CN115185197A - Simulation test platform of robot - Google Patents
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- CN115185197A CN115185197A CN202110359290.9A CN202110359290A CN115185197A CN 115185197 A CN115185197 A CN 115185197A CN 202110359290 A CN202110359290 A CN 202110359290A CN 115185197 A CN115185197 A CN 115185197A
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Abstract
The application provides a simulation test platform of a robot. The platform includes: the system comprises a robot controller, a controlled object module, a road condition environment module, an operator module, a first signal interface node module and a second signal interface node module; the robot controller is connected with the first signal interface node module, the controlled object module is connected with the first signal interface node module, the operator module is connected with the first signal interface node module, and the second signal interface node module is respectively connected with the first signal interface node module and the external simulation platform. The platform is used for improving the applicability and the practicability of the simulation test platform.
Description
Technical Field
The application relates to the technical field of robot simulation, in particular to a simulation test platform of a robot.
Background
The simulation test platform of the existing robot is usually a semi-physical simulation test platform, which includes: real controller hardware and simulated controlled objects. The semi-physical simulation test platform has some problems: 1. the semi-physical simulation test platform needs to be purchased with high cost, namely the cost is high; 2. the semi-physical simulation test platform needs to be maintained by arranging special personnel, and other simulation test software carried by the platform is learned, namely the maintenance difficulty is high; 3. the semi-physical simulation platform integrates a real robot controller, and no matter test or simulation is carried out, simulation and test can be carried out only after hardware implementation and algorithm generation codes are integrated, namely, the applicability and the practicability are poor.
Therefore, the cost and the maintenance difficulty of the existing simulation test platform of the robot are high, and the applicability and the practicability are poor.
Disclosure of Invention
An object of the embodiment of the application is to provide a simulation test platform of a robot, so as to improve the applicability and the practicability of the simulation test platform.
Simulation test platform of robot includes: the robot controller is used for generating a corresponding control signal according to an input control algorithm; a first signal interface node module connected with the robot controller for receiving the control signal from the robot controller; the controlled object module is connected with the first signal interface node module and used for receiving the control signal from the first signal interface node module and simulating the operation of an actual robot according to the control signal; the operator module is connected with the first signal interface node module and used for simulating a control module corresponding to an actual operation handle, generating a corresponding control instruction according to the received selection operation of the control module and transmitting the control instruction to the robot controller through the first signal interface node module; the second signal interface node module is respectively connected with the first signal interface node module and the external simulation platform and is used for realizing signal transmission between the first signal interface node module and the external simulation platform; and the road condition environment module is used for simulating the environment of the actual running road of the robot.
In the embodiment of the application, compared with the prior art, each module in the simulation test platform is a software module, especially, the robot controller also adopts an algorithm control module, and compared with a hardware controller, the cost is lower, and the maintenance difficulty is also lower. The algorithm module in the robot controller is input by a user and can be adjusted or changed at any time according to requirements. The system comprises a road condition environment module, an operator module, a first signal interface node module, a second signal interface node module and an external simulation platform, wherein the road condition environment module, the operator module, the first signal interface node module and the second signal interface node module are integrated and are also connected with the external simulation platform; in the development process, the algorithm can be optimized by utilizing the actual running condition; in the later development stage, the first signal interface node module or the second signal node module can be compatible with other automatic test platforms to test the algorithm, and whether the interface and the algorithm between the modules meet the design requirements and assumptions is verified; therefore, the simulation test platform can be suitable for each period of robot development, is high in applicability and practicability on the basis of saving cost and reducing maintenance difficulty, and can improve the development efficiency of the robot.
As a possible implementation manner, the control module corresponding to the actual operation handle is an analog key; the simulation keys comprise a general setting key and a simulation test requirement key.
In the embodiment of the application, the control module corresponding to the actual operation handle is realized by simulating the keys, so that the use is more convenient for developers.
As a possible implementation manner, the universal setting key includes: a direction operation key and a pause operation key; the simulation test requirement key comprises: fault injection keys and collision operation keys.
In the embodiment of the application, the initiation of the simulation operation of the universal setting can be realized through the simulated universal setting key; the simulation test requirement key is used for simulating the simulation test requirement.
