CN113704963A - Robot testing method and system and robot - Google Patents
Robot testing method and system and robot Download PDFInfo
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- CN113704963A CN113704963A CN202110816628.9A CN202110816628A CN113704963A CN 113704963 A CN113704963 A CN 113704963A CN 202110816628 A CN202110816628 A CN 202110816628A CN 113704963 A CN113704963 A CN 113704963A
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Abstract
The invention discloses a robot testing method, a system and a robot, wherein the method comprises the following steps: a plurality of robots are tested on the circulation test runway; if the robot with the fault exists in the circulation test runway, fault broadcasting is carried out on the fault point position of the fault robot; according to the fault broadcast, replanning a test route of the robot without the fault to obtain a fault-free route, wherein the fault-free route bypasses the position of the fault point; and based on the fault-free route, continuing to test the robot without fault. The invention aims to improve the test efficiency of the robot.
Description
Technical Field
The invention relates to the field of robot testing, in particular to a robot testing method, a system and a robot.
Background
At present, during the aging test of the performance of a robot, various runways simulating actual environmental scenes can be designed in a laboratory. For example, a ramp, a straight road, a curve, a narrow road, a crossing threshold, a step, an obstacle and the like are designed in the experimental asphyxia, and the walking capability of the robot is tested. In current runway designs, multiple runways are often designed indoors, each for testing one robot. Therefore, in a limited indoor space, when one robot cannot fall down and walk through a test in the test process, the robot under test in the runway cannot complete the test, the space environment of the runway is wasted, and the robot test efficiency is low.
Disclosure of Invention
In view of this, embodiments of the present application provide a robot testing method, a system and a robot, which aim to improve testing efficiency of the robot.
The embodiment of the application provides a robot testing method, which comprises the following steps:
a plurality of robots are tested on the circulation test runway;
if the robot with the fault exists in the circulation test runway, fault broadcasting is carried out on the fault point position of the fault robot;
according to the fault broadcast, replanning a test route of the robot without the fault to obtain a fault-free route, wherein the fault-free route bypasses the position of the fault point;
and based on the fault-free route, continuing to test the robot without fault.
In one embodiment, the cycle test runway at least comprises three cycle runways with preset shapes, namely a first runway, a second runway and a third runway from outside to inside in sequence, the first runway is communicated with the second runway through a plurality of auxiliary lanes, the second runway is communicated with the third runway through a plurality of auxiliary lanes, test items for testing the performance of the robot are arranged on the first runway and the third runway, and the test items comprise one or more of a straight-going lane section, a curve section, a ramp section, a narrow lane section, a threshold passing section, a step section and an obstacle section;
the plurality of robots perform a test on a loop test runway, comprising:
the plurality of robots performing a test on the first runway;
or, the plurality of robots performing a test on the third runway;
alternatively, some of the plurality of robots may be tested on the first runway and some of the plurality of robots may be tested on the third runway.
In an embodiment, the replanning the test route of the robot without the fault according to the fault broadcast to obtain a fault-free route, the fault-free route bypassing the fault point position, includes:
according to the fault broadcast, determining the position of a fault point where the robot has a fault;
if the fault point position is located on a first runway, replanning a test route of a robot which does not have a fault in the first runway by using a planning principle of a longest path to obtain a fault-free route, wherein the fault-free route bypasses the fault point position through the auxiliary road and the second runway;
and if the position of the fault point is positioned on a third runway, replanning the test route of the robot without the fault in the third runway by using a shortest path planning principle to obtain a fault-free route, wherein the fault-free route bypasses the position of the fault point through the auxiliary road and the second runway.
In an embodiment, if the fault point location is located on a first runway, replanning a test route of a robot that has not failed in the first runway using a longest path planning rule to obtain a fault-free route, where the fault-free route passes through the secondary road and the second runway to bypass the fault point location includes:
if the fault point position is located on a first runway, acquiring a fault starting point and a fault ending point of a road section where the fault point position is located by a robot which does not have a fault in the first runway, wherein the fault starting point and the fault ending point are respectively intersections of the road section where the fault point position is located and two adjacent auxiliary roads;
and the robot without the fault replans the test route by utilizing the planning principle of the longest path to obtain a fault-free route, wherein the fault-free route sequentially passes through a fault starting point, a secondary road, a second runway, the secondary road and a fault end point and circulates to the fault starting point along the first runway to bypass the fault point position.
