CN116714021B - Intelligent testing method for monorail crane inspection robot based on data analysis - Google Patents
Intelligent testing method for monorail crane inspection robot based on data analysis Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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Abstract
The invention relates to the technical field of intelligent testing of inspection robots, in particular to an intelligent testing method of a monorail crane inspection robot based on data analysis. The response time length of each issued instruction of the inspection robot in the set test time period is obtained, the matching degree of each frame of execution action of each issued instruction of the inspection robot in the set test time period is obtained through analysis of the execution action dynamic diagram of each issued instruction of the inspection robot in the set test time period, the line gauge value of each issued instruction of the inspection robot in the corresponding set test time period is further analyzed, the execution standardization of each issued instruction of the inspection robot can be effectively tested, reliable data support is provided for analysis of the instruction precision of the follow-up inspection robot in the corresponding set test time period, time cost caused by manual intervention test is reduced, and meanwhile reliability and accuracy of the instruction precision analysis result of the inspection robot are improved, and quality of the inspection robot is further enhanced.
Description
Technical Field
The invention relates to the technical field of intelligent testing of inspection robots, in particular to an intelligent testing method of a monorail crane inspection robot based on data analysis.
Background
Along with the continuous development of artificial intelligence, an inspection robot integrating automation, machine deep learning and artificial intelligence is developed to replace the traditional manual inspection, so that the defects of long track route, high working strength, difficult discovery of hidden potential safety hazards and the like caused by manual inspection are overcome, and the intelligent test of the inspection robot for the monorail crane is very important.
The existing monorail crane inspection robot is usually subjected to instruction release by manpower, and then each function of the inspection robot is evaluated by manpower, so that the intelligent performance of the inspection robot is lacking in the test process, the automation degree is low, and the precision and the accuracy of the inspection robot test result are low easily.
The traditional robot intervenes the routing inspection path through manual work, so that the accuracy and the standardization of the routing inspection path cannot be ensured, and meanwhile, the follow-up routing inspection robot is easy to deviate in the routing inspection process due to unstable signals, so that the actual utilization rate of the routing inspection robot is not high.
Disclosure of Invention
The invention aims to provide an intelligent testing method for a monorail crane inspection robot based on data analysis, and aims to solve the problems of the background technology.
The aim of the invention can be achieved by the following technical scheme: the intelligent testing method of the monorail crane inspection robot based on data analysis comprises the following steps:
s1, instruction issuing: and issuing instructions to the inspection robot in a set test period to obtain each issued instruction of the inspection robot in the corresponding set test period.
S2, performing analysis: collecting response time of each issuing instruction of the inspection robot in a set test period to obtain response time of each issuing instruction of the inspection robot in the set test period, collecting an execution motion dynamic diagram of each issuing instruction of the inspection robot in the set test period to obtain an execution motion dynamic diagram of each issuing instruction of the inspection robot in the set test period, and analyzing a line gauge value of each issuing instruction of the inspection robot in the corresponding set test period to obtain a line gauge value of each issuing instruction of the inspection robot in the corresponding set test period.
Preferably, the method collects the dynamic graph of the execution action of each issued instruction of the inspection robot in a set test period, and specifically collects the dynamic graph in the following manner:
acquiring action videos of the inspection robot in a set test period through a camera to obtain the action videos of the inspection robot in the set test period, and acquiring response action time points of each issuing instruction of the inspection robot in the set test period, wherein the response action time points are as follows: and (3) setting a time point of starting action of the inspection robot after each instruction is issued to the inspection robot in the test period. Meanwhile, acquiring an execution action completion time point of each issued instruction of the inspection robot in a set test period, and forming an execution period by a response action time point of each issued instruction of the inspection robot in the set test period and an execution action completion time point of the corresponding issued instruction of the inspection robot, so as to acquire the execution period of each issued instruction of the inspection robot in the set test period;
And extracting the action video of each instruction issuing period of the inspection robot in the set test period from the action video of the inspection robot in the set test period, and taking the action video as an execution action dynamic diagram of each instruction issuing of the inspection robot in the set test period.
Preferably, the inspection robot is correspondingly set with the line gauge value of each issued instruction in the test period, and the specific analysis steps are as follows:
extracting a reference motion dynamic diagram corresponding to each instruction from a database, and extracting a reference motion dynamic diagram of each issued instruction from the reference motion dynamic diagram corresponding to each instruction;
matching the execution action dynamic diagram of each issued instruction of the inspection robot with the corresponding reference action dynamic diagram in a set test period to obtain the reference action dynamic diagram of each issued instruction of the inspection robot;
analyzing the execution action dynamic diagram of each issued instruction of the inspection robot frame by frame in a set test period to obtain each frame execution action diagram of each issued instruction of the inspection robot in the set test period;
analyzing the reference action dynamic diagram corresponding to each issuing instruction of the inspection robot frame by frame to obtain each frame of reference action diagram corresponding to each issuing instruction of the inspection robot;
Extracting a robot contour from each frame of execution action diagram of each issued instruction of the inspection robot in a set test period to obtain the robot contour of each frame of execution action diagram of each issued instruction of the inspection robot;
the method comprises the steps that the outline of a robot in an action figure is referred to by each frame corresponding to each issuing instruction of the inspection robot, and the outline of a reference robot in the action figure is referred to by each frame corresponding to each issuing instruction of the inspection robot;
overlapping and comparing the robot contour of each frame of action drawing in each issuing instruction corresponding to the inspection robot with the corresponding reference robot contour to obtain the overlapping area of the robot contour of each frame of action drawing in each issuing instruction corresponding to the inspection robot, and marking as S i j I denotes a number of each issued instruction, i=1, 2,..n, j denotes a number of each frame execution action figure, j=1, 2,..m;
the outline area of the robot for executing action drawing corresponding to each frame in each issued instruction of the inspection robot is acquired and is marked as S ij ′；
According to the formulaCalculating the matching degree RP of each frame of each issued instruction of the inspection robot in the set test period i j Epsilon is expressed as a set correction factor;
comparing the matching degree of each frame execution action in each issued instruction of the inspection robot in a set test period with a set matching degree threshold, if the matching degree of each frame execution action is smaller than the set matching degree threshold, marking the frame execution action as an abnormal frame action, otherwise, carrying out normal frame actions of the frame execution action, and counting the number YN of the abnormal frame actions in each issued instruction of the inspection robot in the set test period i And the number of normal frame actions ZN i ；
Marking the response time of each issued instruction of the inspection robot in a set test period as TX i ；
According to formula XG i ＝(TX 0 /(TX i +1))*a1+((YN i +ZN i )/YN i )*a2+(ZN i /(YN i +ZN i ) Calculating a line gauge value XG of each issuing instruction in a corresponding set test period of the inspection robot according to a3 i ，TX 0 The reference response time is shown as preset reference response time, and a1, a2 and a3 are respectively shown as set weight factors.