As a possible implementation, the robot controller includes: the task scheduling module is used for generating a control signal for task scheduling according to an input task scheduling algorithm; the robot navigation module is used for generating a control signal of robot navigation according to an input robot navigation algorithm; the robot path planning module is used for generating a control signal for robot path planning according to an input robot path planning algorithm; the robot track planning module is used for generating a control signal for robot track planning according to an input robot track planning algorithm; the robot motion control module is used for generating a control signal for controlling the motion of the robot according to an input robot motion control algorithm; the robot servo motor control module is used for generating a control signal controlled by the robot servo motor according to an input robot servo motor control algorithm; and the robot controller battery management module is used for generating a control signal for managing the battery of the robot controller according to the input robot controller battery management algorithm.
In the embodiment of the present application, the algorithm modules related to the robot controller include: the robot control system comprises a task scheduling module, a robot navigation module, a robot path planning module, a robot track planning module, a robot motion control module, a robot servo motor control module and a robot controller battery management module, and therefore comprehensive coverage of various control algorithms of the robot is achieved.
As a possible implementation, the robot controller further includes: the signal processing module is connected with the task scheduling module, the robot navigation module, the robot path planning module, the robot track planning module, the robot motion control module, the robot servo motor control module, the robot controller battery management module and the first signal interface node module respectively and used for inputting corresponding control algorithms into corresponding modules and transmitting corresponding control signals to the controlled object module through the first signal interface node module.
In the embodiment of the application, each algorithm module is connected with a signal processing module, and the signal processing module is connected with a first signal interface node module, so that the control algorithm is input into each algorithm module from the outside, and the control signal is input into the controlled object module from each algorithm module.
As a possible implementation manner, the controlled object module includes: the signal receiving module is used for receiving the control signal; the battery module, the power supply module, the motor module and the robot dynamics and kinematics module are respectively connected with the signal receiving module; the signal receiving module is further used for transmitting corresponding control signals to the battery module, the power supply module, the motor module and the robot dynamics and kinematics module respectively.
In the embodiment of the application, the controlled object module distributes corresponding control signals to the corresponding modules through the signal receiving module, so that the controlled object module is effectively controlled.
As a possible implementation, the external simulation platform includes: ADAMS, GAZEBO, recurDyn.
In the embodiment of the application, joint simulation can be realized by combining various modules inside the external simulation platforms such as ADAMS, GAZEBO and RecurDyn.
As a possible implementation manner, the road condition environment module includes: the device comprises a road slope simulation module, an obstacle simulation module and a weather condition simulation module.
In the embodiment of the application, the road gradient simulation module can realize the simulation of the road gradient; the obstacle simulation module can be used for realizing the simulation of the obstacle, and the weather condition simulation module can be used for realizing the simulation of the weather.
As a possible implementation, the robot controller is further configured to receive an optimization instruction of a control algorithm; the optimization instruction comprises an input optimization control algorithm; generating a corresponding optimization control signal according to the optimization control algorithm, and transmitting the optimization control signal to the controlled object module through the first signal interface node module; the controlled object module is also used for simulating the operation of an actual robot according to the optimized control signal and transmitting the operation condition to the robot controller through the first signal interface node module; and the robot controller is also used for generating an optimization result of the optimization control algorithm according to the running condition of the controlled object module.
In the embodiment of the application, in the development process, an optimization control algorithm can be input, the existing control algorithm is optimized, an optimization result for representing the optimization effect is generated, and optimization guidance or prompt of the algorithm is further provided for developers.
As a possible implementation, the robot controller is further configured to receive a test instruction of a control algorithm; the test instruction comprises a to-be-tested algorithm; testing the algorithm to be tested; and outputting a corresponding test result according to the test condition.
In the embodiment of the application, in the later development stage, a developer or an external test platform can input a test instruction, so that the robot controller tests the algorithm to be tested, and based on the test result, the developer can further optimize or adjust the algorithm.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic diagram of a simulation test platform provided in an embodiment of the present application;
FIG. 2 is a schematic diagram of an operator module provided by an embodiment of the present application;
fig. 3 is a schematic diagram of a robot controller provided in an embodiment of the present application;
fig. 4 is a schematic diagram of a controlled object module according to an embodiment of the present application.
