CN112325907B - Method, device, equipment and medium for testing robot path planning algorithm - Google Patents
Method, device, equipment and medium for testing robot path planning algorithm Download PDFInfo
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- CN112325907B CN112325907B CN202011230984.4A CN202011230984A CN112325907B CN 112325907 B CN112325907 B CN 112325907B CN 202011230984 A CN202011230984 A CN 202011230984A CN 112325907 B CN112325907 B CN 112325907B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/36—Preventing errors by testing or debugging software
- G06F11/362—Software debugging
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/36—Preventing errors by testing or debugging software
- G06F11/3668—Software testing
- G06F11/3672—Test management
- G06F11/368—Test management for test version control, e.g. updating test cases to a new software version
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/36—Preventing errors by testing or debugging software
- G06F11/3668—Software testing
- G06F11/3672—Test management
- G06F11/3684—Test management for test design, e.g. generating new test cases
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The application discloses a test method of a robot path planning algorithm, which comprises the following steps: planning a target motion track of the target robot according to a target path planning algorithm; interpolating the target motion trail to obtain a plurality of target interpolation points; and testing the target path planning algorithm by utilizing the acceleration or the speed of the plurality of target interpolation points. Obviously, the target path planning algorithm of the target robot is tested through the acceleration or the speed of a plurality of target interpolation points, which is equivalent to randomly selecting the input parameters for testing the target path planning algorithm, so that the problem of limited input parameters during testing the target path planning algorithm can be avoided, and the accuracy and the reliability of the test result of the robot path planning algorithm can be obviously improved. Correspondingly, the testing device, the testing equipment and the testing medium for the robot path planning algorithm have the advantages.
Description
Technical Field
The present invention relates to the field of software testing technologies, and in particular, to a method, an apparatus, a device, and a medium for testing a path planning algorithm of a robot.
Background
Since the robot can perform semi-autonomous or fully autonomous work, the robot is very widely used in real life. In the process of developing a robot path planning algorithm, in order to verify the accuracy of the robot path planning algorithm, it is generally necessary to test various input parameters of the robot path planning algorithm, that is, to test acceleration or speed of each point in a motion track of the robot.
At present, when a path planning algorithm of a robot is tested, a white box is generally written for the path planning algorithm to test the path planning algorithm, namely, a corresponding white box test program is written for various input parameters to test the path planning algorithm of the robot, but the test result of the path planning algorithm of the robot is inaccurate and unreliable due to limited traversed input parameters. Currently, there is no more effective solution to this technical problem.
Therefore, how to improve the accuracy and reliability of the test result of the robot path planning algorithm is a technical problem to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, the present invention aims to provide a method, a device and a medium for testing a path planning algorithm of a robot, so as to improve the accuracy and reliability of the testing result of the path planning algorithm of the robot. The specific scheme is as follows:
a testing method of a robot path planning algorithm comprises the following steps:
planning a target motion track of the target robot according to a target path planning algorithm;
interpolating the target motion trail to obtain a plurality of target interpolation points;
and testing the target path planning algorithm by utilizing the acceleration or the speed of a plurality of target interpolation points.
Preferably, the process of planning the target motion trajectory of the target robot according to the target path planning algorithm includes:
acquiring N groups of shaft positions of a mechanical arm of the target robot when the mechanical arm moves on each movement shaft; wherein N is more than or equal to 2;
and randomly generating N-1 groups of motion tracks of the target robot by utilizing the N groups of shaft positions, and planning the target motion track of the target robot according to the N-1 groups of motion tracks.
Preferably, the types of the N-1 group of motion trajectories include: point-to-point motion trajectories and cartesian space motion trajectories.
Preferably, after the process of testing the target path planning algorithm by using the acceleration or the velocity of the plurality of target interpolation points, the method further includes:
and obtaining a test result of testing the target path planning algorithm, and correcting the target path planning algorithm according to the test result.
Preferably, the process of testing the target path planning algorithm by using the acceleration or the speed of the plurality of target interpolation points includes:
and comparing the acceleration or the speed of the target interpolation points with preset conditions to obtain a target comparison result, and testing the target path planning algorithm according to the target comparison result.