In an embodiment, if the location of the fault point is located on a third runway, replanning a test route of a robot that has not failed in the third runway using a shortest path planning rule to obtain a fault-free route, where the fault-free route passes through the secondary road and the second runway to bypass the location of the fault point, includes:
if the fault point position is located on a third runway, acquiring a fault starting point and a fault ending point of a road section where the fault point position is located by a robot which does not have a fault in the third runway, wherein the fault starting point and the fault ending point are respectively intersections of the road section where the fault point position is located and two adjacent auxiliary roads;
and the robot without the fault replans the test route by using the planning principle of the shortest path to obtain a fault-free route, wherein the fault-free route sequentially passes through a fault starting point, a secondary road, a second runway, the secondary road and a fault end point and circulates to the fault starting point along a third runway to bypass the fault point position.
In an embodiment, if there is a robot with a fault in the loop test runway, the fault broadcasting the fault point position where the fault robot is located includes:
if the robot in the first runway has a fault, the fault robot broadcasts the fault to the robots in the first runway which do not have the fault; and/or
And if the robot in the third runway has a fault, the fault robot broadcasts the fault to the robots which do not have the fault in the third runway.
In one embodiment, the test site is defined by partitions into a first runway, a second runway, and a third runway of a cyclical test runway, wherein the partitions include a first partition and a second partition; the first runway and the second runway are separated by a first separator, and a secondary road between the first runway and the second runway is an opening of the first separator; the second runway and the third runway are separated by a second separator, and a secondary road between the second runway and the third runway is an opening of the second separator.
In one embodiment, the cycle test runway comprises two cycle runways with preset shapes, namely a first runway and a second runway from outside to inside in sequence, or a second runway and a first runway from outside to inside in sequence, the first runway and the second runway are communicated through a plurality of auxiliary lanes, a test item for testing the performance of the robot is arranged on the first runway, and the test item comprises one or more of a straight lane section, a curve section, a ramp section, a narrow lane section, a threshold passing section, a step section and an obstacle section;
the plurality of robots perform a test on a loop test runway, comprising:
the plurality of robots perform a test on the first runway.
In order to achieve the aim, the robot testing system comprises a circulating testing runway and a plurality of robots;
the plurality of robots performing the steps of the robot testing method of any one of the preceding claims when testing the loop test runway.
In order to achieve the above object, there is also provided a robot, including a memory, a processor, and a robot testing method program stored in the memory and executable on the processor, wherein the processor implements any of the above steps of the robot testing method when executing the robot testing method program.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: a plurality of robots are tested on the circulation test runway; the testing efficiency of the robot is improved by placing a plurality of robots on the circulation testing runway to perform testing simultaneously.
If the robot with the fault exists in the circulation test runway, fault broadcasting is carried out on the fault point position of the fault robot; through fault broadcasting, the fault point position where the fault robot is located is sent to other under-test robots in the circulating test runway, and the robot which does not break down is prevented from being blocked in a fault road section, so that the test efficiency of the robot is improved, and the test cost of the robot is reduced.
According to the fault broadcast, replanning a test route of the robot without the fault to obtain a fault-free route, wherein the fault-free route bypasses the position of the fault point; and based on the fault-free route, continuing to test the robot without fault. And planning the test route of the robot without the fault again by calculating the position of the fault point to obtain a fault-free route bypassing the position of the fault point, and testing the robot without the fault by using the fault-free route so as to test the robot on the circulating test runway circularly and uninterruptedly, thereby improving the test efficiency of the robot.
Drawings
FIG. 1 is a schematic flow chart of a first embodiment of a robot testing method of the present application;
FIG. 2 is a first schematic view of the cyclical test runway of the present application;
FIG. 3 is a second schematic view of the cyclical test runway of the present application;
FIG. 4 is a schematic flow chart of a second embodiment of the robot testing method of the present application;
FIG. 5 shows a detailed implementation of step S240 in the second embodiment of the robot testing method of the present application;
FIG. 6 is a first schematic view of a faultless route;
FIG. 7 is a flowchart illustrating a detailed implementation of step S250 in a second embodiment of the robot testing method according to the present application;
FIG. 8 is a second schematic of a faultless route;
fig. 9 is a schematic diagram of a hardware architecture of a robot according to the present application.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The embodiment of the invention provides a robot testing method, which comprises the following steps: a plurality of robots are tested on the circulation test runway; if the robot with the fault exists in the circulation test runway, fault broadcasting is carried out on the fault point position of the fault robot; according to the fault broadcast, replanning a test route of the robot without the fault to obtain a fault-free route, wherein the fault-free route bypasses the position of the fault point; and based on the fault-free route, continuing to test the robot without fault. The invention aims to improve the test efficiency of the robot.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
Referring to fig. 1, fig. 1 is a first embodiment of a robot testing method according to the present application, the method including steps S110-S140:
step S110: a plurality of robots are tested on a loop test runway.