Icon: 100-a simulation test platform; 110-a robot controller; 111-controlled object module; 112-road condition environment module; 113-operator module; 114-a first signal interface node module; 115-second signal interface node module.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
The simulation test platform of the robot provided by the embodiment of the application can be applied to the development of the robot, wherein the development belongs to system engineering, namely, a full-period process from requirement to realization; the development also depends on developers, and the developers can test the simulated robot and debug the algorithm used by the corresponding module based on the simulation test platform, so as to realize the simulation test of the robot; based on the finally obtained simulation test results and corresponding module algorithms or parameters, the development of a real robot can be performed, such as: after the final debugging is finished, the algorithm of a certain control module can be finally used as the control algorithm of the real robot.
In this application embodiment, adopt the modular mode of putting up among the simulation test platform, each module can not only need to put up whole simulation test platform on the equipment that possesses data processing function with the help of entity hardware can, for example: and (4) building a simulation test platform on a computer, an industrial personal computer and the like.
Referring to fig. 1, a schematic structural diagram of a simulation test platform 100 according to an embodiment of the present application is shown, where the simulation test platform 100 includes: the robot system comprises a robot controller 110, a controlled object module 111, a road condition module 112, an operator module 113, a first signal interface node module 114 and a second signal interface node module 115.
The robot controller 110 is connected to the first signal interface node module 114, the controlled object module 111 is connected to the first signal interface node module 114, the operator module 113 is connected to the first signal interface node module 114, and the second signal interface node module 115 is connected to the first signal interface node module 114 and the external simulation platform, respectively. For each module, the modules connected with each other can realize data bidirectional transmission.
And the robot controller 110 is configured to generate a corresponding control signal according to the input control algorithm, and transmit the control signal to the controlled object module 111 through the first signal interface node module 114. The control algorithm may be an algorithm that is written by a developer in real time or uploaded to the robot controller 110 in real time. The control algorithm includes, but is not limited to: a new control algorithm not stored in the robot controller 110, a control algorithm updated based on a control algorithm already stored in the robot controller 110, and the like.
And the controlled object module 111 is used for simulating the operation of the actual robot according to the control signal. Since the controlled object is a virtual robot module that is involved in advance by the developer and simulates the operation of the actual robot, and the developer is an algorithm written in the robot controller 110 and is an algorithm for the controlled object module 111, the controlled object module 111 can be controlled based on the control signal generated by the control algorithm to simulate the operation of the actual robot.
And a road condition environment module 112, configured to simulate an environment of a road on which the robot actually travels. The road condition environment module 112 may establish a connection relationship with any one of the modules in the simulation test platform 100, which may be existing road condition environment simulation software or a platform, or a road condition environment simulation algorithm established by a developer; the simulation model can be integrated into the environment where the controlled object module 111 is located, and the simulation of the environment of the actual driving road can be realized.
And the operator module 113 is used for simulating a control module corresponding to an actual operation handle. In practical applications, the operator may also operate the robot. The operator module 113 can simulate a control module corresponding to an actual operation handle. Furthermore, during the robot development process, the operation of the operator may be simulated based on the operator module 113, and the controlled performance of the robot or the operation condition during the operation process may be subjected to simulation test.
Specifically, when performing the simulation test, the operator module 113 generates a corresponding control instruction according to the received selection operation of the control module, and transmits the control instruction to the robot controller 110. The robot controller 110 selects a corresponding input control algorithm based on the control command, and realizes corresponding control of the controlled object.
And the second signal interface node module 115 is connected to the external simulation platform, and is configured to implement signal transmission between the first signal interface node module 114 and the external simulation platform. The second signal interface node module 115 is connected to both the first signal interface node module 114 and the external simulation platform, and the first signal interface node module 114 is connected to each of the other modules, so that the external simulation platform is connected to the whole simulation test platform 100 through the second signal interface node module 115, and signal transmission between the external simulation platform and the simulation test platform 100 can be realized.
In addition, the first signal interface node module 114 may implement, in addition to signal transmission between the robot controller 110 and the controlled object module 111, signal transmission between the operator module 113 and the controlled object module 111, and signal transmission between the first signal interface node module 114 and the robot controller 110, the controlled object, and the operator module 113, that is, transmission of corresponding signals between each module in the simulation test platform 100.
