CN113204479A - Visual debugging system and method for robot - Google Patents
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- CN113204479A CN113204479A CN202110401241.7A CN202110401241A CN113204479A CN 113204479 A CN113204479 A CN 113204479A CN 202110401241 A CN202110401241 A CN 202110401241A CN 113204479 A CN113204479 A CN 113204479A
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- 238000001914 filtration Methods 0.000 claims description 8
- 238000012216 screening Methods 0.000 claims description 8
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- 238000004458 analytical method Methods 0.000 claims description 3
- 238000012800 visualization Methods 0.000 claims 2
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- G06F11/36—Preventing errors by testing or debugging software
- G06F11/362—Software debugging
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Abstract
The invention discloses a visual debugging system and a visual debugging method for a robot, wherein the system comprises a UI (user interface), a data analysis module, a log module and a map module; the data analysis module is used for reading and analyzing data of the robot and then respectively sending the analyzed log data and the image data to the log module and the map module; the log module is used for sending the processed log data to a UI interface for display; the map module is used for sending the processed image data to a UI (user interface) for displaying; the UI interface is used for sending debugging commands, setting parameters and displaying data in the process of debugging the robot. The system analyzes data by controlling the data analysis module, the log module and the map module through the UI interface, displays the data in real time and inputs a debugging command, improves the function verification efficiency by displaying the data in the debugging process, and improves the debugging flexibility by setting parameters and the like in the process of debugging the robot.
Description
Technical Field
The invention relates to the technical field of electronic cigarettes, in particular to a visual debugging system and method for a robot.
Background
With the improvement of living standard of people and the continuous updating of product technology, the sweeping robot appears around our lives at a fast growing speed, wherein the sweeping robot of the laser scheme is outstanding due to excellent mapping and positioning capability. Due to the complexity of the laser scheme technology and the diversity of products, the problems of how to develop a machine more efficiently, how to analyze the running condition of the machine more conveniently and how to position the machine quickly under the condition of error behavior of the machine are all realized and solved by debugging. Under the existing condition, a developer can only see the log information of the machine operation, and the developer or a third-party scheme developer can only adopt a single means to debug, so that the debugging difficulty is high.
Disclosure of Invention
In order to solve the problems, the invention provides a visual debugging system and method for a robot. The specific technical scheme of the invention is as follows:
a visual debugging system of a robot comprises a UI interface, a data analysis module, a log module and a map module; the data analysis module is used for reading and analyzing data of the robot and then respectively sending the analyzed log data and the image data to the log module and the map module; the log module is used for processing the received log data and sending the processed log data to the UI interface for display; the map module is used for processing the received image data and sending the processed image data to the UI interface for display; the UI interface is used for sending debugging commands, setting parameters and displaying data in the process of debugging the robot. The system analyzes data by controlling the data analysis module, the log module and the map module through the UI interface, displays the data in real time and inputs a debugging command, improves the function verification efficiency by displaying the data in the debugging process, and improves the debugging flexibility by setting parameters and the like in the process of debugging the robot.
Further, the UI interface includes a key unit, a map display unit, a text display unit, and a progress control unit, where the key unit is configured to input a debugging command, the map display unit is configured to display image data, the text display unit is configured to display log data, and the progress control unit includes a progress bar configured to display a current playing progress and control the progress by dragging the progress bar. The image data and the log data are separately displayed through the map display unit and the text display unit, so that developers can conveniently check and set the debugging process, and the practicability is high.
Furthermore, the key unit comprises a file reading key, a playing key, a pause key and a playing speed key.
A visual debugging method of a robot is used for controlling the visual debugging system of the robot, and comprises the following steps: the UI interface sends a debugging command to the data analysis module, so that the data analysis module carries out data analysis and sends the image data and the log data obtained by analysis to the map module and the log module respectively; the UI interface display map module and the log module respectively process the processing process and the result of the image data and the log data and set the image data and the log data in the processing process. The data are analyzed into image data and log data through the data analysis module, and then the image data and the log data are processed separately through the map module and the log module, so that the data processing speed is improved; the data processing process of the map module and the log module is displayed through the UI interface, so that developers can conveniently perform corresponding operation on the processing process, and the flexibility is high.