Preferably, the method further comprises:
repeatedly executing the step of planning the target motion trail of the target robot according to the target path planning algorithm according to preset times to the step of testing the target path planning algorithm by utilizing the acceleration or the speed of a plurality of target interpolation points;
obtaining a target test result of each test of the target path planning algorithm, and summarizing the target test result to obtain a summarized test result;
and testing the target path planning algorithm by utilizing the summarized test result.
Correspondingly, the invention also discloses a testing device of the robot path planning algorithm, which comprises:
the track planning module is used for planning a target motion track of the target robot according to a target path planning algorithm;
the track interpolation module is used for interpolating the target motion track to obtain a plurality of target interpolation points;
and the algorithm testing module is used for testing the target path planning algorithm by utilizing the acceleration or the speed of the target interpolation points.
Correspondingly, the invention also discloses a testing device of the robot path planning algorithm, which comprises:
a memory for storing a computer program;
a processor for implementing the steps of a method of testing a robot path planning algorithm as disclosed above when executing said computer program.
Correspondingly, the invention also discloses a computer readable storage medium, wherein the computer readable storage medium is stored with a computer program, and the computer program realizes the steps of the testing method of the robot path planning algorithm when being executed by a processor.
Therefore, in the invention, the target motion track of the target robot is planned according to the target path planning algorithm, then the target motion track is interpolated to obtain a plurality of target interpolation points, and finally the target path planning algorithm of the target robot is tested by utilizing the acceleration or the speed of the plurality of target interpolation points. Obviously, the target path planning algorithm of the target robot is tested through the acceleration or the speed of a plurality of target interpolation points, which is equivalent to randomly selecting the input parameters for testing the target path planning algorithm, so that the problem of limited input parameters during testing the target path planning algorithm can be avoided, and the accuracy and the reliability of the test result of the robot path planning algorithm can be obviously improved. Correspondingly, the testing device, the equipment and the medium for the robot path planning algorithm have the beneficial effects.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a testing method of a robot path planning algorithm according to an embodiment of the present invention;
fig. 2 is a block diagram of a testing device of a robot path planning algorithm according to an embodiment of the present invention;
fig. 3 is a block diagram of a test device for a robot path planning algorithm according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, fig. 1 is a flowchart of a testing method of a robot path planning algorithm according to an embodiment of the present invention, where the testing method includes:
step S11: planning a target motion track of the target robot according to a target path planning algorithm;
step S12: interpolating the target motion trail to obtain a plurality of target interpolation points;
step S13: and testing the target path planning algorithm by utilizing the acceleration or the speed of the plurality of target interpolation points.
In this embodiment, a method for testing a path planning algorithm of a robot is provided, and by using the method, the accuracy and reliability of a test result of the path planning algorithm of the robot can be significantly improved. Specifically, in the test method, firstly, a target motion track of the target robot is planned according to a target path planning algorithm, wherein the target motion track of the target robot is determined according to specific description and limitation of working processes such as teaching point positions, speeds, accelerations and the like, and accordingly, the motion of the target robot in the running process is more stable and smoother.
In this embodiment, the target path planning algorithm may be any algorithm capable of planning a travel path of the target robot, and is not specifically limited herein. The target robot refers to any type of robot, and the target motion trail comprises a straight line, an arc, a starting point, an ending point, a smooth transition parameter, a speed and an acceleration of motion and the like of the target robot from point to point in the motion process.
When the target motion trail of the target robot is planned, the target motion trail is interpolated to obtain a plurality of target interpolation points. It can be understood that, because the axis position of the target robot is obtained by randomly interpolating the target motion track during the process of interpolating the target motion track, a large number of axis position points of the target robot during the process of moving the target motion track can be obtained by interpolating the target motion track.
And then testing the target path planning algorithm by utilizing the obtained accelerations or speeds of the plurality of target interpolation points, namely testing the target path planning algorithm by utilizing the speeds or accelerations corresponding to a plurality of shaft positions of the target robot in the advancing process of the target motion track, and judging the accuracy and the reliability of the target path track planning algorithm according to the test result. It should be noted that, since the process of testing the target path planning algorithm by using the acceleration or the speed of the axis position of the target robot in the moving and traveling process is the same as the testing method in the prior art, in this embodiment, a specific testing process of the path planning algorithm is not described in detail.