S3, path test: the inspection robot is subjected to inspection point release in a set test period, and each release inspection point in the corresponding set test period of the inspection robot is obtained, wherein the inspection points are specifically as follows: inspection endpoint, a point in the inspection process, etc. And monitoring the inspection path of the inspection robot after the inspection point is released in the set test period, obtaining basic parameters of the inspection path of the inspection robot in the set test period, and analyzing the inspection figure of merit of the inspection path of the inspection robot in the set test period, so as to obtain the inspection figure of merit of the inspection path of the inspection robot in the set test period.
Preferably, the inspection path of the inspection robot after the inspection point is released in the set test period is monitored, and the specific monitoring mode is as follows:
acquiring a running video of the inspection robot corresponding to the set test period through a camera to obtain the running video of the inspection robot corresponding to the set test period, and acquiring a running route of the inspection robot corresponding to the set test period from the running video of the inspection robot corresponding to the set test period as an inspection route of the inspection robot corresponding to the set test period;
Acquiring each actual inspection point of the inspection path of the inspection robot in the set test period from the inspection path of the inspection robot corresponding to the set test period, matching the actual inspection points with each release inspection point, marking the actual inspection points as matched inspection points if the matching of a certain actual inspection point and a certain release inspection point is successful, and counting the number of the matched inspection points of the inspection path of the inspection robot in the set test period;
counting the inspection time of the inspection path of the inspection robot in the set test period by a timer to obtain the inspection time of the inspection path of the inspection robot in the set test period;
obtaining the path length of the inspection path of the inspection robot in a set test period, and obtaining the path length of the inspection path of the inspection robot in the set test period;
counting the number of the blocking times of the inspection robot corresponding to the set test period from the running video of the inspection robot corresponding to the set test period, and obtaining the number of the blocking times of the inspection robot corresponding to the set test period;
the inspection robot is used for setting the basic parameters of the inspection path in the test period by the number of the matched inspection points of the inspection path in the test period, the inspection time, the path length, the inspection path of the inspection robot in the test period and the blocking times.
Preferably, the inspection robot is correspondingly configured with the inspection optimal value of the inspection path in the test period, and the specific analysis mode is as follows:
extracting a patrol path of the patrol robot corresponding to the set test period from basic parameters of the patrol path in the patrol robot corresponding to the set test period, and acquiring a patrol starting point of the patrol robot corresponding to the set test period based on the patrol path of the patrol robot corresponding to the set test period;
extracting a patrol point set corresponding to each reference path from a database, and matching a patrol starting point of a patrol robot corresponding to a set test period with the patrol point set corresponding to each release patrol point to obtain a reference path of the patrol robot corresponding to the set test period;
overlapping and comparing the inspection path of the inspection robot corresponding to the set test period with the reference path of the inspection robot corresponding to the set test period to obtain the overlapping length of the inspection path of the inspection robot corresponding to the set test period and the reference path of the inspection robot corresponding to the set test period, taking the overlapping length as the overlapping length of the inspection path of the inspection robot corresponding to the set test period, extracting the value, marking the value as LC, obtaining the length of the reference path of the inspection robot corresponding to the set test period, taking the value, marking the value as LC 0 ；
Extracting the number of matched inspection points of the inspection path, the number of values of the path length during inspection and the number of values of the path length during inspection of the inspection robot in the set test period from the basic parameters of the inspection path in the set test period corresponding to the inspection robot, and respectively marking the values as PX, TJ and XL, and simultaneously extracting the number of the clamping times of the inspection robot in the set test period corresponding to the inspection robot from the values and marking the values as KD;
extracting the numerical value of each release inspection point of the inspection robot in the corresponding set test period, and recording the numerical value as PX 0 From dataExtracting the reference time corresponding to each reference path from the library, matching the reference time with the reference path of the inspection robot corresponding to the set test period to obtain the reference time of the reference path of the inspection robot corresponding to the set test period, taking the value of the reference time, and marking the value as TJ 0 ；
Extracting the length corresponding to each reference path from the database, matching the length with the reference path of the inspection robot corresponding to the set test period to obtain the reference length of the reference path of the inspection robot corresponding to the set test period, taking the value, and marking as XL 0 ；
According to the formula JY= (LC/LC) 0 )*b1+(PX/PX 0 )*b2+(TJ 0 /TJ+1)*b3+(1/|XL-XL 0 And (3) b 4) calculating the inspection optimal values JY, b1, b2, b3 and b4 of the inspection path in the corresponding set test period of the inspection robot, wherein the inspection optimal values are respectively expressed as set weight factors.