In the embodiment of the present application, compared to the prior art, each module in the simulation test platform 100 is a software module, and particularly, the robot controller 110 also adopts an algorithm control module, which is lower in cost and maintenance difficulty compared to a hardware controller. The algorithm in the robot controller 110 is input by the user and can be adjusted or changed at any time according to the needs. The integrated road condition environment module 112, the operator module 113, the first signal interface node module 114 and the second signal interface node module 115 are connected with an external simulation platform, and in the early development stage, each module of the system can be used for carrying out independent simulation or joint simulation by combining the external simulation platform to guide the design and model selection of the system; in the development process, the algorithm can be optimized by utilizing the actual running condition; in the later development stage, the first signal interface node module 114 or the second signal node module can be used for being compatible with other automatic test platforms to test the algorithm, and whether the interface and the algorithm between the modules meet the design requirements and assumptions is verified; therefore, the simulation test platform 100 can be applied to each period of robot development, has high applicability and practicability on the basis of saving cost and reducing maintenance difficulty, and can improve the development efficiency of the robot.
An embodiment of each module in the simulation test platform 100 will be described next.
In the embodiment of the present application, the first signal interface node module 114 and the second signal interface node module 115 may be various signal transmission interfaces for implementing transmission of signals.
In the operator module 113, the control module corresponding to the actual operating handle may be an analog button, and the analog button may include but is not limited to: the device comprises a general setting key and a simulation test requirement key.
Referring to fig. 2, which is a schematic diagram of a control module in the operator module 113, the general setup keys may include, but are not limited to: a direction operation key and a pause operation key. The simulation test requirement key may include, but is not limited to: fault injection key and collision operation key.
It will be appreciated that with the simulated universal setup key, universal setup operations may be simulated, such as: simulating a direction operation and simulating a pause operation. By using the simulated simulation test requirement key, the simulation test requirement operation can be simulated, such as: simulating fault injection and simulating collision operation.
Directional operations, such as: the operation robot moves towards a fixed direction; for this operation, the robot controller 110 may implement corresponding control through an algorithm related to motion control of the robot. Pause operations, such as: the robot is paused at the current position and for this operation the robot controller 110 may implement a corresponding control by means of the relevant control algorithms of the servo motors of the robot. Fault injection, such as: increasing the fault condition, wherein the fault can be the fault of the controlled object or the fault of the robot controller 110; for this operation, the robot controller 110 may implement a corresponding control through a specific control algorithm when a fault occurs. Simulating collisions, such as: the robot controller 110 may implement corresponding control using a control algorithm such as an obstacle avoidance algorithm and a trajectory planning algorithm for the operation when the robot collides with an obstacle.
In the embodiment of the application, the control module corresponding to the actual operation handle is realized through the keys, so that the use is more convenient for developers. The initiation of the simulation operation of the universal setting can be realized through the universal setting key; the simulation test requirement key can be used for initiating simulation operation of the simulation test requirement.
Referring next to fig. 3, which is a schematic diagram of algorithm modules included in the robot controller 110, the algorithm modules in the robot controller 110 may include: the system comprises a task scheduling module, a robot navigation module, a robot path planning module, a robot track planning module, a robot motion control module, a robot servo motor control module and a robot controller 110 battery management module.
The algorithm input in each module is an algorithm corresponding to the module, and the algorithm may be an algorithm developed by a developer, a mature algorithm, or an algorithm improved based on an existing algorithm, and is not limited in the embodiment of the present application.
And the task scheduling module is used for generating a control signal for task scheduling according to the input task scheduling algorithm. By way of example, task scheduling algorithms include, but are not limited to: short job priority algorithm, time slice rotation algorithm and priority algorithm.
And the robot navigation module is used for generating a control signal for robot navigation according to the input robot navigation algorithm. By way of example, the robot navigation algorithm includes, but is not limited to: SLAM (Simultaneous Localization And Mapping) algorithm, and gmaping algorithm.
And the robot path planning module is used for generating a control signal for robot path planning according to the input robot path planning algorithm. By way of example, the robot path planning algorithm includes, but is not limited to: BFS (Breadth First Search), DFS (Depth First Search).
And the robot track planning module is used for generating a control signal for robot track planning according to the input robot track planning algorithm. By way of example, the robot trajectory planning algorithm includes, but is not limited to: t-shaped speed curve algorithm and track planning algorithm based on artificial potential field.
And the robot motion control module is used for generating a control signal for controlling the motion of the robot according to the input robot motion control algorithm. By way of example, robot motion control algorithms include, but are not limited to: the Bug1 algorithm, the Bug2 algorithm, and the tangnt Bug algorithm.