Further, the work flow after the data analysis module receives the debugging command is as follows: s101: after receiving the debugging command, the data analysis module starts playing; s102: the data analysis module periodically reads data and analyzes the data into image data and log data; s103: the data analysis module sends the image data and the log data to the map module and the log module respectively. The data is read in a periodic mode, and the situation that the data analysis module reads too much data and is stuck is prevented.
Further, in step S103, when the data parsing module periodically reads the data, the data parsing module may pause/start reading the data, stop reading the data, or execute playback trace back according to the received command. When the data analysis module reads data, corresponding actions can be executed according to corresponding commands, and flexibility is high.
Further, when the data analysis module stops reading the data, the progress of reading the data is reset.
Further, the specific steps of the data analysis module for performing the play backtracking are as follows: acquiring the position of a progress bar sliding block, and calculating corresponding time; matching corresponding characteristic data according to the time point corresponding to the time, and acquiring corresponding line numbers in the characteristic data; and re-reading the file and skipping the corresponding line number to enable the data to be read from the playback point, so as to realize the playback effect.
Further, the map module processes the image data by the steps of: s201: acquiring a frame of image data from the image data queue; s202: judging the data type of the frame of image data; s203: and drawing the frame of image data into an image according to the data type and displaying the image in the UI interface.
Further, the UI interface performs settings during the processing of the image data by the map module, and the UI interface performs zooming in, zooming out, or parameter setting on the image.
Further, the log module processes the log data by the following steps: s301: acquiring a frame of log data from a log data queue; s302: highlight filtering or screening the frame of log data; s303: and sending the log data subjected to highlight filtering or screening to a UI (user interface) for display.
Further, the setting of the UI in the processing process of the log data by the log module is that the UI sets the key words for highlighting and filtering or screening.
Drawings
FIG. 1 is a schematic diagram of a visual debugging system of a robot of the present invention;
FIG. 2 is a schematic view of a UI interface of the present invention;
FIG. 3 is a flow chart of the operation of the data parsing module of the present invention;
FIG. 4 is a flow chart of the operation of the map module of the present invention;
FIG. 5 is a flowchart of the operation of the log module of the present invention.
Detailed Description
The technical scheme and the beneficial effects of the invention are clearer and clearer by further describing the specific embodiment of the invention with the accompanying drawings of the specification. The embodiments described below are exemplary and are intended to be illustrative of the invention, but are not to be construed as limiting the invention.
Referring to fig. 1, a visual robot debugging system includes a UI interface, a data parsing module, a log module, and a map module; the data analysis module is used for reading and analyzing data of the robot and then respectively sending the analyzed log data and the image data to the log module and the map module; the log module is used for processing the received log data and sending the processed log data to the UI interface for display; the map module is used for processing the received image data and sending the processed image data to the UI interface for display; the UI interface is used for sending debugging commands, setting parameters and displaying data in the process of debugging the robot. The UI interface is a software module and is provided with an operation interface, developers can operate the UI interface, and the data analysis module, the log module and the map module are virtual modules for processing data, cannot be directly operated and can only carry out corresponding work by setting programs and work commands sent by the UI interface. The system analyzes data by controlling the data analysis module, the log module and the map module through the UI interface, displays the data in real time and inputs a debugging command, improves the function verification efficiency by displaying the data in the debugging process, and improves the debugging flexibility by setting parameters and the like in the process of debugging the robot.