S4, test analysis: analyzing the command precision of the inspection robot corresponding to the set test period to obtain the command precision of the inspection robot corresponding to the set test period, and analyzing the test result of the inspection robot corresponding to the set test period.
Preferably, the inspection robot is analyzed for the command precision of the corresponding set test period, and the specific analysis mode is as follows:
comparing the line gauge value of each issued instruction in the corresponding set test period of the inspection robot with the set reference line gauge value, if the line gauge value of a certain issued instruction is smaller than the set reference line gauge value, marking the issued instruction as an abnormal instruction, otherwise marking the issued instruction as a normal instruction, counting the number of abnormal instructions and the number of normal instructions in the corresponding set test period of the inspection robot, extracting the numerical values of the number of abnormal instructions and the number of normal instructions, and marking the numerical values as yl and zl respectively;
according to the formulaThe command precision LJ and XG' of the inspection robot corresponding to the set test period are calculated, e is set as a natural constant, and c1, c2 and c3 are set as weight factors respectively.
Preferably, the inspection robot is used for analyzing the test result of the corresponding set test period, and the specific analysis mode is as follows:
Comparing the command precision of the inspection robot corresponding to the set test period with the set reference command precision, judging that the command test result of the inspection robot corresponding to the set test period is first-level precision if the command precision of the inspection robot corresponding to the set test period is larger than the set reference command precision, judging that the command test result of the inspection robot corresponding to the set test period is second-level precision if the command precision of the inspection robot corresponding to the set test period is equal to the set reference command precision, and judging that the command test result of the inspection robot corresponding to the set test period is third-level precision if the command precision of the inspection robot corresponding to the set test period is smaller than the set reference command precision;
comparing the inspection figure of merit of the inspection path in the inspection robot corresponding to the set test period with the set reference figure of merit, if the inspection figure of merit of the inspection path in the inspection robot corresponding to the set test period is larger than the set reference figure of merit, determining that the path test result of the inspection robot corresponding to the set test period is of primary precision, if the inspection figure of merit of the inspection path in the inspection robot corresponding to the set test period is equal to the set reference figure of merit, determining that the path test result of the inspection robot corresponding to the set test period is of secondary precision, and if the inspection figure of merit of the inspection path in the inspection robot corresponding to the set test period is smaller than the set reference figure of merit, determining that the path test result of the inspection robot corresponding to the set test period is of tertiary precision;
And forming a test result of the inspection robot corresponding to the set test period by an instruction test result and a path test result of the inspection robot corresponding to the set test period.
S5, displaying the result: and correspondingly displaying the test result of the inspection robot corresponding to the set test period.
The invention has the beneficial effects that:
according to the invention, the response time of each issued instruction of the inspection robot in the set test period is obtained, and the matching degree of each frame of execution action of each issued instruction of the inspection robot in the set test period is obtained through analysis of the execution action dynamic diagram of each issued instruction of the inspection robot in the set test period, so that the line gauge value of each issued instruction of the inspection robot in the corresponding set test period is analyzed, the execution standardization degree of the inspection robot corresponding to the issued instruction can be effectively tested, reliable data support is provided for the analysis of the instruction precision of the follow-up inspection robot in the corresponding set test period, the time cost generated by manual intervention test is reduced to a great extent, and the reliability and accuracy of the instruction precision analysis result of the inspection robot are greatly improved, and the quality of the inspection robot is further enhanced.
According to the invention, the inspection robot monitors the inspection path after issuing the inspection points in the set test period to obtain the number of the matched inspection points of the inspection path, the inspection time, the path length and the inspection path and the clamping times of the inspection robot corresponding to the set test period, so that the inspection value of the inspection path in the corresponding set test period is analyzed, the problem that the inspection robot deviates in the inspection process is avoided, the accuracy and the standardization of the inspection path automatically generated by the inspection robot are improved to a great extent, and the problem of path deviation of the robot in the subsequent use process is avoided.
According to the invention, the test results of the inspection robot in the corresponding set test period are analyzed and displayed correspondingly, so that the test results of the inspection robot can be displayed intuitively, the quality of the inspection robot can be processed correspondingly, and the reliability and accuracy of the inspection robot in the actual inspection process are improved greatly.
Drawings
The invention is further described below with reference to the accompanying drawings.
Fig. 1 is a process step diagram of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1:
referring to fig. 1, the invention discloses an intelligent testing method of a monorail crane inspection robot based on data analysis, which comprises the following steps:
s1, instruction issuing: and issuing instructions to the inspection robot in a set test period to obtain each issued instruction of the inspection robot in the corresponding set test period.
In a particular embodiment, each issue instruction includes, but is not limited to: left turn, right turn, forward, reverse, and spin.
S2, performing analysis: collecting response time length of each inspection robot after issuing instructions in a set test period: acquiring time points of each instruction in a set test period of the inspection robot, acquiring an action video of the inspection robot in the set test period by a camera to obtain the action video of the inspection robot in the set test period, extracting response action time points of the inspection robot after each instruction is issued in the set test period from the action video, and taking the response action time points as response action time points of each instruction issued by the inspection robot in the set test period, so that the time points of each instruction issued by the inspection robot in the set test period are different from the response action time points of the corresponding instruction issued by the inspection robot, and the response time of each instruction issued by the inspection robot in the set test period is obtained.
