CN113110501B - System and method for testing unmanned equipment - Google Patents
System and method for testing unmanned equipment Download PDFInfo
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- CN113110501B CN113110501B CN202110510363.XA CN202110510363A CN113110501B CN 113110501 B CN113110501 B CN 113110501B CN 202110510363 A CN202110510363 A CN 202110510363A CN 113110501 B CN113110501 B CN 113110501B
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention discloses a system and a method for testing unmanned equipment, and relates to the technical field of artificial intelligence. One embodiment of the method comprises the following steps: measuring the distance from the unmanned equipment to the reflecting device by using a distance measuring instrument, wherein the reflecting device is positioned opposite to the running direction of the unmanned equipment when the actual running distance of the unmanned equipment is tested; calculating a test distance obtained by the unmanned equipment aiming at the actual driving distance by utilizing a data analysis device according to a plurality of distances reported by the distance measuring instrument so as to determine a test result of the unmanned equipment according to the test distance and a configured test strategy; therefore, the test precision of the test unmanned equipment is improved, the automation degree of the test unmanned equipment is improved, and the labor cost is saved.
Description
Technical Field
The invention relates to the technical field of artificial intelligence, in particular to a system and a method for testing unmanned equipment.
Background
Currently, with the development of artificial intelligence technology, unmanned apparatuses such as a floor sweeping robot, an automatic guiding device (AGV), a service robot, etc. are increasingly used in various life scenes and work scenes.
In the process of developing the unmanned equipment, the running accuracy of the unmanned equipment needs to be tested, and at present, a developer or a tester observes the running condition of the unmanned equipment by naked eyes to test the running accuracy of the unmanned equipment, so that the problems of lower testing accuracy, lower automation degree and labor cost consumption exist.
Disclosure of Invention
In view of this, the embodiments of the present invention provide a system and a method for testing an unmanned device, which can measure a distance from the unmanned device to a light reflecting device by using a distance measuring instrument, where the light reflecting device is located opposite to a driving direction of the unmanned device when an actual driving distance of the unmanned device is tested; calculating a test distance obtained by the unmanned equipment aiming at the actual driving distance by utilizing a data analysis device according to a plurality of distances reported by the distance measuring instrument so as to determine a test result of the unmanned equipment according to the test distance and a configured test strategy; therefore, the test precision of the test unmanned equipment is improved, the automation degree of the test unmanned equipment is improved, and the labor cost is saved.
To achieve the above object, according to one aspect of an embodiment of the present invention, there is provided a system for testing an unmanned aerial vehicle, comprising: distance measuring instrument, reflecting device and data analysis device;
The distance measuring instrument is arranged on the unmanned equipment and is used for measuring the distance from the unmanned equipment to the light reflecting device at regular time;
the light reflecting device is used for reflecting light waves generated by the distance measuring instrument to the distance measuring instrument; so that the distance measuring instrument measures the distance from the unmanned equipment to the light reflecting device according to the relative position with the light reflecting device;
when the actual driving distance of the unmanned equipment is tested, the light reflecting device is positioned opposite to the driving direction of the unmanned equipment; the data analysis device determines a first distance from the starting point to the light reflecting device and a second distance from the stopping point to the light reflecting device according to a plurality of distances reported by the distance measuring instrument, and calculates a test distance of the unmanned equipment according to the first distance and the second distance;
and the data analysis device determines the test result of the unmanned equipment according to the test distance and the configured test strategy.
Optionally, the system for testing the unmanned device is characterized in that,
the distance measuring instrument comprises a wireless communication module; the distance measuring instrument uploads one or more distances to the data analysis device through the wireless communication module.
Optionally, the system for testing the unmanned device is characterized in that,
when the braking distance of the unmanned equipment is tested, the light reflecting device is positioned opposite to the running direction of the unmanned equipment; and the data analysis device determines the distance from the braking starting point to the braking starting point of the light reflecting device and the distance from the braking stopping point to the braking stopping point of the light reflecting device of the unmanned equipment according to a plurality of distances reported by the distance measuring instrument, and calculates the test distance of the unmanned equipment according to the distance from the braking starting point and the distance from the braking stopping point.
Optionally, the system for testing the unmanned device is characterized in that,
when the running precision of the unmanned equipment is tested, the light reflecting device is positioned on the side surface parallel to the running direction of the unmanned equipment;
and the data analysis device calculates the actual offset distance of the unmanned equipment corresponding to the light reflecting device according to a plurality of distances reported by the distance measuring instrument, and takes the actual offset distance as the test distance.
Optionally, the system for testing the unmanned device is characterized in that,
The test strategy configured by the data analysis device comprises the following steps:
determining a difference value between the test distance and a set threshold value corresponding to a test scene to which the test distance belongs; and when the difference value exceeds the error range corresponding to the test scene to which the test distance belongs, determining that the test result is failed, otherwise, determining that the test result is passed.