Referring to fig. 2, the embodiment provides a circulation test runway, which at least includes three circulation runways of a preset shape, which are a first runway 10, a second runway 20 and a third runway 30 in sequence from outside to inside, the first runway 10 is communicated with the second runway 20 through a plurality of auxiliary lanes 40, the second runway 20 is communicated with the third runway 30 through a plurality of auxiliary lanes 40, test items for testing the performance of a robot are disposed on the first runway 10 and the third runway 30, and the test items include one or more of a straight lane section, a curve section, a ramp section, a narrow lane section, a threshold passing section, a step section and an obstacle section. For example, a test site is planned out of a first runway 10, a second runway 20, and a third runway 30 of a cyclic test runway by means of partitions, wherein the partitions include a first partition and a second partition; the first runway 10 and the second runway 20 are separated by a first separator, and the auxiliary road 40 between the first runway 10 and the second runway 20 is an opening of the first separator; the second runway 20 and the third runway 30 are separated by a second partition, and the secondary road 40 between the second runway 20 and the third runway 30 is an opening of the second partition. Optionally, the first partition is a barrier wall and the second partition is a barrier wall.
One robot can be placed on the circulation test runway at preset intervals (for example, 5 meters) to carry out walking test, so that a plurality of robots can be ensured to simultaneously carry out test on the circulation test runway. The preset distance in this embodiment is not limited, and may be adjusted adaptively according to the number of the cycle test runway and the number of the robots to be tested. In this embodiment, the test direction in the circular test runway may be a clockwise direction; or in a counterclockwise direction; and are not limited thereto. In the present embodiment, the clockwise direction is taken as the test direction.
The robot according to the present embodiment has a walking function, a signal receiving function, a signal transmitting function, and a route re-planning function.
Step S120: and if the robot with the fault exists in the circulation test runway, carrying out fault broadcasting on the fault point position of the fault robot.
In one embodiment, a plurality of test robots are in communication connection with one another, if one robot fails in the circulating test runway, the failed robot sends the position of the fault point where the failed robot is located to other robots which do not fail, and the robots which do not fail obtain the position of the fault point where the failed robot is located by analyzing fault broadcasts. The communication between the robots can be based on point-to-point terminal communication, or can also be based on a cloud server, the fault robot sends information to the cloud server, and the cloud server communicates in a mode of broadcasting information to the robot without fault.
Step S130: and replanning the test route of the robot without the fault according to the fault broadcast to obtain a fault-free route, wherein the fault-free route bypasses the position of the fault point.
In one embodiment, the robot without the fault receives fault information sent by the fault robot through fault broadcasting, and determines the position of the fault point where the fault robot is located according to the fault information. At the moment, the robot without the fault replans the test path to avoid the position of the fault point, so that the robot without the fault can still continue to perform the test on the circular test runway.
Step S140: and based on the fault-free route, continuing to test the robot without fault.
In one embodiment, the robot without the fault continues to walk on the cycle test runway according to a fault-free route and performs the test. That is, when a faulty robot fails and cannot continue testing, the faulty robot may block the test runway, and the robot which does not fail at the back is affected to continue the circular testing.
The technical scheme of the application can be specifically applied to the aging test of the robot, also can be applied to the factory test of the robot function, and specifically can adjust the test items according to the difference of test requirements.
A plurality of robots are tested on the circulation test runway; the testing efficiency of the robot is improved by placing a plurality of robots on the circulation testing runway to perform testing simultaneously.
If the robot with the fault exists in the circulation test runway, fault broadcasting is carried out on the fault point position of the fault robot; through fault broadcasting, the fault point position where the fault robot is located is sent to other under-test robots in the circulating test runway, and the robot which does not break down is prevented from being blocked in a fault road section, so that the test efficiency of the robot is improved, and the test cost of the robot is reduced.