The method comprises the steps of collecting an execution action dynamic diagram of each issued instruction of the inspection robot in a set test period, wherein the specific collection mode is as follows:
acquiring action videos of the inspection robot in a set test period through a camera to obtain the action videos of the inspection robot in the set test period, and acquiring response action time points of each issuing instruction of the inspection robot in the set test period, wherein the response action time points are as follows: and (3) setting a time point of starting action of the inspection robot after each instruction is issued to the inspection robot in the test period. Meanwhile, the execution time point of each issued instruction of the inspection robot in the set test time period is obtained, the response time point of each issued instruction of the inspection robot in the set test time period and the execution time point of the corresponding issued instruction form an execution time period, and the execution time period of each issued instruction of the inspection robot in the set test time period is obtained.
And extracting the action video of each instruction issuing period of the inspection robot in the set test period from the action video of the inspection robot in the set test period, and taking the action video as an execution action dynamic diagram of each instruction issuing of the inspection robot in the set test period.
The line gauge value of each issued instruction in the test period is correspondingly set for the inspection robot, and the specific analysis steps are as follows:
and extracting a reference motion dynamic diagram corresponding to each instruction from the database, and extracting a reference motion dynamic diagram of each issued instruction from the reference motion dynamic diagram corresponding to each instruction.
And matching the execution action dynamic diagram of each issued instruction of the inspection robot with the corresponding reference action dynamic diagram of each issued instruction of the inspection robot in a set test period to obtain the reference action dynamic diagram of each issued instruction of the inspection robot.
And analyzing the execution action dynamic diagram of each issued instruction of the inspection robot frame by frame in the set test period to obtain the execution action diagram of each frame of each issued instruction of the inspection robot in the set test period.
And analyzing the reference action dynamic diagram corresponding to each issuing instruction of the inspection robot frame by frame to obtain each frame of reference action diagram corresponding to each issuing instruction of the inspection robot.
And extracting the robot outline from each frame execution action diagram of each issued instruction of the inspection robot in a set test period to obtain the robot outline of each frame execution action diagram of each issued instruction of the inspection robot.
And referencing the robot contour in the action figure from each frame of each issuing instruction corresponding to the inspection robot to obtain the reference robot contour of each frame of each issuing instruction corresponding to the inspection robot.
Overlapping and comparing the robot contour of each frame of action drawing in each issuing instruction corresponding to the inspection robot with the corresponding reference robot contour to obtain the overlapping area of the robot contour of each frame of action drawing in each issuing instruction corresponding to the inspection robot, and marking as S i j I represents the number of each issued instruction, i=1, 2,..n, n is the total number of each issued instruction number; j represents the number for performing action mapping for each frame, j=1, 2,..m; m is the total number of the execution action figure numbers of each frame.
The outline area of the robot for executing action drawing corresponding to each frame in each issued instruction of the inspection robot is acquired and is marked as S ij ′。
According to the formulaCalculating the matching degree RP of each frame of each issued instruction of the inspection robot in the set test period i j Epsilon is expressed as a set correction factor.
Comparing the matching degree of each frame execution action in each issued instruction of the inspection robot in a set test period with a set matching degree threshold, if the matching degree of each frame execution action is smaller than the set matching degree threshold, marking the frame execution action as an abnormal frame action, otherwise, carrying out normal frame actions of the frame execution action, and counting the number YN of the abnormal frame actions in each issued instruction of the inspection robot in the set test period i And the number of normal frame actions ZN i 。
Marking the response time of each issued instruction of the inspection robot in a set test period as TX i 。
According to formula XG i ＝(TX 0 /(TX i +1))*a1+((YN i +ZN i )/YN i )*a2+(ZN i /(YN i +ZN i ) A3, calculating each occurrence of the inspection robot in a corresponding set test periodLine gauge value XG of cloth instruction i ，TX 0 The reference response time is shown as preset reference response time, and a1, a2 and a3 are respectively shown as set weight factors.
According to the invention, the response time of each issued instruction of the inspection robot in the set test period is obtained, and the matching degree of each frame of execution action of each issued instruction of the inspection robot in the set test period is obtained through analysis of the execution action dynamic diagram of each issued instruction of the inspection robot in the set test period, so that the line gauge value of each issued instruction of the inspection robot in the corresponding set test period is analyzed, the execution standardization degree of each issued instruction of the inspection robot can be effectively tested, reliable data support is provided for analysis of the instruction precision of the subsequent inspection robot in the corresponding set test period, the time cost generated by manual intervention test is reduced to a great extent, and the reliability and accuracy of the instruction precision analysis result of the inspection robot are greatly improved, so that the quality of the inspection robot is further enhanced.
S3, path test: the inspection robot is subjected to inspection point release in a set test period, and each release inspection point in the corresponding set test period of the inspection robot is obtained, wherein the inspection points are specifically as follows: inspection endpoint, a point in the inspection process, etc. Monitoring the inspection path of the inspection robot after the inspection point is released in the set test period, and obtaining basic parameters of the inspection path of the inspection robot in the set test period, wherein the specific monitoring steps are as follows:
the method comprises the steps that a camera is used for collecting driving videos of the inspection robot corresponding to a set test period, driving videos of the inspection robot corresponding to the set test period are obtained, and driving routes of the inspection robot corresponding to the set test period are obtained from the driving videos of the inspection robot corresponding to the set test period and are used as inspection routes of the inspection robot corresponding to the set test period.