To achieve the above object, according to a second aspect of an embodiment of the present invention, there is provided a method of testing an unmanned device, comprising: the distance from the unmanned equipment to the reflecting device is measured at fixed time through the distance measuring instrument arranged on the unmanned equipment; reflecting the light waves generated by the distance measuring instrument to the distance measuring instrument through the light reflecting device, so that the distance measuring instrument measures the distance from the unmanned equipment to the light reflecting device according to the relative position between the unmanned equipment and the light reflecting device; when the actual driving distance of the unmanned equipment is tested, the reflecting device is arranged opposite to the driving direction of the unmanned equipment; determining a first distance from a starting point to the light reflecting device and a second distance from a stopping point to the light reflecting device of the unmanned equipment by the data analysis device according to a plurality of distances reported by the distance measuring instrument, and calculating a test distance of the unmanned equipment according to the first distance and the second distance; and determining a test result of the unmanned equipment according to the test distance and the configured test strategy.
Optionally, the method of testing an unmanned device, characterized in that,
uploading one or more of the distances to the data analysis device via a wireless communication module attributed to the distance meter.
Optionally, the method of testing an unmanned device, characterized in that,
when testing the braking distance of the unmanned equipment, arranging the reflecting device opposite to the running direction of the unmanned equipment; and determining the distance from the braking start point to the braking start point of the reflecting device and the distance from the braking stop point to the braking stop point of the reflecting device by the data analysis device according to a plurality of distances reported by the distance measuring instrument, and calculating the test distance of the unmanned device according to the distance from the braking start point and the distance from the braking stop point.
Optionally, the method of testing an unmanned device, characterized in that,
when the running precision of the unmanned equipment is tested, the reflecting device is arranged on the side surface parallel to the running direction of the unmanned equipment; and calculating the actual offset distance of the unmanned equipment corresponding to the light reflecting device by the data analysis device according to the distances reported by the distance measuring instrument, and taking the actual offset distance as the test distance.
Optionally, the method of testing an unmanned device, characterized in that,
the configured test strategy comprises the following steps: determining a difference value between the test distance and a set threshold value corresponding to a test scene to which the test distance belongs; and when the difference value exceeds the error range corresponding to the test scene to which the test distance belongs, determining that the test result is failed, otherwise, determining that the test result is passed.
To achieve the above object, according to a third aspect of the embodiments of the present invention, there is provided an electronic device for testing an unmanned device, comprising: one or more processors; and a storage means for storing one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the method of any of the methods of testing a drone as described above.
To achieve the above object, according to a fourth aspect of embodiments of the present invention, there is provided a computer readable medium having stored thereon a computer program, characterized in that the program, when executed by a processor, implements a method as described in any one of the above methods of testing a drone.
One embodiment of the above invention has the following advantages or benefits: the distance between the unmanned equipment and the reflecting device can be measured by using a distance measuring instrument, and when the actual running distance of the unmanned equipment is tested, the reflecting device is positioned opposite to the running direction of the unmanned equipment; calculating a test distance obtained by the unmanned equipment aiming at the actual driving distance by utilizing a data analysis device according to a plurality of distances reported by the distance measuring instrument so as to determine a test result of the unmanned equipment according to the test distance and a configured test strategy; therefore, the test precision of the test unmanned equipment is improved, the automation degree of the test unmanned equipment is improved, the labor cost is saved, and the efficiency of developing and testing the unmanned equipment is improved.
Further effects of the above-described non-conventional alternatives are described below in connection with the embodiments.
Drawings
The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:
FIG. 1 is a schematic illustration of a test drone for actual distance travelled, according to one embodiment of the present invention;
FIG. 2 is a schematic illustration of a test drone for braking travel distance, according to one embodiment of the present invention;
FIG. 3 is a schematic diagram of a test of the accuracy of travel of an unmanned device according to one embodiment of the present invention;
FIG. 4 is a flow chart of a method of testing a drone provided by one embodiment of the present invention;
FIG. 5 is an exemplary system architecture diagram in which embodiments of the present invention may be applied;
fig. 6 is a schematic diagram of a computer system suitable for use in implementing an embodiment of the invention.
Detailed Description
Exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, in which various details of the embodiments of the present invention are included to facilitate understanding, and are to be considered merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
Currently, a method for testing the running precision of an unmanned device uses a tool by a developer or a tester, and determines a test result by combining manual visual observation, the unmanned device takes an automatic guiding device (AGV) as an example, the current method for testing the automatic guiding device (AGV) uses a coordinate paper to mark a position, and the developer or the tester manually reads the position precision when the automatic guiding device (AGV) passes through the coordinate paper. As can be seen, problems with existing methods include: the problem of subjectivity of human eye identification exists in manual reading of test data, and the problem of higher error value of millimeter-level accuracy is caused by the accuracy problem of a measuring tool, so that the running accuracy of unmanned equipment is tested by using the existing method, only an estimated value can be obtained generally, and the problem of lower accuracy exists.