As shown in fig. 2, the UI interface includes a key unit for inputting a debugging command, a map display unit for displaying image data, a text display unit for displaying log data, and a progress control unit including a progress bar for displaying a current play progress and controlling the progress by dragging the progress bar. The key unit comprises a file reading key, a playing key, a pause key and a playing speed key, and can be further provided with more functional units according to actual requirements, such as keys for controlling whether the map display unit and the text display unit display data or not, an input unit for inputting keywords highlighted and filtered by the log module, and the like. The image data and the log data are separately displayed through the map display unit and the text display unit, so that developers can conveniently check and set the debugging process, and the practicability is high.
As shown in fig. 1, a visual robot debugging method is used for controlling the visual robot debugging system, and the method includes the following steps: the UI interface sends a debugging command to the data analysis module, so that the data analysis module carries out data analysis and sends the image data and the log data obtained by analysis to the map module and the log module respectively; the UI interface display map module and the log module respectively process the processing process and the result of the image data and the log data and set the image data and the log data in the processing process. The data analysis module takes out images and log data contents according to a self-defined protocol format, the images comprise maps, paths, virtual walls and the like, for example, a map lattice is transmitted according to the data contents, the paths are start points and stop points of line segments, and the virtual walls are rectangular opposite angle points. The map module firstly draws a map- > path- > virtual wall and the like according to image lamination through a drawing interface of the UI interface, and logs are transmitted by ascii codes and are directly displayed on the UI interface through the log module. The data are analyzed into image data and log data through the data analysis module, and then the image data and the log data are processed separately through the map module and the log module, so that the data processing speed is improved; the data processing process of the map module and the log module is displayed through the UI interface, so that developers can conveniently perform corresponding operation on the processing process, and the flexibility is high.
As shown in fig. 3, the work flow after the data analysis module receives the debug command is as follows: s101: after receiving the debugging command, the data analysis module starts playing; s102: the data analysis module periodically reads data and analyzes the data into image data and log data; s103: the data analysis module sends the image data and the log data to the map module and the log module respectively. And the data analysis module starts playing after analyzing and receiving the debugging command, searches the whole file according to the recording protocol, finds characteristic data (matching time point) in each frame of data and stores the characteristic data and the number of lines corresponding to the data. And when playing, starting the timing file to read and analyze the read data. The data is read in a periodic mode, and the situation that the data analysis module reads too much data and is stuck is prevented. In step S103, when the data analysis module periodically reads data, the data analysis module may pause/start reading data, stop reading data, or perform playback backtracking according to the received command. When the data analysis module reads data, corresponding actions can be executed according to corresponding commands, and flexibility is high. When the data analysis module stops reading the data, the progress of reading the data is reset. The specific steps of the data analysis module for executing the play backtracking are as follows: acquiring the position of a progress bar sliding block, and calculating corresponding time; matching corresponding characteristic data according to the time point corresponding to the time, and acquiring corresponding line numbers in the characteristic data; and re-reading the file and skipping the corresponding line number to enable the data to be read from the playback point, so as to realize the playback effect. And if the data analysis module reads the tail of the file, the playing is quitted after all the data are analyzed, and the data are analyzed.
As shown in fig. 4, the map module processes the image data by the following steps: s201: acquiring a frame of image data from the image data queue; s202: judging the data type of the frame of image data; s203: and drawing the frame of image data into an image according to the data type and displaying the image in the UI interface. The image data is stored between the data analysis module and the map module in a buffer queue mode, and when the map module reads that no data exists in the image data queue, the reading of the data is stopped, and a waiting state is entered. The image data drawing is that the map module displays the image data on the UI interface according to forms, graphs and the like. The UI interface is set in the process of processing the image data by the map module, can enlarge or reduce the image or set parameters and the like, and can also enable the map module to redraw the image.
As shown in fig. 5, the processing steps of the log module on the log data are as follows: s301: acquiring a frame of log data from a log data queue; s302: highlight filtering or screening the frame of log data; s303: and sending the log data subjected to highlight filtering or screening to a text display unit in the UI for displaying. The log data is stored between the data analysis module and the log module in a buffer queue mode, when the log module reads that no data exists in the log data queue, the data reading is stopped, and a waiting state is entered. The UI interface is set in the log data processing process of the log module, and the UI interface is provided with key words for highlight filtering or screening.