And acquiring each actual inspection point of the inspection path of the inspection robot in the set test period from the inspection path of the inspection robot corresponding to the set test period, matching the actual inspection points with each release inspection point, marking the actual inspection points as the matched inspection points if the matching of the actual inspection points and the release inspection points is successful, and counting the number of the matched inspection points of the inspection path of the inspection robot in the set test period.
And counting the inspection time of the inspection path of the inspection robot in the set test period by using a timer, so as to obtain the inspection time of the inspection path of the inspection robot in the set test period.
And obtaining the path length of the inspection path of the inspection robot in the set test period, and obtaining the path length of the inspection path of the inspection robot in the set test period.
And counting the number of the blocking times of the inspection robot corresponding to the set test period from the running video of the inspection robot corresponding to the set test period, and obtaining the number of the blocking times of the inspection robot corresponding to the set test period. The judgment mode of the clamping is as follows:
the method comprises the steps of monitoring the positions of all test time points in a corresponding set test period of a patrol robot through a GPS navigation system to obtain the positions of all test time points in the corresponding set test period of the patrol robot, obtaining the distance between the positions of all test time points in the corresponding set test period of the patrol robot and the positions of the last test time point, and obtaining the distance between the positions of all test time points in the corresponding set test period of the patrol robot and the positions of the last test time point as the distance difference of all test time points in the corresponding set test period of the patrol robot, wherein the distance difference of the first test time point is not analyzed.
Comparing the distance difference of each test time point in the corresponding set test time period of the inspection robot with the set reference distance difference, if the distance difference of a certain test time point is smaller than the set reference distance difference, marking the test time point as a katen time point, and counting each katen time point of the corresponding set test time period of the inspection robot.
The method comprises the steps that the adjacent blocking time points of the inspection robot corresponding to the set test time period form blocking time periods, each blocking time period of the inspection robot corresponding to the set test time period is obtained, the number of times of the blocking time periods of the inspection robot corresponding to the set test time period is counted, and the number of times of the blocking time periods of the inspection robot corresponding to the set test time period is used as the blocking time of the inspection robot corresponding to the set test time period.
The inspection robot is used for setting the basic parameters of the inspection path in the test period by the number of the matched inspection points of the inspection path in the test period, the inspection time, the path length, the inspection path of the inspection robot in the test period and the blocking times.
Analyzing the inspection figure of merit of the inspection path in the inspection robot corresponding to the set test period to obtain the inspection figure of merit of the inspection path in the inspection robot corresponding to the set test period, wherein the specific analysis steps are as follows:
Extracting a patrol path of the patrol robot corresponding to the set test period from basic parameters of the patrol path in the patrol robot corresponding to the set test period, and acquiring a patrol starting point of the patrol robot corresponding to the set test period based on the patrol path of the patrol robot corresponding to the set test period.
And extracting a patrol point set corresponding to each reference path from the database, and matching the patrol starting point of the patrol robot corresponding to the set test period with the patrol point set corresponding to each release patrol point to obtain the reference path of the patrol robot corresponding to the set test period.
The inspection point set corresponding to each reference path is specifically a plurality of inspection points contained in each reference path, and if the inspection start point of the inspection robot corresponding to the set test period and each release inspection point are successfully matched with the plurality of inspection points corresponding to a certain reference path, the reference path is indicated to be the reference path of the inspection robot corresponding to the set test period.
Overlapping and comparing the inspection path of the inspection robot corresponding to the set test period with the reference path of the inspection robot corresponding to the set test period to obtain the overlapping length of the inspection path of the inspection robot corresponding to the set test period and the reference path of the inspection robot corresponding to the set test period, taking the overlapping length as the overlapping length of the inspection path of the inspection robot corresponding to the set test period, extracting the value, marking the value as LC, obtaining the length of the reference path of the inspection robot corresponding to the set test period, taking the value, marking the value as LC 0 。
And extracting the number of matched inspection points of the inspection path, the number of values of the path length during inspection and the number of values of the path length of the inspection robot during inspection in the set test period from the basic parameters of the inspection path in the set test period corresponding to the inspection robot, and respectively marking the values as PX, TJ and XL, and simultaneously extracting the number of the clamping times of the inspection robot in the set test period corresponding to the inspection robot from the values and marking the values as KD.
Extracting the numerical value of each release inspection point of the inspection robot in the corresponding set test period, and recording the numerical value as PX 0 Extracting the reference time periods corresponding to the reference paths from the database, matching the reference time periods with the reference paths of the inspection robot corresponding to the set test time periods, obtaining the reference time periods of the inspection robot corresponding to the reference paths in the set test time periods, taking the values, and marking the values as TJ 0 。
Extracting the length corresponding to each reference path from the database, matching the length with the reference path of the inspection robot corresponding to the set test period to obtain the reference length of the reference path of the inspection robot corresponding to the set test period, taking the value, and marking as XL 0 。
According to the formula JY= (LC/LC) 0 )*b1+(PX/PX 0 )*b2+(TJ 0 /TJ+1)*b3+(1/|XL-XL 0 And (3) b 4) calculating the inspection optimal values JY, b1, b2, b3 and b4 of the inspection path in the corresponding set test period of the inspection robot, wherein the inspection optimal values are respectively expressed as set weight factors.