In view of this, as shown in fig. 1, an embodiment of the present invention provides a system for testing an unmanned device, including: a data analysis device 101, a distance measuring device 102, and a light reflecting device 104; wherein the method comprises the steps of
The distance measuring instrument 102 is installed on the unmanned equipment 103 and is used for measuring the distance from the unmanned equipment 103 to the reflecting device 104 at regular time;
the light reflecting device 104 is configured to reflect the light wave generated by the distance measuring device 102 to the distance measuring device 102; so that the distance measuring instrument 102 measures the distance from the unmanned aerial vehicle 103 to the light reflecting device 104 according to the relative position with the light reflecting device 104;
when testing the actual travel distance of the unmanned device 103, the light reflecting means 104 is located opposite to the travel direction of the unmanned device 103; the data analysis device 101 determines a first distance from the starting point to the light reflecting device and a second distance from the stopping point to the light reflecting device of the unmanned equipment 103 according to a plurality of distances reported by the distance measuring instrument 102, and calculates a test distance of the unmanned equipment 103 according to the first distance and the second distance;
The data analysis device 101 determines a test result of the unmanned aerial vehicle 103 according to the test distance and the configured test strategy.
Specifically, the distance meter is mounted on an unmanned device to be tested, such as a floor sweeping robot, an automatic guiding device (AGV), a service robot, etc., preferably, the distance meter is fixedly mounted on the unmanned device, for example, the distance meter may be fixedly mounted on the unmanned device by adopting a fixing component or an adhesive manner, so that the distance meter and the unmanned device synchronously run, and the distance meter may measure the distance from the unmanned device to the light reflecting device; the distance measuring device and the unmanned device may have any angle therebetween (i.e., an angle between the direction of the light wave emitted by the distance measuring device and the horizontal direction when the unmanned device travels in the horizontal direction), and preferably, the direction of the light wave emitted by the distance measuring device is made parallel to the running plane of the unmanned device, i.e., the plane in which the direction of the light wave emitted by the distance measuring device is located is parallel to the plane in which the traveling direction of the unmanned device is located.
Further, the distance measuring instrument is used for measuring the distance from the unmanned equipment to the reflecting device at regular time, wherein the distance measuring instrument can be an infrared distance measuring instrument, a laser distance measuring instrument, an acoustic wave distance measuring instrument and the like, when the distance measuring instrument is the infrared distance measuring instrument and the laser distance measuring instrument, the reflecting device reflects light waves generated by the infrared distance measuring instrument and the laser distance measuring instrument, and when the distance measuring instrument is the acoustic wave distance measuring instrument, the reflecting device reflects the acoustic wave of the acoustic wave distance measuring instrument; the invention is illustrated by taking a laser distance measuring instrument as an example, the laser distance measuring instrument can measure (i.e. measure regularly) the distance from the unmanned device (e.g. AGV) to the light reflecting device at set time intervals (e.g. every 10 seconds, 30 seconds, 60 seconds, etc.), wherein the distance from the unmanned device to the light reflecting device refers to the distance from the current position of the unmanned device to any point of the light reflecting device. The invention is not limited to the area, shape and specific installation position of the reflecting device.
At one moment in the testing process, the distance measuring instrument utilizes the relative position of the reflecting device and light waves generated by reflecting the distance measuring instrument, and the obtained distance is the distance from the unmanned equipment to the reflecting device; namely, the reflecting device is used for reflecting the light waves generated by the distance measuring instrument to the distance measuring instrument; so that the distance measuring instrument measures the distance from the unmanned equipment to the light reflecting device according to the relative position with the light reflecting device; it can be appreciated that the measuring accuracy of the distance measuring instrument is improved through the light reflecting device, so that the accuracy of testing the unmanned equipment is improved;
the light-reflecting device may have any angle with the vertical direction, or an angle may also exist between the route of the light wave emitted by the distance measuring instrument and the unmanned device, preferably, in the test, the running direction of the unmanned device is made parallel to the horizontal ground, the light wave emitted by the distance measuring instrument is made parallel to the running direction of the unmanned device (the horizontal relationship may be determined by using the level meter), and the light-reflecting device is made perpendicular to the running plane of the unmanned device, for example: the level meter can be used for determining the horizontal placement of the unmanned equipment and the distance measuring instrument, the vertical placement of the light reflecting device is used for setting the light wave which is emitted by the distance measuring instrument in the parallel direction to reach the area, and it can be understood that under the condition that the light reflecting device is perpendicular to the running plane of the unmanned equipment, the data analysis device can directly take the value of the tested distance reported by the distance measuring instrument as the value of the distance, and if the installed position of the light reflecting device is not perpendicular to the route of the light wave which is emitted by the distance measuring instrument of the unmanned equipment, the data analysis device can take the tested distance reported by the distance measuring instrument as the tested distance, and can also calculate the horizontal distance from the unmanned equipment to the light reflecting device as the tested distance based on the value of the tested distance reported by the distance measuring instrument and the included angle between the light reflecting device and the running plane of the unmanned equipment.
Further, the distance measuring instrument comprises a wireless communication module; the wireless communication module is used for uploading one or more distances to the data analysis device. That is, the distance measuring instrument uploads one or more of the distances to the data analysis device through the wireless communication module; for example: the distance measuring instrument reports the obtained distance L1 (shown in fig. 1) or L2 (shown in fig. 1) to the data analysis device by using the wireless communication module. The wireless communication module may be a bluetooth module, a WiFi module, or the like. The wireless communication module automatically reports the distance, so that the problem that the unmanned equipment needs to be tested manually is solved, and the degree of automation of the unmanned equipment testing is improved.