It can be understood that the target path planning algorithm of the target robot is tested through the acceleration or the speed of the plurality of target interpolation points, which is equivalent to randomly selecting the input parameters for testing the target path planning algorithm, so that a large number of user input parameters can be simulated, and the loopholes and the problems existing in the target path planning algorithm are found in a large number of test results, thereby avoiding the problem that the input parameters are limited when the target path planning algorithm is tested in the prior art, and therefore, the accuracy and the reliability of the test result of the robot path planning algorithm can be obviously improved through the test mode.
It can be seen that, in this embodiment, the target motion track of the target robot is planned according to the target path planning algorithm, then the target motion track is interpolated to obtain a plurality of target interpolation points, and finally the target path planning algorithm of the target robot is tested by using the acceleration or the speed of the plurality of target interpolation points. Obviously, the target path planning algorithm of the target robot is tested through the acceleration or the speed of a plurality of target interpolation points, which is equivalent to randomly selecting the input parameters for testing the target path planning algorithm, so that the problem of limited input parameters during testing the target path planning algorithm can be avoided, and the accuracy and the reliability of the test result of the robot path planning algorithm can be obviously improved.
Based on the above embodiment, this embodiment further describes and optimizes the technical solution, as a preferred implementation manner, the steps are as follows: a process of planning a target motion trajectory of a target robot according to a target path planning algorithm, comprising:
acquiring N groups of shaft positions of a mechanical arm of a target robot when the mechanical arm moves on each movement shaft; wherein N is more than or equal to 2;
and randomly generating N-1 groups of motion tracks of the target robot by utilizing the N groups of shaft positions, and planning the target motion track of the target robot according to the N-1 groups of motion tracks.
In this embodiment, a specific implementation method for planning a target motion track of a target robot is provided, that is, in a process of planning the target motion track of the target robot, N groups of shaft positions of a mechanical arm of the target robot when the mechanical arm moves on each motion shaft are firstly obtained, then N-1 groups of motion tracks of the target robot are randomly generated by using the N groups of shaft positions, and finally, the target motion track of the target robot is planned according to the N-1 groups of motion tracks of the target robot.
For example, if the target robot has 6 mechanical arms, 6 groups of shaft positions of the 6 mechanical arms of the target robot in the motion process are acquired, then 5 groups of motion tracks of the target robot are randomly generated by using the 6 groups of shaft positions, and finally, the target motion track of the target robot is planned according to the 5 groups of motion tracks.
Specifically, the types of N-1 sets of motion trajectories include: point-to-point motion trajectories and cartesian space motion trajectories.
In this embodiment, the N-1 group motion trail types of the target robot include: the point-to-point motion trajectory of the target robot and the cartesian space motion trajectory, that is, the N-1 set of motion trajectories of the target robot include both the motion trajectory of the target robot from one axis position to another axis position and the motion trajectory of the target robot from one point to another point in the cartesian coordinate system.
Obviously, by the arrangement mode, the comprehensiveness and reliability of input parameters in the process of testing the motion trail of the target robot can be ensured.
Based on the above embodiment, this embodiment further describes and optimizes the technical solution, as a preferred implementation manner, the steps are as follows: after the process of testing the target path planning algorithm by using the acceleration or the speed of the plurality of target interpolation points, the method further comprises the following steps:
and obtaining a test result of testing the target path planning algorithm, and correcting the target path planning algorithm according to the test result.
It can be understood that when the test result of the target path planning algorithm is obtained, the problems and the bug (bug) existing in the target path planning algorithm can be found according to the test result, and when the problems and the bug existing in the target path planning algorithm are found, the programmer can correct the target path planning algorithm, and the probability of the bug occurring in the target path planning algorithm is zero.
It can be thought that when the bug of the target path planning algorithm is zero, the motion process of the target robot is smoother and smoother, so that the stability of the target robot in the motion process can be further improved.
Therefore, by the technical scheme provided by the embodiment, the accuracy and reliability of the target path planning algorithm can be further improved.
Based on the above embodiment, this embodiment further describes and optimizes the technical solution, as a preferred implementation manner, the steps are as follows: a process for testing a target path planning algorithm using acceleration or velocity of a plurality of target interpolation points, comprising:
and comparing the acceleration or the speed of the plurality of target interpolation points with a preset condition to obtain a target comparison result, and testing a target path planning algorithm according to the target comparison result.
