree.
As a further improvement, the invention responds to a selection instruction of a user, selects one or more key state information in the state information, and enables the target visual object corresponding to the selected key state information to be switched between a displayable state or a hidden state.
As a further improvement, after the step of performing the numerical processing on the state information, the method further includes: and carrying out normalization processing on the state information value to enable the state information value to be in a range of 0-1.
As a further improvement, the step of mapping the state information value to a corresponding color value according to the present invention comprises: carrying out RGB color space mapping on the numerical value after the normalization processing to enable the numerical value color to be visualized; the step of drawing the target visual object comprises the following steps: and determining a central point to draw a geometric figure according to the position information of the current acquisition time, and filling the color value of the current acquisition time in the geometric figure.
As a further improvement, the step of mapping the state information value to the corresponding color value further comprises: filtering the color values, the filtering step comprising: and determining the transparency alpha, and superposing and rendering the transparency alpha based on the color value acquired at the current moment.
The invention also discloses an electronic device, comprising a processor; and a memory arranged to store computer executable instructions that, when executed, cause the processor to: acquiring key state information of the robot, and determining position information of the robot in a map at the current acquisition moment; digitizing the key state information and mapping the value of the key state information to a corresponding color value; and drawing the target visual object according to the color value and the position information of the current acquisition moment.
The present invention also discloses a storage medium storing one or more programs that, when executed by an electronic device including a plurality of application programs, cause the electronic device to perform the following operations: acquiring key state information of the robot, and determining position information of the robot in a map at the current acquisition moment; digitizing the key state information and mapping the value of the key state information to a corresponding color value; and drawing the target visual object according to the color value and the position information of the current acquisition moment.
The invention has the following beneficial effects:
the invention processes the state information in a numeralization way, maps the state information numerical value into the corresponding color value, has small calculation amount and simple and effective calculation process. When the robot is in different states, different colors are displayed, and the display effect is more visual. By adopting the method, the long-term operation data of the robot is visually presented, and the fault diagnosis and operation analysis of the robot are facilitated.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
Fig. 2 is a schematic (partial) process diagram of the robot drawing an operation state diagram at the beginning of operation.
Fig. 3 is a schematic (partial) process diagram of the robot drawing an operation state after continuous operation.
1. Robot, 2, target visualization object.
Detailed Description
The invention discloses a visualization method of robot operation data, electronic equipment and a storage medium.
In order to facilitate better understanding of the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
To facilitate understanding of the embodiments of the present application, several elements that will be introduced in the description of the embodiments of the present application are first introduced herein.
In order to ensure long-term stable operation of the mobile robot, the robot needs a diagnostic tool capable of long-term monitoring and alarming so as to facilitate maintenance, targeted optimization or repair of interference factors by field personnel.
The invention visually presents the long-term operation data of the robot, is beneficial to fault diagnosis and operation analysis of the robot, and solves the problems of positioning error, abnormal operation, line deviation, collision, personal safety threat of surrounding pedestrians, WIFI signal fluctuation, hardware fault, local area ground slip and the like of the robot, which are often related to the field environment but are difficult to find before operation and even appear only after stable operation for a long time.
The invention relates to a visualization method of robot running data, which comprises the steps of acquiring state information of a robot, and determining position information of the robot in a map at the current acquisition moment; digitizing the state information to obtain a state information value, and mapping the state information value to a corresponding color value; and drawing the target visual object according to the color value and the position information of the current acquisition moment.
Preferably, as shown in fig. 2 to 3, state information is continuously acquired within a preset time period, a target visualized object of each state information is drawn, the drawn target visualized objects within the preset time period are overlaid, so as to obtain the target visualized object and a moving track image thereof, and an operation state diagram is generated.
And as the robot runs back and forth on the fixed line, the target visual objects are continuously drawn and overlapped, and the target visual objects are connected into line segments and finally have the same size as the running line. The user can directly check the running state diagram and can visually distinguish the running states of the robot in each area according to the colors. The running state diagram does not need erasing/resetting/recalculating, and the calculation amount is small.
More specifically, the status information may be periodically collected, and the frequency of the collection may be set in advance. For example, the robot may be operated to collect status information at intervals (e.g., 5 seconds). The state information includes normal state information and key state information.
In addition, the state information of the alarm can be received in a preset time period.
Wherein the status information includes one or more key status information. The critical status information may generally include two categories, which are expanded below.
The critical status information includes at least one of a switch quantity and a numerical quantity;
the switching value is used for representing the switching or success or failure state of the task executed at the current acquisition moment;
the numerical quantity is used for representing at least one of the four states of the positioning matching degree, the transmission signal strength, the current position dwell time and the abnormal degree. Wherein, the transmission signal strength is, for example, wifi signal strength; the abnormal quantity is used for indicating an abnormal condition state, for example, when the system runs to a certain position, no special operation is performed, but the system gives an error alarm.