Further, the data analysis device 101 is configured to collect one or more distances reported by the distance measurement instrument, and determine a test distance based on the one or more distances; and determining a test result of the unmanned equipment according to the test distance and the configured test strategy. In particular, the data analysis device may be a device with computing capabilities, such as a smart phone, tablet, desktop, server, etc.; the distance measuring instrument reports the distance from the unmanned device to the light reflecting device, for example: in a test scenario for testing the actual driving distance of the unmanned device, the distance value set reported by the distance measuring instrument every 10 seconds is {10,10,10,10,9.5,9,8,7,6,5.5,5,5,5,5,5}, it is understood that the data are only examples, and the accuracy of the distance measured by the distance measuring instrument can be accurate to the position N behind the decimal point; after receiving the distance data set in the example, the data analysis device determines that the first distance of the unmanned equipment at the starting point is L1, determines that the second distance of the unmanned equipment at the stopping point is L2 based on one or more distances included in the set, and calculates a test distance (namely, the actual driving distance of the unmanned equipment) as (L1-L2); for example: based on the distance value example in the set, determining that a first distance L1 from a starting point of the unmanned device is 10, wherein the determining method determines that the distance is the starting point through continuous N identical distances, similarly, determines that a second distance L2 from a stopping point of the unmanned device is 5 through continuous N identical distances, further calculates that a test distance actually traveled by the unmanned device in the test is 5 (10-5=5), that is, a data analysis device determines that the unmanned device is a first distance from the starting point to the light reflecting device and a second distance from the stopping point to the light reflecting device, and calculates the test distance of the unmanned device according to the first distance and the second distance.
Further, according to the test distance and the configured test strategy, determining a test result of the unmanned equipment; for example: in one test of testing the actual driving distance of the unmanned device, the measured testing distance (i.e. the actual driving distance) corresponding to the actual driving distance of the unmanned device is 5, if the expected driving distance is 5.5, and the configured testing strategy is as follows: if the difference between the measured actual running distance and the expected running distance is smaller than the error range (for example, 2 percent), determining that the test is passed, otherwise, determining that the test is not passed; in the above example, the measured error value is 10%,10% >2%, and is indicated as failing the test. The difference between the test distance and the set threshold corresponding to the test scene to which the test distance belongs may be determined based on the results of one or more tests, and when the test is based on the results of multiple tests, the difference may be determined by taking an average value after invalid data is removed, and the difference may be a percentage of the error. That is, the test strategy configured by the data analysis device includes: determining a difference value between the test distance and a set threshold value corresponding to a test scene to which the test distance belongs; and when the difference value exceeds the error range corresponding to the test scene to which the test distance belongs, determining that the test result is failed, otherwise, determining that the test result is passed.
When testing the actual driving distance of the unmanned equipment, the unmanned equipment and the distance measuring instrument synchronously drive in the direction of the light reflecting device, as shown in fig. 1, the light reflecting device is positioned opposite to the driving direction of the unmanned equipment, so that the light waves emitted by the distance measuring instrument can be reflected by the light reflecting device; in the running process of the unmanned equipment, the distance measuring instrument regularly acquires the distance between the unmanned equipment and the light reflecting device and reports the distance to the data analysis device; it will be appreciated that in order to obtain more test data and more accurate test results, the test may be repeated a number of times (e.g., 100 times), where the unmanned device may start to travel from any location to any location and stop, or may be caused to travel from a fixed location each time, such as the starting point shown in fig. 1.
Further, the system is applied to any one or more of a test scene for testing the actual driving distance, a test scene for testing the braking distance and a test scene for testing the driving precision. Therefore, a test strategy is respectively configured for any one or more of a test scene for testing the actual driving distance, a test scene for testing the braking distance and a test scene for testing the driving precision; determining a difference value between the test distance and a set threshold value corresponding to a test scene to which the test distance belongs (each test scene can be set according to a specific place and environment of the test scene); and when the difference value exceeds the error range corresponding to the test scene to which the test distance belongs, determining that the test result is failed, otherwise, determining that the test result is passed.
As shown in fig. 2, fig. 2 shows a schematic diagram of a system for testing a drone applied to testing a braking distance of the drone, including: a data analysis device 201, a distance measuring device 202 and a light reflecting device 204.
When testing the braking distance of the unmanned device 203, the light reflecting device is positioned opposite to the running direction of the unmanned device; specifically, as shown in fig. 2, the light reflecting device is located opposite to the traveling direction of the test unmanned apparatus (the unmanned apparatus travels in synchronization with the distance measuring instrument in the direction of the light reflecting device), so that the light waves emitted from the distance measuring instrument can be reflected by the light reflecting device; in the process from driving to starting braking (braking) and stopping of the unmanned equipment, the distance measuring instrument regularly acquires the distance between the unmanned equipment and the light reflecting device and reports the distance to the data analysis device; it will be appreciated that for one test scenario, multiple tests (e.g., 100) may be performed in order to obtain more test data and more accurate test results.