As a further improvement of the invention, the inspection robot monitors the inspection path after the inspection robot issues the inspection points in the set test period to obtain the number of the matched inspection points of the inspection path, the inspection time, the path length and the inspection path and the number of the clamping times of the inspection robot corresponding to the set test period, so that the inspection figure of merit of the inspection path in the corresponding set test period is analyzed, the problem that the inspection robot deviates in the inspection process is avoided, the accuracy and the standard degree of the inspection path automatically generated by the inspection robot are improved to a great extent, and the problem of path deviation of the robot in the subsequent use process is avoided.
S4, test analysis: analyzing the command precision of the inspection robot corresponding to the set test period to obtain the command precision of the inspection robot corresponding to the set test period, wherein the specific analysis steps are as follows:
comparing the line gauge value of each issued instruction in the corresponding set test period of the inspection robot with the set reference line gauge value, if the line gauge value of a certain issued instruction is smaller than the set reference line gauge value, marking the issued instruction as an abnormal instruction, otherwise marking the issued instruction as a normal instruction, counting the number of abnormal instructions and the number of normal instructions in the corresponding set test period of the inspection robot, extracting the numerical values of the number of abnormal instructions and the number of normal instructions, and marking the numerical values as y l and z l respectively.
According to the formulaThe command precision LJ and XG' of the inspection robot corresponding to the set test period are calculated, e is set as a natural constant, and c1, c2 and c3 are set as weight factors respectively.
Analyzing the test result of the inspection robot corresponding to the set test period, wherein the specific analysis process is as follows:
comparing the command precision of the inspection robot corresponding to the set test period with the set reference command precision, judging that the command test result of the inspection robot corresponding to the set test period is first-level precision if the command precision of the inspection robot corresponding to the set test period is larger than the set reference command precision, judging that the command test result of the inspection robot corresponding to the set test period is second-level precision if the command precision of the inspection robot corresponding to the set test period is equal to the set reference command precision, and judging that the command test result of the inspection robot corresponding to the set test period is third-level precision if the command precision of the inspection robot corresponding to the set test period is smaller than the set reference command precision.
Comparing the inspection figure of merit of the inspection path in the inspection robot corresponding to the set test period with the set reference figure of merit, if the inspection figure of merit of the inspection path in the inspection robot corresponding to the set test period is larger than the set reference figure of merit, determining that the path test result of the inspection robot corresponding to the set test period is of primary precision, if the inspection figure of merit of the inspection path in the inspection robot corresponding to the set test period is equal to the set reference figure of merit, determining that the path test result of the inspection robot corresponding to the set test period is of secondary precision, and if the inspection figure of merit of the inspection path in the inspection robot corresponding to the set test period is smaller than the set reference figure of merit, determining that the path test result of the inspection robot corresponding to the set test period is of tertiary precision.
And forming a test result of the inspection robot corresponding to the set test period by an instruction test result and a path test result of the inspection robot corresponding to the set test period.
As a further improvement of the invention, the inspection robot can intuitively display the test result of the inspection robot by analyzing the test result of the inspection robot in the corresponding set test period and correspondingly displaying the test result, thereby being beneficial to carrying out corresponding processing on the quality of the inspection robot subsequently and greatly improving the reliability and accuracy of the inspection robot in the actual inspection process.
S5, displaying the result: and correspondingly displaying the test result of the inspection robot corresponding to the set test period.
In a specific embodiment, the corresponding display of the test result of the corresponding set test period of the inspection robot is specifically: if the instruction test result of the inspection robot corresponding to the set test period is first-level precision, the instruction test is performed on the instruction test result of the inspection robot corresponding to the set test period, for example: "the command response of inspection robot corresponds very excellent".
If the instruction test result of the inspection robot corresponding to the set test period is of secondary precision, the instruction test is performed on the instruction test result of the inspection robot corresponding to the set test period, for example: the inspection robot has good response to the corresponding instruction, and needs improvement.
If the instruction test result of the inspection robot corresponding to the set test period is three-level precision, the instruction test is performed on the instruction test result of the inspection robot corresponding to the set test period, for example: "inspection robot corresponds to the instruction response disqualification, must improve.
If the path test result of the inspection robot corresponding to the set test period is first-level precision, the path test result of the inspection robot corresponding to the set test period is subjected to excellent path test display, for example: the routing inspection robot has excellent planning of the routing inspection path.
If the path test result of the inspection robot corresponding to the set test period is of secondary precision, the path test result of the inspection robot corresponding to the set test period is well displayed, for example: the routing inspection robot has good routing inspection path planning, and needs improvement.
If the path test result of the inspection robot corresponding to the set test period is three-level precision, the path test is poorly displayed on the path test result of the inspection robot corresponding to the set test period, for example: "the planning of inspection robot corresponding inspection route is unqualified, must improve again.
The foregoing is merely illustrative of the structures of this invention and various modifications, additions and substitutions for those skilled in the art can be made to the described embodiments without departing from the scope of the invention or from the scope of the invention as defined in the accompanying claims.