And the robot servo motor control module is used for generating a control signal controlled by the robot servo motor according to the input robot servo motor control algorithm. By way of example, robot servo motor control algorithms include, but are not limited to: open-loop control and closed-loop control.
And a battery management module of the robot controller 110, configured to generate a control signal for battery management of the robot controller 110 according to the input battery management algorithm of the robot controller 110. By way of example, the robot controller 110 battery management algorithms include, but are not limited to: a voltage protection algorithm, a current control algorithm.
By the algorithm modules, the comprehensive coverage of various control algorithms of the robot can be realized. In the process of the simulation test, the robot controller 110 may construct each corresponding algorithm module based on different algorithms by only inputting the corresponding algorithm by a developer, and generate a corresponding control instruction based on the corresponding control algorithm.
Referring to fig. 3, in the embodiment of the present application, the robot controller 110 further includes a signal processing module. The signal processing module is connected to the task scheduling module, the robot navigation module, the robot path planning module, the robot trajectory planning module, the robot motion control module, the robot servomotor control module, the robot controller 110 battery management module, and the first signal interface node module 114, respectively, and is configured to input a corresponding control algorithm to a corresponding module, and transmit a corresponding control signal to the controlled object module 111 through the first signal interface node module 114.
The signal processing module, which corresponds to a signal set in the robot controller 110, transmits an externally input control algorithm to each algorithm module, and transmits a control command output by each algorithm module to the first signal interface node module 114, so that the first signal interface node module 114 transmits to the controlled object module 111.
In practical applications, more signal processing modules may be added according to the number of algorithm modules in the robot controller 110, such as: every three algorithm modules correspond to a signal processing module so as to realize batch processing, synchronous processing and the like of signals.
In the embodiment of the present application, each algorithm module is connected to a signal processing module, and the signal processing module is connected to the first signal interface node module 114, so that the control algorithm is input to each algorithm module from the outside, and the control signal is input to the controlled object module 111 from each algorithm module.
Referring to fig. 4, which is a schematic diagram of the controlled object module 111 according to an embodiment of the present application, the controlled object module 111 includes: the robot comprises a signal receiving module, a battery module, a power supply module, a motor module and a robot dynamics and kinematics module, wherein the battery module, the power supply module, the motor module and the robot dynamics and kinematics module are respectively connected with the signal receiving module.
In the controlled object module 111, the function of the signal receiving module is similar to that of the signal processing module in the foregoing embodiment, and is equivalent to a signal set in the controlled object module 111, and it can transmit corresponding control signals to the battery module, the power supply module, the motor module, and the robot dynamics and kinematics module, respectively.
By way of example: if the control signal is related to battery management, for example: and charging, and transmitting to the battery module. If the control signal is related to the power supply, such as on or off, the control signal is transmitted to the power supply module. If the control signal is the control signal of the servo motor, the control signal is transmitted to the motor module. And if the signal is the motion control signal, transmitting the signal to a robot dynamics and kinematics module.
In this embodiment of the present application, the controlled object module 111 distributes a corresponding control signal to the corresponding module through the signal receiving module, so as to implement effective control of the controlled object module 111.
In the embodiment of the present application, the external simulation platform may include, but is not limited to: ADAMS, GAZEBO, recurDyn.
By using these external simulation platforms, when performing joint simulation, the external simulation platforms can control the controlled object module 111, and can also input a corresponding control algorithm, or simulate an actual road condition environment, thereby implementing joint simulation with the simulation test platform 100.
In the embodiment of the present application, the road condition environment module 112 may include, but is not limited to: the device comprises a road slope simulation module, an obstacle simulation module and a weather condition simulation module.
The road gradient simulation module can realize the simulation of the road gradient; the obstacle simulation module can realize the simulation of obstacles, and the weather condition simulation module can realize the simulation of weather.
In the embodiment of the present application, the simulation test platform 100 may support optimization of the control algorithm. In optimization, the robot controller 110 receives optimization instructions of the control algorithm; the optimization instruction comprises an input optimization control algorithm; generating a corresponding optimized control signal according to an optimized control algorithm, and transmitting the optimized control signal to the controlled object module 111 through the first signal interface node module 114; the controlled object module 111 simulates the operation of the actual robot according to the optimization control signal, and transmits the operation condition to the robot controller 110 through the first signal interface node module 114; the robot controller 110 generates an optimization result of the optimization control algorithm according to the operation condition of the controlled object module 111.