According to the fault broadcast, replanning a test route of the robot without the fault to obtain a fault-free route, wherein the fault-free route bypasses the position of the fault point; and based on the fault-free route, continuing to test the robot without fault. And planning the test route of the robot without the fault again by calculating the position of the fault point to obtain a fault-free route bypassing the position of the fault point, and testing the robot without the fault by using the fault-free route so as to test the robot on the circulating test runway circularly and uninterruptedly, thereby improving the test efficiency of the robot.
Referring to fig. 2, in an embodiment, the cyclic test runway includes at least three cyclic runways of a predetermined shape, which are a first runway 10, a second runway 20, and a third runway 30 in sequence from outside to inside, and the first runway 10 and the second runway 20 are communicated with each other through a plurality of auxiliary lanes 40, for example, the first runway 10 and the second runway 20 are communicated with each other through a plurality of first auxiliary lanes 41. The second runway 20 and the third runway 30 are in communication via a plurality of secondary lanes 40, for example, the second runway 20 and the third runway 30 are in communication via a plurality of secondary lanes 42. The first runway 10 and the third runway 30 are provided with test items for testing the performance of the robot, and the test items include one or more of a straight road section, a curve section, a ramp section, a narrow road section, a threshold passing section, a step section and an obstacle section.
On the basis of the first embodiment, the multiple robots perform a test on the loop test runway, including:
the plurality of robots performing a test on the first runway 10;
alternatively, the plurality of robots are tested at the third runway 30;
alternatively, some of the plurality of robots may be tested on the first runway 10 and some of the plurality of robots may be tested on the third runway 30.
Wherein the auxiliary road 40 and the second runway 20 are not provided with test items.
Specifically, the auxiliary road 40 and the second runway 20 are not provided with test items, so that the robot can pass easily, and the situations that the robot breaks down or blocks in the auxiliary road 40 and the second runway 20 are reduced.
Specifically, the circulation test runway is not limited to the three or two circulation runways with preset shapes mentioned in the above embodiments, and the circulation test runway may be composed of more than or equal to two circulation runways with preset shapes; the number of the auxiliary roads and the number of the second runways are not limited, and the auxiliary roads and the number of the second runways are adjusted according to actual test requirements.
Specifically, when the robot is tested, the cyclic test runway may open the first runway 10 and close the third runway 30 for testing; alternatively, the third runway 30 may be opened and the first runway 10 closed for testing; alternatively, the first runway 10 and the third runway 30 may be opened simultaneously for testing.
Specifically, the ramp section comprises an upper slope surface and a lower slope surface, wherein the slope of the upper slope surface is 5-15 degrees, the slope of the lower slope surface is 5-15 degrees, and the test angle of the ramp section can be adjusted according to requirements.
In particular, the height of the obstacle is 15 mm-50 mm, wherein the height of the obstacle can be adjusted as required.
Specifically, the step section comprises an upper stage and a lower stage, wherein the upper stage and the lower stage respectively comprise 2-10 steps, and the height of the steps can be adjusted according to the performance of the robot.
Specifically, the threshold distance of the threshold passing section is 15 cm-40 cm, and the threshold passing section can be adjusted according to the performance of the robot.
The test item may also be a carpeted floor, a smooth floor, etc., among others. The setting can be carried out in the circulation test runway according to the test requirement of the robot.
And the auxiliary road and the second runway are arranged in the cycle test runway, so that the robot without failure can be tested uninterruptedly, and the efficiency of robot testing is ensured.
In another embodiment, please refer to fig. 3, fig. 3 is another implementation of the loop test runway. The circulation test runway comprises two circulation runways with preset shapes, a first runway 10 and a second runway 20 are sequentially arranged from outside to inside, the first runway 10 is communicated with the second runway 20 through a plurality of auxiliary lanes 40, a test item for testing the performance of the robot is arranged on the first runway, and the test item comprises one or more of a straight-going lane section, a curve section, a ramp section, a narrow lane section, a threshold passing section, a step section and an obstacle section. The predetermined shape may be a circle, a rectangle with rounded corners, a square or a rectangle, and is not limited herein.
The plurality of robots perform a test on a loop test runway, comprising:
the plurality of robots perform a test on the first runway.