Further, the data analysis device determines the distance from the braking start point to the braking start point of the light reflection device and the distance from the braking stop point to the braking stop point of the light reflection device according to the distances reported by the distance measuring instrument, and calculates the test distance of the unmanned equipment according to the distance from the braking start point and the distance from the braking stop point. Specifically, there are two methods for determining the position of the brake start point:
The first method is as follows: the unmanned device can start braking from any position and stop at the corresponding position, the unmanned device runs to brake and stop, and the data analysis device calculates and determines the position of a braking starting point by using distance data reported by the distance measuring instrument, for example: according to the distance data reported every 10 seconds, according to the formula: distance = time x speed, it is determined that when the unmanned device is traveling at a constant speed, the difference between any two adjacent distances is equal, and when it is detected that the difference between the two adjacent distances is smaller than the difference in the case of traveling at a constant speed, a position corresponding to a longer distance corresponding to the smaller difference may be used as a braking start point, for example, a braking start point shown in fig. 2.
The second method is as follows: in each test, the drone was controlled to start braking at a fixed braking origin, such as the braking origin shown in fig. 2.
The method for determining the braking stop point is identical to the description of determining the stop point in the test scenario for testing the actual driving distance based on the data analysis device 101 in fig. 1, and will not be described again.
Further, the data analysis device determines the distance from a braking start point to a braking start point of the light reflection device and the distance from a braking stop point to a braking stop point of the light reflection device of the unmanned equipment according to a plurality of distances reported by the distance measuring instrument, and calculates the test distance of the unmanned equipment according to the distance from the braking start point and the distance from the braking stop point; as shown in fig. 2, the data analysis device determines that the distance from the braking start point (the braking start point shown in fig. 2) of the unmanned equipment to the braking start point of the light reflection device is L1 and the distance from the braking stop point to the braking stop point of the light reflection device is L2 according to the plurality of the distances measured by the acquired distance measuring instrument; further, calculating a test distance (namely, a braking distance of the unmanned equipment) as (L1-L2); further, the data analysis device determines a test result of the unmanned equipment under the test braking distance scene according to the test distance and the configured test strategy. For example: and (3) the test distance is La (equal to L1-L2), the set threshold value of the test braking distance scene is Lb, then the difference value between Lb and La is calculated, when the difference value exceeds the error range corresponding to the test braking distance scene, the test result is determined to be failed, and otherwise, the test result is determined to be passed.
As shown in fig. 3, fig. 3 shows a schematic diagram of a system for testing unmanned devices applied to test driving accuracy, including: a data analysis device 301, a distance measuring device 302 and a light reflecting device 304.
When testing the traveling accuracy of the unmanned device 303, the light reflecting means 304 is located on the side parallel to the traveling direction of the unmanned device 303;
the data analysis device 304 calculates an actual offset distance of the unmanned device corresponding to the light reflection device 304 according to the distances reported by the distance measuring instrument 302, and takes the actual offset distance as the test distance.
Specifically, when the test scene is the test running precision, namely whether the running route of the unmanned equipment deviates from the set route is tested, and data of the deviation distance is obtained through testing; in a test scenario for testing the driving accuracy, as shown in fig. 3, the light reflecting device is located on a side surface of any position on the driving route of the unmanned device, that is, the light reflecting device is located on a side surface parallel to the driving direction of the unmanned device, and the direction of the light wave emitted by the distance measuring instrument forms an included angle with the driving direction of the unmanned device, so that the direction of the light wave emitted by the distance measuring instrument can be reflected by the light reflecting device located on the side surface, and preferably, the direction of the light wave emitted by the distance measuring instrument is perpendicular to the driving direction of the unmanned device.
Specifically, the method for testing the driving precision of the unmanned device is to acquire the distance of each time the unmanned device passes through a set position (a test point as shown in fig. 3) as a test distance, and compare the acquired test distance with an expected distance to determine whether the unmanned device has a route deviation during driving. It can be understood that, in order to obtain more test distances and more accurate test results corresponding to test scenes of the test running precision, the test can be performed multiple times (for example, 100 times) and an average value of each test distance is obtained, wherein the unmanned device can start running from any position to a corresponding test point; that is, when the traveling accuracy of the unmanned apparatus is tested, the light reflecting means is located at a side surface parallel to the traveling direction of the unmanned apparatus; the data analysis device calculates the actual offset distance of the unmanned equipment corresponding to the light reflecting device according to a plurality of distances reported by the distance measuring instrument, and takes the actual offset distance as the test distance; further, a plurality of light reflecting devices may be disposed at any one position of the side surface on the driving route of the unmanned apparatus to acquire distance data of a plurality of test points in one driving of the unmanned apparatus, and further determine data of the offset distance corresponding to the test points according to the distance data.