For the above two types of data, firstly, the data needs to be digitized and normalized.
In the present invention, after the step of performing the numerical processing on the status information, the method further includes: and carrying out normalization processing on the state information numerical value to enable the state information numerical value to be in a range of 0-1.
For the switching quantity, it can simply be mapped to 1 and 0, indicating switching, or success or failure.
For the numerical quantity, linearization is carried out according to the specific type of the numerical distribution, and then normalization is carried out, so that the value is in the range of 0-1.
The abnormal amount can be quantified according to the degree of abnormality, for example, the error is 1, the warning is 0.7, the error is 0.4, and the failure is 0.
The above numerical processing method is only a case, and the actual processing method needs to be adjusted according to the actual situation, so as to finally normalize the state quantity numerically.
In addition, the step of mapping the state information value to a corresponding color value includes:
and carrying out RGB color space mapping on the numerical value after the normalization processing to enable the numerical value color to be visualized. And RGB color space mapping is carried out, so that the numerical value can be visualized in color and is more visual. For example, one typical mapping function is to map 0-1 to a gradual change from red to green.
Besides, HSV color space mapping or other color channel mapping can be also realized, and the mapped color channels are not limited.
More specifically, the step of mapping the state information value to a corresponding color value further comprises: and filtering the color value. Since the state quantity of the robot generally has randomness and discreteness, a filtering process is required. For example, in a certain preset time period, the detected status information values are 0.3, 0.4, 0.35, 0.32, 0.28, 0.77, 0.33, 0.28, wherein 0.77 is an abnormal value. The filtering can reduce the interference caused by the outliers. The purpose of the filtering is to reduce the overall fluctuations caused by outliers.
The filtering method may adopt several filtering modes in image processing, such as median filtering, maximum and minimum filtering, bilateral filtering, and the like.
Preferably, the filtering step of the present invention includes: and determining the transparency alpha, and superposing and rendering the transparency alpha based on the color value acquired at the current moment. The transparency alpha may be determined in a predetermined manner or may be an optimum value calculated by a machine. The transparency alpha can be set and adjusted at any time according to actual requirements so as to obtain an optimal display result. The first order filter effect is achieved using the alpha transparent channel of the image. Namely, the transparency alpha is added to the color value obtained at each acquisition moment, and the transparency alpha is a preset fixed empirical value. After color superposition, the final rendering effect is equal to that of first-order filtering processing on the original data, and therefore, the adjustment of the alpha value is the adjustment of the filter coefficient. The method is simple and reliable, does not need numerical filtering and has small operand.
For example, the transparency alpha is superimposed on the color value obtained by RGB color space mapping, and RGBA color values are generated.
Wherein the step of rendering the target visualization object comprises: and determining a central point to draw a geometric figure according to the position information of the current acquisition time, and filling the color value of the current acquisition time in the geometric figure.
The corresponding target visualization object can be set according to different key state information to be displayed as a circle, a polygon or other symbols, and the shape is not limited. And corresponding target visual objects can be set to be displayed in different shapes according to different degrees of the same key state information. So that the user can visually distinguish the operation state of the robot in each area or the operation state and the degree thereof according to the combination of the color and the shape.
In addition, the corresponding target visualization objects can be set to be displayed as graphic areas with different sizes according to different key state information. And corresponding target visualization objects can be set to be displayed as graphic areas with different sizes according to different degrees of the same key state information. So that the user can visually distinguish the running state of the robot in each area or the running state and the degree thereof according to the combination of the color and the graphic area.
Optionally, when the robot runs for a long time, there may be more than one critical state that needs to be paid attention to, and each kind of critical state information may be used as separate state information to draw an independent running state diagram. Or responding to a selection instruction of a user, determining one or more kinds of key state information, combining and fitting the key state information to serve as comprehensive state information, and finally drawing a comprehensive operation state diagram.
Optionally, in response to a selection instruction of a user, one or more key state information in the state information is selected, so that the target visualization object corresponding to the selected key state information can be switched between a displayable state and a hidden state.
FIG. 1 is a flow chart of the method of the present invention. As a specific embodiment, the following steps may be performed:
s1, collecting key state information periodically in the running process of the robot and recording the position information of the robot in the map;
s2, performing digitalization processing on the key state information, performing digitalization processing on the state information to obtain a state information value, and performing normalization processing on the state information value to enable the state information value to be in a range of 0-1;
and S3, mapping the normalized state information numerical value to a corresponding color value in an RGB color space, so that the numerical value can be visualized in color and is more visual.
And S4, determining the preset transparency alpha, and forming an RGBA value after the preset transparency alpha is superposed with the color value, wherein the final rendering effect is equal to that of first-order filtering processing on the original data.