Or, in another embodiment, the second runway and the first runway are sequentially arranged from outside to inside, and the plurality of robots perform a test on the circular test runway, including: the plurality of robots perform a test on the first runway.
Referring to fig. 4, a second embodiment of the present application is proposed based on the first embodiment, and the method includes steps S210 to S260:
step S210: a plurality of robots are tested on a loop test runway.
Step S220: and if the robot with the fault exists in the circulation test runway, carrying out fault broadcasting on the fault point position of the fault robot.
Step S230: and determining the position of a fault point where the robot fails according to the fault broadcast.
Step S240: and if the position of the fault point is positioned on the first runway, replanning the test route of the robot which does not have the fault in the first runway by using the planning principle of the longest path to obtain a fault-free route, wherein the fault-free route bypasses the position of the fault point through the auxiliary road and the second runway.
For example, a plurality of robots located in a first runway may communicate with each other, and when the fault point location is located in the first runway, the fault robot located in the first runway broadcasts the fault point location, and the broadcast information is received by the robots in the first runway. And after the robot without the fault knows the position of the fault point, replanning the test route by using the planning principle of the longest path, and bypassing the position of the fault point by using the auxiliary road and the second runway to generate a fault-free route.
Step S250: and if the position of the fault point is positioned on a third runway, replanning the test route of the robot without the fault in the third runway by using a shortest path planning principle to obtain a fault-free route, wherein the fault-free route bypasses the position of the fault point through the auxiliary road and the second runway.
For example, a plurality of robots located in the third runway may communicate with each other, and when the fault point location is located in the third runway, the fault robot located in the third runway broadcasts the fault point location where it is located, and the broadcast information is received by the robots in the third runway. And after the robot without the fault knows the position of the fault point, replanning the test route by using the principle of shortest path planning, and generating a fault-free route by using the auxiliary road and the second runway to bypass the position of the fault point.
Step S260: and based on the fault-free route, continuing to test the robot without fault.
Compared with the first embodiment, the second embodiment includes step S230, step S240 and step S250, and other steps have already been described in the first embodiment, and are not repeated herein.
And replanning the test route of the robot without the fault by a longest path planning principle or a shortest path planning principle, and reducing the stagnation probability of the robot at the fault point position so as to further improve the test efficiency of the robot.
Referring to fig. 5, fig. 5 is a detailed implementation step of step S240 in the second embodiment of the robot testing method according to the present application, where if the location of the fault point is located on the first runway, the testing route of the robot that has not failed in the first runway is re-planned using a longest path planning rule to obtain a non-fault route, and the non-fault route passes through the secondary runway and the second runway to bypass the location of the fault point, including step S241-step S242:
step S241: if the fault point position is located on a first runway, a robot which does not have a fault in the first runway acquires a fault starting point and a fault ending point of a road section where the fault point position is located, wherein the fault starting point and the fault ending point are respectively intersections of the road section where the fault point position is located and two adjacent auxiliary roads.
Step S242: and the robot without the fault replans the test route by utilizing the planning principle of the longest path to obtain a fault-free route, wherein the fault-free route sequentially passes through a fault starting point, a secondary road, a second runway, the secondary road and a fault end point and circulates to the fault starting point along the first runway to bypass the fault point position.
Specifically, please refer to fig. 6, fig. 6 is a first schematic diagram of a non-fault route; when the trouble point location 70 is located on the first runway 10, the intersection of the two secondary roads 40 closest to the trouble point location 70 and the first runway 10 is taken as a trouble start point 50 and a trouble end point 60, and the trouble-free route 80 sequentially passes through the trouble start point 50, the secondary roads 40, the second runway 20, the secondary roads 40, the trouble end point 60, and circulates along the first runway 10 to the trouble start point 50 to bypass the trouble point location 70.
When a fault point occurs in the first runway, the robot which does not have a fault in the first runway performs test route planning again, so that the time cost and the test cost caused by blockage are reduced, and the test efficiency of the robot is improved.
Referring to fig. 7, fig. 7 is a detailed implementation step of step S250 in the second embodiment of the robot testing method of the present application, where if the location of the fault point is located on a third runway, a test route of a robot that has not failed in the third runway is re-planned using a shortest path planning principle to obtain a fault-free route, and the fault-free route passes through the secondary runway and the second runway to bypass the location of the fault point, including step S251-step S252:
step S251: if the fault point position is located on a third runway, acquiring a fault starting point and a fault ending point of a road section where the fault point position is located by a robot which does not have a fault in the third runway, wherein the fault starting point and the fault ending point are respectively intersections of the road section where the fault point position is located and two adjacent auxiliary roads.