Further, the data analysis device determines the actual offset distance corresponding to the reflecting device of the test point of the unmanned equipment according to the acquired distances measured by the distance measuring instrument; wherein, when the unmanned equipment is out of the range of the light reflecting device, the distance value acquired by the distance measuring instrument (because no light reflecting device is arranged) has a larger difference from the distance from the preset driving route to the light reflecting device, for example: the unmanned equipment is corresponding to the expected distance of the reflecting device of 10 meters, in the range outside the reflecting device, assuming that a wall or other objects capable of reflecting light waves of the distance measuring instrument exist and a certain distance exists between the unmanned equipment and the reflecting device (for example, the distance measured by the distance measuring instrument in the range outside the reflecting device is 100 meters), selecting a test point of a test scene with the difference of 10 meters smaller than a set threshold value from a received distance data set according to the expected distance (10 meters) as a reference value, namely, determining the test point of the test scene with the test running precision according to the data of a plurality of distances, and determining the distance corresponding to the test point as the actual offset distance of the unmanned equipment corresponding to the reflecting device. For example: as shown in fig. 3, L1 is measured as an actual offset distance, and further, after a plurality of tests (for example, 100 times), an average value of the actual offset distances may be calculated as a test distance of a test scene for testing running accuracy.
Further, the data analysis device determines a test result of the unmanned equipment in a test scene for testing the running precision according to the test distance and the configured test strategy. For example: and calculating an average value of the distances after multiple tests, wherein the obtained test distance is Lx, the set threshold value of the test running precision scene is Ly, calculating the difference value between Lx and Ly, and determining that the test result is not passed the test when the difference value exceeds the error range corresponding to the running precision scene, or determining that the test result is passed the test.
As shown in fig. 4, an embodiment of the present invention provides a method of testing a drone, which may include the steps of;
step S401: and the distance from the unmanned equipment to the reflecting device is measured at fixed time through a distance measuring instrument arranged on the unmanned equipment.
Specifically, the description about the measurement of the distance from the unmanned apparatus to the light reflecting device by the distance measuring instrument is identical to the description of the distance measuring instrument 102, the unmanned apparatus 103, and the light reflecting device 104, and will not be repeated here.
Step S402: and reflecting the light waves generated by the distance measuring instrument to the distance measuring instrument through the light reflecting device, so that the distance measuring instrument measures the distance from the unmanned equipment to the light reflecting device according to the relative position between the unmanned equipment and the light reflecting device.
Specifically, the description of the light reflecting device is identical to that of the light reflecting device 101, and will not be repeated here.
Step S403: when the actual driving distance of the unmanned equipment is tested, the reflecting device is arranged opposite to the driving direction of the unmanned equipment; determining a first distance from a starting point to the light reflecting device and a second distance from a stopping point to the light reflecting device of the unmanned equipment by the data analysis device according to a plurality of distances reported by the distance measuring instrument, and calculating a test distance of the unmanned equipment according to the first distance and the second distance; and determining a test result of the unmanned equipment according to the test distance and the configured test strategy.
Specifically, the data analysis device collects one or more distances reported by the distance measuring instrument, and the distance measuring instrument uploads the one or more distances to the data analysis device through a wireless communication module belonging to the distance measuring instrument. Specifically, the description of the data analysis device is identical to the description of the data analysis device 101, and will not be repeated here. Further, determining a test distance based on one or more of the distances; the embodiment of the method is applied to any one or more of a test scene for testing the actual driving distance, a test scene for testing the braking distance and a test scene for testing the driving precision. Specifically:
1) When the actual driving distance of the unmanned equipment is tested, the reflecting device is arranged opposite to the driving direction of the unmanned equipment; and determining a first distance from the starting point to the light reflecting device and a second distance from the stopping point to the light reflecting device by the data analysis device according to a plurality of distances reported by the distance measuring instrument, and calculating the test distance of the unmanned equipment according to the first distance and the second distance.
2) When testing the braking distance of the unmanned equipment, arranging the reflecting device opposite to the running direction of the unmanned equipment; and determining the distance from the braking start point to the braking start point of the reflecting device and the distance from the braking stop point to the braking stop point of the reflecting device by the data analysis device according to a plurality of distances reported by the distance measuring instrument, and calculating the test distance of the unmanned device according to the distance from the braking start point and the distance from the braking stop point.
3) When the running precision of the unmanned equipment is tested, the reflecting device is arranged on the side surface parallel to the running direction of the unmanned equipment; and calculating the actual offset distance of the unmanned equipment corresponding to the light reflecting device by the data analysis device according to the distances reported by the distance measuring instrument, and taking the actual offset distance as the test distance.
Further, according to the test distance and the configured test strategy, a test result of the unmanned equipment is determined. Specifically, for a test scene for testing an actual driving distance, a test scene for testing a braking distance, and a test scene for testing driving precision, after determining a test distance corresponding to the test scene, determining a test result of the unmanned equipment corresponding to the test scene according to a test strategy corresponding to the test scene. I.e. the configured test strategy comprises: determining a difference value between the test distance and a set threshold value corresponding to a test scene to which the test distance belongs; and when the difference value exceeds the error range corresponding to the test scene to which the test distance belongs, determining that the test result is failed, otherwise, determining that the test result is passed.
The description of the test distances in the test scenario for determining the test actual driving distance, the test scenario for testing the braking distance, and the test scenario for testing the driving accuracy are identical to the description of the test scenarios corresponding to fig. 1, 2, and 3, and will not be repeated here.