And S5, presetting a size as a radius (such as the physical radius of the robot in the map) by taking the position information (coordinates of the robot in the map) of the robot in the map at the current acquisition moment as the center of a circle, drawing the circle on a transparent map to generate a target visual object, and filling the RGBA value color in the step S4 to obtain the target visual object.
And S6, continuously acquiring the state information, drawing a target visual object of each state information, overlaying the drawn target visual objects in a preset time period without erasing/resetting/recalculating, wherein the final color effect after overlaying is equivalent to that of performing numerical filtering on the original data. And obtaining the target visual object and the moving track image thereof to generate an operation state diagram.
And S7, directly checking the running state diagram by the user, and visually distinguishing the running states of the robot in each area according to the colors.
The invention also relates to an electronic device comprising a processor; and a memory arranged to store computer executable instructions that, when executed, cause the processor to: acquiring key state information of the robot, and determining position information of the robot in a map at the current acquisition moment; digitizing the key state information, and mapping the value of the key state information to a corresponding color value; and drawing the target visual object according to the color value and the position information of the current acquisition moment.
The present invention also relates to a storage medium storing one or more programs that, when executed by an electronic device including a plurality of application programs, cause the electronic device to perform the following operations: acquiring key state information of the robot, and determining position information of the robot in a map at the current acquisition moment; digitizing the key state information and mapping the value of the key state information to a corresponding color value; and drawing the target visual object according to the color value and the position information of the current acquisition moment.
The foregoing description is not intended to limit the invention, and it should be noted that various changes, modifications, additions and substitutions may be made by those skilled in the art without departing from the spirit and scope of the invention, and such changes and modifications should be considered as within the scope of the invention.
Claims (9)
1. A visualization method of robot running data is characterized in that state information of a robot is obtained, and position information of the robot in a map at the current obtaining moment is determined; digitizing the state information to obtain a state information value, and mapping the state information value to a corresponding color value; drawing a target visual object according to the color value and the position information of the current acquisition moment; continuously acquiring state information in a preset time period, drawing a target visual object of each state information, overlaying the target visual objects drawn in the preset time period to obtain the target visual objects and moving track images thereof, and generating an operation state diagram.
2. A method for visualizing operational data of a robot as in claim 1, wherein said status information comprises one or more key status information.
3. A method for visualizing operational data of a robot as in claim 2, wherein said critical status information comprises at least one of a number of switches and a number of values;
the switching value is used for representing the switching or success or failure state of the task executed at the current acquisition moment;
the numerical quantity is used for representing at least one of the four states of the positioning matching degree, the transmission signal strength, the current position staying time and the abnormal degree.
4. A visualization method for robot operation data according to claim 2, wherein one or more key status information of the status information is selected in response to a selection instruction from a user, so that a target visualization object corresponding to the selected key status information can be switched between a displayable state and a hidden state.
5. Method for visualizing operational data of a robot in accordance with claim 1,
after the step of performing the numerical processing on the state information, the method further comprises the following steps: and carrying out normalization processing on the state information numerical value to enable the state information numerical value to be in a range of 0-1.
6. A visualization method as recited in claim 5, wherein the step of numerically mapping the status information to corresponding color values comprises: carrying out RGB color space mapping on the numerical value after the normalization processing to enable the numerical value color to be visualized; the step of drawing the target visualization object comprises the following steps: and determining a central point to draw a geometric figure according to the position information of the current acquisition time, wherein the geometric figure is filled with the color value of the current acquisition time.
7. A method for visualizing operational data of a robot as in claim 1, wherein said step of numerically mapping status information to corresponding color values is further followed by: filtering the color values, the filtering step comprising: and determining the transparency alpha, and superposing and rendering the transparency alpha based on the color value acquired at the current moment.
8. An electronic device, comprising a processor; and a memory arranged to store computer executable instructions that, when executed, cause the processor to: acquiring key state information of the robot, and determining position information of the robot in a map at the current acquisition moment; digitizing the key state information, and mapping the value of the key state information to a corresponding color value; drawing a target visual object according to the color value and the position information of the current acquisition moment; continuously acquiring state information in a preset time period, drawing a target visual object of each state information, overlaying the target visual objects drawn in the preset time period to obtain the target visual objects and moving track images thereof, and generating an operation state diagram.
9. A storage medium storing one or more programs that, when executed by an electronic device including a plurality of application programs, cause the electronic device to: acquiring key state information of the robot, and determining position information of the robot in a map at the current acquisition moment; digitizing the key state information, and mapping the value of the key state information to a corresponding color value; drawing a target visual object according to the color value and the position information of the current acquisition moment; continuously acquiring state information in a preset time period, drawing a target visual object of each state information, overlaying the target visual objects drawn in the preset time period to obtain the target visual objects and moving track images thereof, and generating an operation state diagram.
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