Claims (4)
1. The intelligent testing method of the monorail crane inspection robot based on data analysis is characterized by comprising the following steps of:
s1, instruction issuing: the inspection robot is subjected to instruction release within a set test period, and each release instruction of the inspection robot in the corresponding set test period is obtained;
s2, performing analysis: collecting response time of each issuing instruction of the inspection robot in a set test period to obtain response time of each issuing instruction of the inspection robot in the set test period, collecting an execution motion dynamic diagram of each issuing instruction of the inspection robot in the set test period to obtain an execution motion dynamic diagram of each issuing instruction of the inspection robot in the set test period, and analyzing a line gauge value of each issuing instruction of the inspection robot in the corresponding set test period to obtain a line gauge value of each issuing instruction of the inspection robot in the corresponding set test period; the specific analysis steps are as follows:
Extracting a reference motion dynamic diagram corresponding to each instruction from a database, and extracting a reference motion dynamic diagram of each issued instruction from the reference motion dynamic diagram corresponding to each instruction;
matching the execution action dynamic diagram of each issued instruction of the inspection robot with the corresponding reference action dynamic diagram in a set test period to obtain the reference action dynamic diagram of each issued instruction of the inspection robot;
analyzing the execution action dynamic diagram of each issued instruction of the inspection robot frame by frame in a set test period to obtain each frame execution action diagram of each issued instruction of the inspection robot in the set test period;
analyzing the reference action dynamic diagram corresponding to each issuing instruction of the inspection robot frame by frame to obtain each frame of reference action diagram corresponding to each issuing instruction of the inspection robot;
extracting a robot contour from each frame of execution action diagram of each issued instruction of the inspection robot in a set test period to obtain the robot contour of each frame of execution action diagram of each issued instruction of the inspection robot;
the method comprises the steps that the outline of a robot in an action figure is referred to by each frame corresponding to each issuing instruction of the inspection robot, and the outline of a reference robot in the action figure is referred to by each frame corresponding to each issuing instruction of the inspection robot;
Overlapping and comparing the robot contour of each frame of action drawing in each issuing instruction corresponding to the inspection robot with the corresponding reference robot contour to obtain the overlapping area of the robot contour of each frame of action drawing in each issuing instruction corresponding to the inspection robot, and marking as S i j I is the number of each issued instruction, j is the number of each frame execution action figure;
acquiring corresponding issues of inspection robotThe area of the robot outline for performing action drawing for each frame in the cloth instruction is marked as S ij ′；
According to the formulaCalculating the matching degree RP of each frame of each issued instruction of the inspection robot in the set test period i j Epsilon is expressed as a set correction factor;
comparing the matching degree of each frame execution action in each issued instruction of the inspection robot in a set test period with a set matching degree threshold, if the matching degree of each frame execution action is smaller than the set matching degree threshold, marking the frame execution action as an abnormal frame action, otherwise, carrying out normal frame actions of the frame execution action, and counting the number YN of the abnormal frame actions in each issued instruction of the inspection robot in the set test period i And the number of normal frame actions ZN i ；
Marking the response time of each issued instruction of the inspection robot in a set test period as TX i ；
According to formula XG i ＝(TX 0 /(TX i +1))*a1+((YN i +ZN i )/YN i )*a2+(ZN i /(YN i +ZN i ) Calculating a line gauge value XG of each issuing instruction in a corresponding set test period of the inspection robot according to a3 i ，TX 0 A1, a2 and a3 are respectively expressed as set weight factors and expressed as preset reference response time length;
s3, path test: issuing inspection points of the inspection robot in a set test period to obtain each issuing inspection point of the inspection robot in the set test period, monitoring an inspection path of the inspection robot after issuing the inspection points in the set test period to obtain basic parameters of the inspection path of the inspection robot in the set test period, and analyzing an inspection figure of merit of the inspection path of the inspection robot in the set test period to obtain an inspection figure of merit of the inspection path of the inspection robot in the set test period; the specific analysis mode is as follows:
extracting a patrol path of the patrol robot corresponding to the set test period from basic parameters of the patrol path in the patrol robot corresponding to the set test period, and acquiring a patrol starting point of the patrol robot corresponding to the set test period based on the patrol path of the patrol robot corresponding to the set test period;
extracting a patrol point set corresponding to each reference path from a database, and matching a patrol starting point of a patrol robot corresponding to a set test period with the patrol point set corresponding to each release patrol point to obtain a reference path of the patrol robot corresponding to the set test period;
Overlapping and comparing the inspection path of the inspection robot corresponding to the set test period with the reference path of the inspection robot corresponding to the set test period to obtain the overlapping length of the inspection path of the inspection robot corresponding to the set test period and the reference path of the inspection robot corresponding to the set test period, taking the overlapping length as the overlapping length of the inspection path of the inspection robot corresponding to the set test period, extracting the value, marking the value as LC, obtaining the length of the reference path of the inspection robot corresponding to the set test period, taking the value, marking the value as LC 0 ；
Extracting the number of matched inspection points of the inspection path, the number of values of the path length during inspection and the number of values of the path length during inspection of the inspection robot in the set test period from the basic parameters of the inspection path in the set test period corresponding to the inspection robot, and respectively marking the values as PX, TJ and XL, and simultaneously extracting the number of the clamping times of the inspection robot in the set test period corresponding to the inspection robot from the values and marking the values as KD;
extracting the numerical value of each release inspection point of the inspection robot in the corresponding set test period, and recording the numerical value as PX 0 Extracting the reference time periods corresponding to the reference paths from the database, matching the reference time periods with the reference paths of the inspection robot corresponding to the set test time periods, obtaining the reference time periods of the inspection robot corresponding to the reference paths in the set test time periods, taking the values, and marking the values as TJ 0 ；
Extracting the length corresponding to each reference path from the database, and matching the length with the reference path of the inspection robot corresponding to the set test period to obtain the reference length of the reference path of the inspection robot corresponding to the set test periodTake the value and record as XL 0 ；
According to the formula JY= (LC/LC) 0 )*b1+(PX/PX 0 )*b2+(TJ 0 /TJ+1)*b3+(1/|XL-XL 0 Calculating the inspection optimal values JY, b1, b2, b3 and b4 of the inspection path in the set test period corresponding to the inspection robot, wherein the inspection optimal values are respectively expressed as set weight factors;
s4, test analysis: analyzing the command precision of the inspection robot corresponding to the set test period to obtain the command precision of the inspection robot corresponding to the set test period, wherein the specific analysis mode is as follows:
comparing the line gauge value of each issued instruction in the corresponding set test period of the inspection robot with the set reference line gauge value, if the line gauge value of a certain issued instruction is smaller than the set reference line gauge value, marking the issued instruction as an abnormal instruction, otherwise marking the issued instruction as a normal instruction, counting the number of abnormal instructions and the number of normal instructions in the corresponding set test period of the inspection robot, extracting the numerical values of the number of abnormal instructions and the number of normal instructions, and marking the numerical values as yl and zl respectively;
according to the formulaCalculating command precision LJ, XG' of the inspection robot corresponding to a set test period, wherein e is set as a natural constant, and c1, c2 and c3 are set as weight factors respectively; analyzing a test result of the inspection robot corresponding to the set test period;
S5, displaying the result: and correspondingly displaying the test result of the inspection robot corresponding to the set test period.