The embodiment of the invention also provides electronic equipment of the unmanned equipment, which comprises: one or more processors; and a storage device for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the method provided by any of the embodiments described above.
The embodiment of the invention also provides a computer readable medium, on which a computer program is stored, which when executed by a processor implements the method provided by any of the above embodiments.
Fig. 5 illustrates an exemplary system architecture 500 of a method of testing a drone or a system of testing a drone to which embodiments of the invention may be applied.
As shown in fig. 5, the system architecture 500 may include a tested unmanned device 501, a server 502 to which the data analysis apparatus belongs, and terminal devices 503, 504. The network 505 is a medium used to provide communication links between the drone 501 and the server 502, terminal devices 503, 504. The network 505 may include various connection types, such as wired, wireless communication links, bluetooth communications, and the like.
The user may interact with the server 502, the terminal devices 503, 504 through the network 505 using the distance meter mounted on the unmanned device 501 to receive or transmit data corresponding to the distance, etc.
The terminal devices 503, 504 may be a variety of electronic devices having a display screen and supporting a variety of client applications, including but not limited to smartphones, tablets, laptop and desktop computers, and the like.
The server 502 or the terminal devices 503, 504 may be devices that provide various services, such as processing the received distance of the unmanned device 501 and determining test results of whether the test passed.
It should be noted that, the method for testing the unmanned aerial vehicle provided by the embodiment of the present invention is generally executed by the server 502 or the terminal devices 503 and 504, and accordingly, the data analysis device is generally disposed in the server 502 or the terminal devices 503 and 504.
It should be understood that the number of unmanned devices, terminal devices, networks and servers in fig. 5 is merely illustrative. There may be any number of unmanned devices, terminal devices, networks, and servers, as desired for implementation.
Referring now to FIG. 6, there is illustrated a schematic diagram of a computer system 600 suitable for use in implementing an embodiment of the present invention. The terminal device shown in fig. 6 is only an example, and should not impose any limitation on the functions and the scope of use of the embodiment of the present invention.
As shown in fig. 6, the computer system 600 includes a Central Processing Unit (CPU) 601, which can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 602 or a program loaded from a storage section 608 into a Random Access Memory (RAM) 603. In the RAM 603, various programs and data required for the operation of the system 600 are also stored. The CPU 601, ROM 602, and RAM 603 are connected to each other through a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.
The following components are connected to the I/O interface 605: an input portion 606 including a keyboard, mouse, etc.; an output portion 607 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, a speaker, and the like; a storage section 608 including a hard disk and the like; and a communication section 609 including a network interface card such as a LAN card, a modem, or the like. The communication section 609 performs communication processing via a network such as the internet. The drive 610 is also connected to the I/O interface 605 as needed. Removable media 611 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is installed as needed on drive 610 so that a computer program read therefrom is installed as needed into storage section 608.
In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication portion 609, and/or installed from the removable medium 611. The above-described functions defined in the system of the present invention are performed when the computer program is executed by a Central Processing Unit (CPU) 601.
The computer readable medium shown in the present invention may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules and/or units involved in the embodiments of the present invention may be implemented in software, or may be implemented in hardware. The described modules and/or units may also be provided in a processor.
As another aspect, the present invention also provides a computer-readable medium that may be contained in the apparatus described in the above embodiments; or may be present alone without being fitted into the device. The computer readable medium carries one or more programs which, when executed by a device, cause the device to include: the distance from the unmanned equipment to the reflecting device is measured at fixed time through the distance measuring instrument arranged on the unmanned equipment; reflecting the light waves generated by the distance measuring instrument to the distance measuring instrument through the light reflecting device, so that the distance measuring instrument measures the distance from the unmanned equipment to the light reflecting device according to the relative position between the unmanned equipment and the light reflecting device; when the actual driving distance of the unmanned equipment is tested, the reflecting device is arranged opposite to the driving direction of the unmanned equipment; determining a first distance from a starting point to the light reflecting device and a second distance from a stopping point to the light reflecting device of the unmanned equipment by the data analysis device according to a plurality of distances reported by the distance measuring instrument, and calculating a test distance of the unmanned equipment according to the first distance and the second distance; and determining a test result of the unmanned equipment according to the test distance and the configured test strategy.