In this embodiment, a specific implementation manner of testing the target path planning algorithm is provided, that is, in an actual operation process, in order to test the target path planning algorithm, acceleration or speed of each target interpolation point needs to be compared with a preset condition first, so as to determine whether each axis position of the target robot in a motion process meets a preset constraint condition.
If the acceleration or the speed of the target interpolation point meets the preset condition, the target path planning algorithm is stated to meet the actual operation constraint condition of the target robot; if the acceleration or speed of the target interpolation point does not meet the preset condition, one might be that there is an unknown bug in the target path planning algorithm, and another might be that the target motion track of the target robot passes through a motion range or singular point which cannot be reached by the target robot. Therefore, in the process of testing the target path planning algorithm, the target path planning algorithm needs to be tested according to the target comparison result between the acceleration or the speed of the target interpolation point and the preset condition.
Specifically, in practical application, the obtained comparison result belonging to the bug contained in the target path planning algorithm itself in the target comparison result may be classified into a category a, then the comparison result not belonging to the bug contained in the target path planning algorithm itself in the target comparison result may be classified into a category B, and finally the target path planning algorithm may be tested by counting the number of times that the acceleration or the speed of the target interpolation point appearing in the category a does not meet the preset condition.
Obviously, by the method provided by the embodiment, the test result of the target path planning algorithm can be more reliable and reliable.
Based on the above embodiment, the present embodiment further describes and optimizes a technical solution, and as a preferred implementation manner, the method for testing a robot path planning algorithm further includes:
repeatedly executing the step S11 according to the preset times: planning a target motion track of the target robot according to a target path planning algorithm to step S13: testing a target path planning algorithm by utilizing the acceleration or the speed of a plurality of target interpolation points;
obtaining a target test result of each time of testing the target path planning algorithm, and summarizing the target test result to obtain a summarized test result;
and testing the target path planning algorithm by using the summarized test result.
In practical applications, the input parameters in the process of testing the target path planning algorithm can be further increased by repeatedly performing the methods of steps S11 to S13. It will be appreciated that this manner of operation corresponds to interpolating a myriad of target interpolation points on a target motion trajectory planned according to a target path planning algorithm. Under the condition, the problems or bug existing in the target path planning algorithm can be found in a large number of randomized input parameters, so that the accuracy and reliability of the test result in the process of testing the target path planning algorithm can be further improved.
That is, after steps S11 to S13 are repeatedly performed according to the preset times, target test results of each time of testing the target path planning algorithm are obtained, then the target test results are summarized to obtain summarized test results, and finally the summarized test results are used to test the target path planning algorithm. Specifically, the preset times may be set to 1000 times, or the set values of the preset times may be adaptively adjusted according to different actual situations, which is not described herein in detail.
Therefore, by the technical scheme provided by the embodiment, the accuracy of the test result of the target path planning algorithm can be further improved.
Referring to fig. 2, fig. 2 is a block diagram of a testing device for a robot path planning algorithm according to an embodiment of the present invention, where the testing device includes:
a track planning module 21, configured to plan a target motion track of the target robot according to a target path planning algorithm;
the track interpolation module 22 is configured to interpolate the target motion track to obtain a plurality of target interpolation points;
the algorithm testing module 23 is configured to test the target path planning algorithm by using the acceleration or the speed of the plurality of target interpolation points.
The testing device of the robot path planning algorithm has the beneficial effects of the testing method of the robot path planning algorithm.
Referring to fig. 3, fig. 3 is a block diagram of a test device for a robot path planning algorithm according to an embodiment of the present invention, where the test device includes:
a memory 31 for storing a computer program;
a processor 32 for implementing the steps of a method of testing a robot path planning algorithm as disclosed above when executing a computer program.
The test equipment of the robot path planning algorithm has the beneficial effects of the test method of the robot path planning algorithm.
Correspondingly, the embodiment of the invention also discloses a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and the computer program realizes the steps of the testing method of the robot path planning algorithm when being executed by a processor.
The computer readable storage medium provided by the embodiment of the invention has the beneficial effects of the testing method of the robot path planning algorithm disclosed by the embodiment of the invention.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, so that the same or similar parts between the embodiments are referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above describes in detail the method, apparatus, device and medium for testing the robot path planning algorithm provided by the present invention, and specific examples are applied to illustrate the principles and embodiments of the present invention, and the description of the above examples is only used to help understand the method and core ideas of the present invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.