In this embodiment, the developer inputs an optimization control algorithm into the robot controller 110, issues an optimization command, and based on the optimization command, the robot controller 110 generates a corresponding optimization control signal and performs optimization control on the controlled object module 111 based on the optimization control signal. The optimization control algorithm may be a specific algorithm in each control algorithm, or may be a plurality of algorithms therein.
After performing the optimization control, the robot controller 110 performs optimization feedback (i.e., an optimization result) based on the actual operation condition of the controlled object module 111, and a developer can evaluate the feasibility of the optimization control algorithm or the algorithm accuracy, etc. based on the optimization result. In addition to the operation condition corresponding to the optimization control algorithm, the optimization result can also include a comparison between the optimization condition corresponding to the optimization control algorithm and the operation condition of the original control algorithm, so that developers can evaluate the algorithm more reliably.
In the embodiment of the application, in the development process, an optimization control algorithm can be input, the existing control algorithm is optimized, an optimization result for representing the optimization effect is generated, and optimization guidance or prompt of the algorithm is further provided for developers.
In the embodiment of the present application, the simulation test platform 100 further supports the test of the control algorithm. During testing, the robot controller 110 receives a test instruction of a control algorithm; the test instruction comprises a to-be-tested algorithm; testing the algorithm to be tested; and outputting a corresponding test result according to the test condition.
In this embodiment, the test instruction of the control algorithm may be a test instruction initiated by a developer, or may be initiated by an external automated test platform. The algorithm to be tested can be the existing algorithm in the algorithm module or a new algorithm which is not adopted yet.
When testing the algorithm to be tested, the same principle as the control of the controlled object module 111 based on the control algorithm is implemented, a control instruction is generated based on the algorithm to be tested, and then the control instruction is transmitted to the controlled object module 111 through the first signal interface node module 114. Correspondingly, the test condition is the operation condition of the controlled object module 111. The test result is an evaluation result corresponding to the operating condition, such as: feasibility of the algorithm to be tested, precision of the algorithm to be tested, control effect of the algorithm to be tested and the like.
In the embodiment of the application, in the later stage of development, a developer or an external test platform may input a test instruction, so that the robot controller 110 tests the algorithm to be tested, and based on the test result, the developer may further optimize or adjust the algorithm.
Next, a description will be given with reference to a simulation test operation in actual application.
In the early stage of development, a robot system analysis engineer performs model selection matching on the whole robot system or other parts so as to select the best part. Meanwhile, no specific control algorithm is input in the early stage of development, so that the simulation test platform 100 can be used as a robot simulation platform or can be in butt joint with an external simulation platform or can be used for carrying out component type selection and permutation and combination simulation independently to obtain the optimal components or parameters to guide system design. For example: in the early development stage of the indoor and outdoor material distribution robot, robot motor power and maximum continuous torque model selection and material transportation compartment volume and height design are carried out according to the weight of transported materials, road condition complexity (such as slope and pothole) and transportation time problems so as to meet the robot stability in the transportation process.
In the development process, a robot control algorithm system engineer or an engineer of a certain module formulates a specific control algorithm according to the type selection of the system and the actual operation environment of the robot. The platform can be used as a simulation platform or a calibration platform to perform off-line optimization on algorithm parameters, a specific control algorithm can be written into the robot controller 110 module, and the actual operation environment of the robot is simulated by using the prepared controlled object and other modules, so that the functions of optimizing and calibrating the parameters are achieved.
And the platform provides interfaces for fault injection, collision operation and the like, can simulate the reaction of the robot under the condition of a fault or the condition of artificially hindering the motion of the robot, and reduces the risk of real vehicle test and the cost of experimental test calibration. For example: an algorithm engineer can calibrate offset parameters in the operation process of the robot at the platform to ensure that the deviation is reduced as much as possible in the process of tracking the track of the robot, and the engineer can set up complex traffic or surrounding environment at the platform to ensure that the robot operates in the corresponding environment and ensure the robustness of the algorithm.