Step S252: and the robot without the fault replans the test route by using the planning principle of the shortest path to obtain a fault-free route, wherein the fault-free route sequentially passes through a fault starting point, a secondary road, a second runway, the secondary road and a fault end point and circulates to the fault starting point along a third runway to bypass the fault point position.
Specifically, please refer to fig. 8, fig. 8 is a second schematic diagram of the route without fault; when the trouble point position 70 is located at the third runway 30, the intersection of the two secondary roads 40 closest to the trouble point position 70 and the third runway 30 is taken as a trouble start point 50 and a trouble end point 60, and the trouble-free route 80 sequentially passes through the trouble start point 50, the secondary roads 40, the second runway 20, the secondary roads 40, the trouble end point 60, and circulates along the third runway 30 to the trouble start point 50 to bypass the trouble point position 70.
When a fault point occurs in the third runway, the robot which does not have a fault in the third runway performs test route planning again so as to reduce time cost and test cost caused by blockage and improve the test efficiency of the robot.
In an embodiment, if there is a robot with a fault in the loop test runway, the fault broadcasting the fault point position where the fault robot is located includes:
if the robot in the first runway has a fault, the fault robot broadcasts the fault to the robots in the first runway which do not have the fault; and/or
And if the robot in the third runway has a fault, the fault robot broadcasts the fault to the robots which do not have the fault in the third runway.
That is, if a fault occurs in the robot in the first runway, the fault robot broadcasts the fault to the robots in the first runway, which are not in fault; and if the robot in the third runway has a fault, the fault robot broadcasts the fault to the robots which do not have the fault in the third runway.
In another embodiment, if the robot fails in the first runway or the third runway, the position of the fault point where the failed robot is located is sent to all the non-failed robots in the cycle test runway.
The application also provides a robot testing system which comprises a circulating testing runway and a plurality of robots;
the plurality of robots perform the steps of the robot testing method proposed in the above embodiment when the loop test runway is tested.
The application also provides a robot, which comprises a memory, a processor and a robot testing method program stored on the memory and capable of running on the processor, wherein the steps of the robot testing method provided by the embodiment are realized when the processor executes the robot testing method program.
Referring to fig. 9, the present application provides a robot a10, robot a10 includes a processor a12 and a memory a 11.
Processor a12 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by instructions in the form of hardware, integrated logic circuits, or software in the processor a 12. The processor a12 described above may be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory a11, and the processor a12 reads the information in the memory a11 and performs the steps of the above method in combination with the hardware thereof.
It will be appreciated that memory a11 in embodiments of the present invention may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The non-volatile Memory may be a Read Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash Memory. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory. By way of illustration and not limitation, many forms of RAM are available, such as Static random access memory (Static RAM, SRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic random access memory (Synchronous DRAM, SDRAM), Double data rate Synchronous Dynamic random access memory (ddr DRAM), Enhanced Synchronous SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), and Direct Rambus RAM (DRRAM). The memory a11 of the system and method described in connection with the embodiments of the invention is intended to comprise, without being limited to, these and any other suitable types of memory.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A robot testing method, characterized in that the method comprises:
a plurality of robots are tested on the circulation test runway;
if the robot with the fault exists in the circulation test runway, fault broadcasting is carried out on the fault point position of the fault robot;
according to the fault broadcast, replanning a test route of the robot without the fault to obtain a fault-free route, wherein the fault-free route bypasses the position of the fault point;
and based on the fault-free route, continuing to test the robot without fault.
2. The robot testing method according to claim 1, wherein the circulation test runway includes at least three circulation runways of a predetermined shape, which are a first runway, a second runway, and a third runway in sequence from outside to inside, the first runway and the second runway are communicated with each other through a plurality of sub-lanes, the second runway and the third runway are communicated with each other through a plurality of sub-lanes, and test items for testing the performance of the robot are provided on the first runway and the third runway, the test items include one or more of a straight run section, a curve section, a ramp section, a narrow run section, a threshold passing section, a step section, and an obstacle section;
the plurality of robots perform a test on a loop test runway, comprising:
the plurality of robots performing a test on the first runway;
or, the plurality of robots performing a test on the third runway;
alternatively, some of the plurality of robots may be tested on the first runway and some of the plurality of robots may be tested on the third runway.