Claims (7)
1. A method for testing a path planning algorithm of a robot, comprising:
planning a target motion track of the target robot according to a target path planning algorithm;
interpolating the target motion trail to obtain a plurality of target interpolation points;
testing the target path planning algorithm by utilizing the acceleration or the speed of a plurality of target interpolation points;
the process of testing the target path planning algorithm by using the acceleration or the speed of the target interpolation points comprises the following steps:
comparing the acceleration or the speed of the target interpolation points with preset conditions to obtain a target comparison result, and testing the target path planning algorithm according to the target comparison result;
if the acceleration or the speed of the target interpolation point does not meet the preset condition, the unknown bug exists in the target path planning algorithm and/or the target motion track of the target robot passes through a motion range or a singular point which cannot be reached by the target robot; at this time, dividing the comparison result belonging to the bug contained in the target path planning algorithm in the target comparison result into a category A, dividing the comparison result not belonging to the bug contained in the target path planning algorithm in the target comparison result into a category B, and then testing the target path planning algorithm by counting the times that the acceleration or the speed of the target interpolation point appearing in the category A does not meet the preset condition;
after the process of testing the target path planning algorithm by using the accelerations or speeds of the plurality of target interpolation points, the method further comprises:
and obtaining a test result of testing the target path planning algorithm, and correcting the target path planning algorithm according to the test result.
2. The method according to claim 1, wherein the process of planning the target motion trajectory of the target robot according to the target path planning algorithm comprises:
acquiring N groups of shaft positions of a mechanical arm of the target robot when the mechanical arm moves on each movement shaft; wherein N is more than or equal to 2;
and randomly generating N-1 groups of motion tracks of the target robot by utilizing the N groups of shaft positions, and planning the target motion track of the target robot according to the N-1 groups of motion tracks.
3. The method of claim 2, wherein the type of N-1 set of motion trajectories comprises: point-to-point motion trajectories and cartesian space motion trajectories.
4. A test method according to any one of claims 1 to 3, further comprising:
repeatedly executing the step of planning the target motion trail of the target robot according to the target path planning algorithm according to preset times to the step of testing the target path planning algorithm by utilizing the acceleration or the speed of a plurality of target interpolation points;
obtaining a target test result of each test of the target path planning algorithm, and summarizing the target test result to obtain a summarized test result;
and testing the target path planning algorithm by utilizing the summarized test result.
5. A test device for a robot path planning algorithm, comprising:
the track planning module is used for planning a target motion track of the target robot according to a target path planning algorithm;
the track interpolation module is used for interpolating the target motion track to obtain a plurality of target interpolation points;
the algorithm testing module is used for testing the target path planning algorithm by utilizing the acceleration or the speed of the target interpolation points;
the process of testing the target path planning algorithm by using the acceleration or the speed of the target interpolation points comprises the following steps:
comparing the acceleration or the speed of the target interpolation points with preset conditions to obtain a target comparison result, and testing the target path planning algorithm according to the target comparison result;
if the acceleration or the speed of the target interpolation point does not meet the preset condition, the unknown bug exists in the target path planning algorithm and/or the target motion track of the target robot passes through a motion range or a singular point which cannot be reached by the target robot; at this time, dividing the comparison result belonging to the bug contained in the target path planning algorithm in the target comparison result into a category A, dividing the comparison result not belonging to the bug contained in the target path planning algorithm in the target comparison result into a category B, and then testing the target path planning algorithm by counting the times that the acceleration or the speed of the target interpolation point appearing in the category A does not meet the preset condition;
after the process of testing the target path planning algorithm by using the accelerations or speeds of the plurality of target interpolation points, the method further comprises:
and obtaining a test result of testing the target path planning algorithm, and correcting the target path planning algorithm according to the test result.
6. A test apparatus for a robot path planning algorithm, comprising:
a memory for storing a computer program;
a processor for implementing the steps of a method for testing a robot path planning algorithm according to any of claims 1 to 4 when executing said computer program.
7. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of a method of testing a robot path planning algorithm according to any of claims 1 to 4.
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