In the later stage of development, the robot-related algorithms are complete, and a specific model is also built, but the robot controller 110 as a whole needs to fuse the whole algorithm layer, and needs to verify whether the interfaces between the modules and the algorithms meet the requirements, meet the design and meet the assumption. Therefore, the platform can be used as a test platform to comprehensively test the whole algorithm model according to the algorithm requirement document, has the function of correlating the requirement of the algorithm model, can correspondingly pop up a certain requirement when finding that a certain function or performance cannot reach the index in the test process, and further verifies whether the built model is matched with the established algorithm or not.
The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed coupling or direct coupling or communication connection between each other may be through some communication interfaces, indirect coupling or communication connection between devices or units, and may be in an electrical, mechanical or other form.
In addition, units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
Furthermore, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A simulation test platform of a robot, comprising:
the robot controller is used for generating a corresponding control signal according to an input control algorithm;
a first signal interface node module connected with the robot controller for receiving the control signal from the robot controller;
the controlled object module is connected with the first signal interface node module and used for receiving the control signal from the first signal interface node module and simulating the operation of the actual robot according to the control signal;
the operator module is connected with the first signal interface node module and used for simulating a control module corresponding to an actual operation handle, generating a corresponding control instruction according to the received selection operation of the control module and transmitting the control instruction to the robot controller through the first signal interface node module;
the second signal interface node module is respectively connected with the first signal interface node module and the external simulation platform and is used for realizing signal transmission between the first signal interface node module and the external simulation platform;
and the road condition environment module is used for simulating the environment of the actual running road of the robot.
2. The simulation test platform of claim 1, wherein the control module corresponding to the actual operating handle is an analog key; the simulation keys comprise a general setting key and a simulation test requirement key.
3. The simulation test platform of claim 2, wherein the generic setup button comprises: a direction operation key and a pause operation key; the simulation test requirement key comprises: fault injection keys and collision operation keys.
4. The simulation test platform of claim 1, wherein the robot controller comprises:
the task scheduling module is used for generating a control signal for task scheduling according to an input task scheduling algorithm;
the robot navigation module is used for generating a control signal of robot navigation according to an input robot navigation algorithm;
the robot path planning module is used for generating a control signal for robot path planning according to an input robot path planning algorithm;
the robot track planning module is used for generating a control signal for robot track planning according to an input robot track planning algorithm;
the robot motion control module is used for generating a control signal for controlling the motion of the robot according to an input robot motion control algorithm;
the robot servo motor control module is used for generating a control signal controlled by the robot servo motor according to an input robot servo motor control algorithm;
and the robot controller battery management module is used for generating a control signal for managing the battery of the robot controller according to the input robot controller battery management algorithm.
5. The simulation test platform of claim 4, wherein the robot controller further comprises: the robot path planning module, the robot trajectory planning module, the robot motion control module, the robot servo motor control module, the robot controller battery management module and the first signal interface node module are respectively connected and used for inputting corresponding control algorithms to the corresponding modules and transmitting corresponding control signals to the controlled object module through the first signal interface node module.
6. The simulation test platform of claim 1, wherein the controlled object module comprises:
the signal receiving module is used for receiving the control signal;
the battery module, the power supply module, the motor module and the robot dynamics and kinematics module are respectively connected with the signal receiving module;
the signal receiving module is further used for transmitting corresponding control signals to the battery module, the power supply module, the motor module and the robot dynamics and kinematics module respectively.
7. The simulation test platform of claim 1, wherein the external simulation platform comprises: ADAMS, GAZEBO, recurDyn.
8. The simulation test platform of claim 1, wherein the road environment module comprises:
the device comprises a road slope simulation module, an obstacle simulation module and a weather condition simulation module.
9. The simulation test platform of claim 1, wherein the robot controller is further configured to receive optimization instructions for a control algorithm; the optimization instruction comprises an input optimization control algorithm; generating a corresponding optimization control signal according to the optimization control algorithm, and transmitting the corresponding optimization control signal to the controlled object module through the first signal interface node module; the controlled object module is also used for simulating the operation of an actual robot according to the optimized control signal and transmitting the operation condition to the robot controller through the first signal interface node module; and the robot controller is also used for generating an optimization result of the optimization control algorithm according to the running condition of the controlled object module.
10. The simulation test platform of claim 1, wherein the robot controller is further configured to receive test instructions for a control algorithm; the test instruction comprises a to-be-tested algorithm; testing the algorithm to be tested; and outputting a corresponding test result according to the test condition.
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