3. The robot testing method of claim 2, wherein said re-planning the test route of the non-failing robot to obtain a non-failing route based on the failure broadcast, the non-failing route bypassing the failure point location, comprises:
according to the fault broadcast, determining the position of a fault point where the robot has a fault;
if the fault point position is located on a first runway, replanning a test route of a robot which does not have a fault in the first runway by using a planning principle of a longest path to obtain a fault-free route, wherein the fault-free route bypasses the fault point position through the auxiliary road and the second runway;
and if the position of the fault point is positioned on a third runway, replanning the test route of the robot without the fault in the third runway by using a shortest path planning principle to obtain a fault-free route, wherein the fault-free route bypasses the position of the fault point through the auxiliary road and the second runway.
4. The robot testing method according to claim 3, wherein the re-planning the test route of the robot which has not failed in the first runway to obtain a non-failed route by using a longest path planning rule if the fault point location is located in the first runway, the non-failed route passing through the secondary road and the second runway to bypass the fault point location comprises:
if the fault point position is located on a first runway, acquiring a fault starting point and a fault ending point of a road section where the fault point position is located by a robot which does not have a fault in the first runway, wherein the fault starting point and the fault ending point are respectively intersections of the road section where the fault point position is located and two adjacent auxiliary roads;
and the robot without the fault replans the test route by utilizing the planning principle of the longest path to obtain a fault-free route, wherein the fault-free route sequentially passes through a fault starting point, a secondary road, a second runway, the secondary road and a fault end point and circulates to the fault starting point along the first runway to bypass the fault point position.
5. The robot testing method according to claim 3, wherein if the fault point location is located on a third runway, replanning a test route of a robot that has not failed in the third runway using a shortest path planning rule to obtain a non-failed route, the non-failed route passing through the secondary road and the second runway to bypass the fault point location, comprises:
if the fault point position is located on a third runway, acquiring a fault starting point and a fault ending point of a road section where the fault point position is located by a robot which does not have a fault in the third runway, wherein the fault starting point and the fault ending point are respectively intersections of the road section where the fault point position is located and two adjacent auxiliary roads;
and the robot without the fault replans the test route by using the planning principle of the shortest path to obtain a fault-free route, wherein the fault-free route sequentially passes through a fault starting point, a secondary road, a second runway, the secondary road and a fault end point and circulates to the fault starting point along a third runway to bypass the fault point position.
6. The robot testing method according to claim 2, wherein the step of broadcasting a fault point location where a faulty robot is located if there is a faulty robot in the loop test runway comprises:
if the robot in the first runway has a fault, the fault robot broadcasts the fault to the robots in the first runway which do not have the fault; and/or
And if the robot in the third runway has a fault, the fault robot broadcasts the fault to the robots which do not have the fault in the third runway.
7. The robot testing method of claim 2, wherein the test site is defined by partitions into a first track, a second track, and a third track of the cyclic test track, wherein the partitions include a first partition and a second partition; the first runway and the second runway are separated by a first separator, and a secondary road between the first runway and the second runway is an opening of the first separator; the second runway and the third runway are separated by a second separator, and a secondary road between the second runway and the third runway is an opening of the second separator.
8. The robot testing method according to claim 1, wherein the circulation test runway includes two circulation runways of a predetermined shape, a first runway and a second runway in sequence from outside to inside, or a second runway and a first runway in sequence from outside to inside, the first runway and the second runway are communicated through a plurality of auxiliary lanes, a test item for testing the performance of the robot is provided on the first runway, and the test item includes one or more of a straight run section, a curve section, a ramp section, a narrow run section, a threshold passing section, a step section, and an obstacle section;
the plurality of robots perform a test on a loop test runway, comprising:
the plurality of robots perform a test on the first runway.
9. A robot test system is characterized by comprising a cycle test runway and a plurality of robots;
the plurality of robots performing the steps of the robot testing method of any one of claims 1-8 when testing on the loop test runway.
10. A robot comprising a memory, a processor and a robot testing method program stored on said memory and executable on said processor, said processor implementing the steps of the robot testing method of any of claims 1-8 when executing said robot testing method program.
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