2. The intelligent testing method of the monorail crane inspection robot based on data analysis according to claim 1, wherein the method is characterized in that the dynamic diagram of the execution action of each issued instruction of the inspection robot in a set testing period is collected in the specific collection mode that:
acquiring an action video of the inspection robot in a set test period by a camera to obtain an action video of the inspection robot in the set test period, acquiring a response action time point of each issuing instruction of the inspection robot in the set test period, and simultaneously acquiring an execution action completion time point of each issuing instruction of the inspection robot in the set test period, wherein the response action time point of each issuing instruction of the inspection robot in the set test period and the execution action completion time point of the corresponding issuing instruction form an execution period, so as to obtain an execution period of each issuing instruction of the inspection robot in the set test period;
and extracting the action video of each instruction issuing period of the inspection robot in the set test period from the action video of the inspection robot in the set test period, and taking the action video as an execution action dynamic diagram of each instruction issuing of the inspection robot in the set test period.
3. The intelligent testing method of the monorail crane inspection robot based on data analysis according to claim 1, wherein the inspection path of the inspection robot after the inspection robot issues the inspection point in a set test period is monitored in the following specific monitoring mode:
acquiring a running video of the inspection robot corresponding to the set test period through a camera to obtain the running video of the inspection robot corresponding to the set test period, and acquiring a running route of the inspection robot corresponding to the set test period from the running video of the inspection robot corresponding to the set test period as an inspection route of the inspection robot corresponding to the set test period;
acquiring each actual inspection point of the inspection path of the inspection robot in the set test period from the inspection path of the inspection robot corresponding to the set test period, matching the actual inspection points with each release inspection point, marking the actual inspection points as matched inspection points if the matching of a certain actual inspection point and a certain release inspection point is successful, and counting the number of the matched inspection points of the inspection path of the inspection robot in the set test period;
counting the inspection time of the inspection path of the inspection robot in the set test period by a timer to obtain the inspection time of the inspection path of the inspection robot in the set test period;
Obtaining the path length of the inspection path of the inspection robot in a set test period, and obtaining the path length of the inspection path of the inspection robot in the set test period;
counting the number of the blocking times of the inspection robot corresponding to the set test period from the running video of the inspection robot corresponding to the set test period, and obtaining the number of the blocking times of the inspection robot corresponding to the set test period;
the inspection robot is used for setting the basic parameters of the inspection path in the test period by the number of the matched inspection points of the inspection path in the test period, the inspection time, the path length, the inspection path of the inspection robot in the test period and the blocking times.
4. The intelligent testing method of the monorail crane inspection robot based on data analysis according to claim 1, wherein the analysis of the testing result of the inspection robot corresponding to the set testing period is performed by the following specific analysis modes:
comparing the command precision of the inspection robot corresponding to the set test period with the set reference command precision, judging that the command test result of the inspection robot corresponding to the set test period is first-level precision if the command precision of the inspection robot corresponding to the set test period is larger than the set reference command precision, judging that the command test result of the inspection robot corresponding to the set test period is second-level precision if the command precision of the inspection robot corresponding to the set test period is equal to the set reference command precision, and judging that the command test result of the inspection robot corresponding to the set test period is third-level precision if the command precision of the inspection robot corresponding to the set test period is smaller than the set reference command precision;
Comparing the inspection figure of merit of the inspection path in the inspection robot corresponding to the set test period with the set reference figure of merit, if the inspection figure of merit of the inspection path in the inspection robot corresponding to the set test period is larger than the set reference figure of merit, determining that the path test result of the inspection robot corresponding to the set test period is of primary precision, if the inspection figure of merit of the inspection path in the inspection robot corresponding to the set test period is equal to the set reference figure of merit, determining that the path test result of the inspection robot corresponding to the set test period is of secondary precision, and if the inspection figure of merit of the inspection path in the inspection robot corresponding to the set test period is smaller than the set reference figure of merit, determining that the path test result of the inspection robot corresponding to the set test period is of tertiary precision;
and forming a test result of the inspection robot corresponding to the set test period by an instruction test result and a path test result of the inspection robot corresponding to the set test period.
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