According to the embodiment of the invention, the distance between the unmanned equipment and the reflecting device can be measured by using the distance measuring instrument, and when the actual driving distance of the unmanned equipment is tested, the reflecting device is positioned opposite to the driving direction of the unmanned equipment; calculating a test distance obtained by the unmanned equipment aiming at the actual driving distance by utilizing a data analysis device according to a plurality of distances reported by the distance measuring instrument so as to determine a test result of the unmanned equipment according to the test distance and a configured test strategy; therefore, the test precision of the test unmanned equipment is improved, the automation degree of the test unmanned equipment is improved, and the labor cost is saved.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives can occur depending upon design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (10)
1. A system for testing an unmanned device, comprising: distance measuring instrument, reflecting device and data analysis device;
The distance measuring instrument is arranged on the unmanned equipment and is used for measuring the distance from the unmanned equipment to the light reflecting device at regular time;
the light reflecting device is used for reflecting light waves generated by the distance measuring instrument to the distance measuring instrument; so that the distance measuring instrument measures the distance from the unmanned equipment to the light reflecting device according to the relative position with the light reflecting device;
when the actual driving distance of the unmanned equipment is tested, the light reflecting device is positioned opposite to the driving direction of the unmanned equipment; the data analysis device determines a first distance from the starting point to the light reflecting device and a second distance from the stopping point to the light reflecting device according to a plurality of distances reported by the distance measuring instrument, and calculates a test distance of the unmanned equipment according to the first distance and the second distance;
when the running precision of the unmanned equipment is tested, the light reflecting device is positioned on the side surface parallel to the running direction of the unmanned equipment; the data analysis device calculates the actual offset distance of the unmanned equipment corresponding to the light reflecting device according to a plurality of distances reported by the distance measuring instrument, and takes the actual offset distance as the test distance; comparing the test distance with the expected distance to determine whether the unmanned equipment generates route deviation in the driving process according to the comparison result;
When testing the braking distance of the unmanned equipment, controlling the unmanned equipment to start braking at a fixed braking starting point; to calculate a braking distance of the unmanned device based on the braking start point distance;
and the data analysis device determines the test result of the unmanned equipment according to the test distance and the configured test strategy.
2. The system of claim 1, wherein the system further comprises a controller configured to control the controller,
the distance measuring instrument comprises a wireless communication module;
the distance measuring instrument uploads one or more distances to the data analysis device through the wireless communication module.
3. The system as recited in claim 1, further comprising:
when testing the braking distance of the unmanned device,
the light reflecting device is positioned opposite to the running direction of the unmanned equipment; and the data analysis device determines the distance from the braking starting point to the braking starting point of the light reflecting device and the distance from the braking stopping point to the braking stopping point of the light reflecting device of the unmanned equipment according to a plurality of distances reported by the distance measuring instrument, and calculates the test distance of the unmanned equipment according to the distance from the braking starting point and the distance from the braking stopping point.
4. The system of claim 1, wherein the system further comprises a controller configured to control the controller,
the test strategy configured by the data analysis device comprises the following steps:
determining a difference value between the test distance and a set threshold value corresponding to a test scene to which the test distance belongs;
and when the difference value exceeds the error range corresponding to the test scene to which the test distance belongs, determining that the test result is failed, otherwise, determining that the test result is passed.
5. A method of testing an unmanned device, comprising:
the distance from the unmanned equipment to the reflecting device is measured at fixed time through the distance measuring instrument arranged on the unmanned equipment;
reflecting the light waves generated by the distance measuring instrument to the distance measuring instrument through the light reflecting device, so that the distance measuring instrument measures the distance from the unmanned equipment to the light reflecting device according to the relative position between the unmanned equipment and the light reflecting device;
when the actual driving distance of the unmanned equipment is tested, the reflecting device is arranged opposite to the driving direction of the unmanned equipment; determining a first distance from a starting point to the light reflecting device and a second distance from a stopping point to the light reflecting device of the unmanned equipment by the data analysis device according to a plurality of distances reported by the distance measuring instrument, and calculating a test distance of the unmanned equipment according to the first distance and the second distance;
When the running precision of the unmanned equipment is tested, the reflecting device is arranged on the side surface parallel to the running direction of the unmanned equipment; calculating an actual offset distance of the unmanned equipment corresponding to the light reflecting device according to a plurality of distances reported by the distance measuring instrument by the data analysis device, and taking the actual offset distance as the test distance; comparing the test distance with the expected distance to determine whether the unmanned equipment generates route deviation in the driving process according to the comparison result;
when testing the braking distance of the unmanned equipment, controlling the unmanned equipment to start braking at a fixed braking starting point; to calculate a braking distance of the unmanned device based on the braking start point distance;
and determining a test result of the unmanned equipment according to the test distance and the configured test strategy.
6. The method of claim 5, wherein the step of determining the position of the probe is performed,
uploading one or more of the distances to the data analysis device via a wireless communication module attributed to the distance meter.
7. The method as recited in claim 5, further comprising:
When testing the braking distance of the unmanned device,
the reflecting device is arranged opposite to the running direction of the unmanned equipment; and determining the distance from the braking start point to the braking start point of the reflecting device and the distance from the braking stop point to the braking stop point of the reflecting device by the data analysis device according to a plurality of distances reported by the distance measuring instrument, and calculating the test distance of the unmanned device according to the distance from the braking start point and the distance from the braking stop point.
8. The method of claim 5, wherein the step of determining the position of the probe is performed,
the configured test strategy comprises the following steps:
determining a difference value between the test distance and a set threshold value corresponding to a test scene to which the test distance belongs;
and when the difference value exceeds the error range corresponding to the test scene to which the test distance belongs, determining that the test result is failed, otherwise, determining that the test result is passed.
9. An electronic device, comprising:
one or more processors;
storage means for storing one or more programs,
when executed by the one or more processors, causes the one or more processors to implement the method of any of claims 5-8.
10. A computer readable medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method according to any of claims 5-8.
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