In the description of the specification, reference to the description of "one embodiment", "preferably", "an example", "a specific example" or "some examples", etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention, and schematic representations of the terms in this specification do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. The connection mode connected in the description of the specification has obvious effects and practical effectiveness.
With the above structure and principle in mind, those skilled in the art should understand that the present invention is not limited to the above embodiments, and modifications and substitutions based on the known technology in the field are within the scope of the present invention, which should be limited by the claims.
Claims (12)
1. A visual debugging system of a robot is characterized by comprising a UI interface, a data analysis module, a log module and a map module;
the data analysis module is used for reading and analyzing data of the robot and then respectively sending the analyzed log data and the image data to the log module and the map module;
the log module is used for processing the received log data and sending the processed log data to the UI interface for display;
the map module is used for processing the received image data and sending the processed image data to the UI interface for display;
the UI interface is used for sending debugging commands, setting parameters and displaying data in the process of debugging the robot.
2. The robot visualization debugging system of claim 1, wherein the UI interface comprises a key unit for inputting a debugging command, a map display unit for displaying image data, a text display unit for displaying log data, and a progress control unit comprising a progress bar for displaying a current playing progress and controlling the progress by dragging the progress bar.
3. The robot visualization debugging system of claim 2, wherein the key unit comprises a file reading key, a play key, a pause key, and a play speed key.
4. A visual debugging method for a robot, which is used for controlling the visual debugging system for the robot of any one of claims 1 to 3, and comprises the following steps:
the UI interface sends a debugging command to the data analysis module, so that the data analysis module carries out data analysis and sends the image data and the log data obtained by analysis to the map module and the log module respectively;
the UI interface display map module and the log module respectively process the processing process and the result of the image data and the log data and set the image data and the log data in the processing process.
5. The visual robot debugging method of claim 4, wherein the workflow of the data analysis module after receiving the debugging command is as follows:
s101: after receiving the debugging command, the data analysis module starts playing;
s102: the data analysis module periodically reads data and analyzes the data into image data and log data;
s103: the data analysis module sends the image data and the log data to the map module and the log module respectively.
6. The visual robot debugging method of claim 5, wherein in step S103, when the data parsing module periodically reads data, the data parsing module pauses/starts to read data, stops reading data, or performs playback backtracking according to the received command.
7. The visual debugging method of robot of claim 6, wherein the data analysis module resets the progress of reading data when it stops reading data.
8. The visual robot debugging method of claim 6, wherein the specific steps of the data analysis module for performing playback backtracking are as follows:
acquiring the position of a progress bar sliding block, and calculating corresponding time;
matching corresponding characteristic data according to the time point corresponding to the time, and acquiring corresponding line numbers in the characteristic data;
and re-reading the file and skipping the corresponding line number to enable the data to be read from the playback point, so as to realize the playback effect.
9. The visual debugging method of the robot as claimed in claim 4, wherein the map module processes the image data by the steps of:
s201: acquiring a frame of image data from the image data queue;
s202: judging the data type of the frame of image data;
s203: and drawing the frame of image data into an image according to the data type and displaying the image in the UI interface.
10. The visual debugging method of the robot in claim 4 or 9, wherein the setting of the UI interface during the processing of the image data by the map module is that the UI interface enlarges, reduces or sets parameters for the image.
11. The visual robot debugging method according to claim 4, wherein the log module processes the log data by:
s301: acquiring a frame of log data from a log data queue;
s302: highlight filtering or screening the frame of log data;
s303: and sending the log data subjected to highlight filtering or screening to a UI (user interface) for display.
12. The visual robot debugging method of claim 4 or 11, wherein the UI interface is configured during the processing of the log data by the log module, and the UI interface is configured to highlight or filter the keywords.
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