CN113704963B - Robot testing method and system and robot - Google Patents
Robot testing method and system and robot Download PDFInfo
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- CN113704963B CN113704963B CN202110816628.9A CN202110816628A CN113704963B CN 113704963 B CN113704963 B CN 113704963B CN 202110816628 A CN202110816628 A CN 202110816628A CN 113704963 B CN113704963 B CN 113704963B
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Abstract
The invention discloses a robot testing method, a system and a robot, wherein the method comprises the following steps: a plurality of robots test on a circulating test runway; if the robot with the fault exists in the circulating test runway, carrying out fault broadcasting on the position of the fault point where the fault robot is located; re-planning a test route of the robot which does not have a fault according to the fault broadcast to obtain a fault-free route, wherein the fault-free route bypasses the fault point position; and continuously testing the robot which does not have faults based on the fault-free route. The invention aims to improve the testing efficiency of a robot.
Description
Technical Field
The present invention relates to the field of robot testing, and in particular, to a method and a system for testing a robot, and a robot.
Background
Currently, various runways simulating actual environmental scenes can be designed in a laboratory during the aging test of the performance of the robot. For example, ramps, straight walkways, curves, narrow roads, over-ridges, steps, obstacles, etc. are designed in experimental chokes for testing the walking ability of robots. In current runway designs, multiple runways are often designed indoors, each for testing one robot. Therefore, in a limited indoor space, when a robot cannot fall down and walk through a test in the test process, the robot under test in the runway cannot complete the test, the space environment of the runway is wasted, and the test efficiency of the robot is low.
Disclosure of Invention
In view of the above, the embodiments of the present application provide a method and a system for testing a robot, and the robot aims to improve the testing efficiency of the robot.
The embodiment of the application provides a robot testing method, which comprises the following steps:
a plurality of robots test on a circulating test runway;
If the robot with the fault exists in the circulating test runway, carrying out fault broadcasting on the position of the fault point where the fault robot is located;
Re-planning a test route of the robot which does not have a fault according to the fault broadcast to obtain a fault-free route, wherein the fault-free route bypasses the fault point position;
and continuously testing the robot which does not have faults based on the fault-free route.
In an embodiment, the circulating test runway at least comprises three circulating runways with preset shapes, namely a first runway, a second runway and a third runway from outside to inside, wherein the first runway is communicated with the second runway through a plurality of auxiliary channels, the second runway is communicated with the third runway through a plurality of auxiliary channels, and test items for testing the performance of the robot are arranged on the first runway and the third runway, and comprise one or more of straight channel sections, curve sections, ramp sections, narrow channel sections, crossing channel sections, step sections and barrier sections;
The plurality of robots test on a cyclic test runway, comprising:
the plurality of robots are tested on the first runway;
or the plurality of robots are tested on the third runway;
or a part of the plurality of robots are tested on the first runway, and another part of the plurality of robots are tested on the third runway.
In an embodiment, the re-planning the test route of the robot that is not failed according to the fault broadcast to obtain a non-fault route, the non-fault route bypassing the fault point location includes:
determining the position of a fault point where the robot generates a fault according to the fault broadcast;
If the fault point position is located in the first runway, re-planning a test route of the robot which does not have faults in the first runway by utilizing a planning principle of the longest path to obtain a fault-free route, wherein the fault-free route bypasses the fault point position through the auxiliary runway and the second runway;
and if the fault point position is located on the third runway, re-planning a test route of the robot which does not have faults in the third runway by utilizing a planning principle of a shortest path to obtain a fault-free route, wherein the fault-free route bypasses the fault point position through the auxiliary runway and the second runway.
In an embodiment, if the fault point is located on the first runway, re-planning a test route of a robot that is not faulty in the first runway by using a planning principle of a longest path to obtain a non-faulty route, where the non-faulty route bypasses the fault point through the auxiliary runway and the second runway, and includes:
If the fault point position is located in a first runway, a robot which does not generate faults in the first runway obtains a fault starting point and a fault ending point of a road section where the fault point position is located, wherein the fault starting point and the fault ending point are respectively the crossing points of the road section where the fault point position is located and two adjacent auxiliary roads;
The robot which does not generate faults utilizes the planning principle of the longest path to re-plan the test route so as to obtain a non-fault route, and the non-fault route sequentially passes through a fault starting point, an auxiliary road, a second runway, the auxiliary road, a fault ending point and circulates to the fault starting point along the first runway so as to bypass the position of the fault point.
In an embodiment, if the fault point is located on the third runway, re-planning a test route of a robot that is not faulty in the third runway by using a planning principle of a shortest path to obtain a non-faulty route, where the non-faulty route bypasses the fault point through the auxiliary runway and the second runway, and includes:
If the fault point position is located in a third runway, the robot which does not generate faults in the third runway acquires a fault starting point and a fault ending point of a road section where the fault point position is located, wherein the fault starting point and the fault ending point are respectively the crossing points of the road section where the fault point position is located and two adjacent auxiliary roads;
the robot which does not generate faults utilizes the planning principle of the shortest path to re-plan the test route so as to obtain a non-fault route, and the non-fault route sequentially passes through a fault starting point, an auxiliary road, a second runway, the auxiliary road, a fault ending point and circulates to the fault starting point along a third runway so as to bypass the position of the fault point.
In an embodiment, if there is a failed robot in the cyclic test runway, performing fault broadcasting on a fault point where the failed robot is located, including:
if the robot in the first runway has a fault, the faulty robot broadcasts a fault to the robot which has not the fault in the first runway; and/or
If a fault occurs in the robots in the third runway, the faulty robots broadcast the fault to the robots in the third runway that have not failed.
In one embodiment, the test site is programmed with a first runway, a second runway, and a third runway of the cyclical test runway via spacers, wherein the spacers include a first spacer and a second spacer; the first runway and the second runway are isolated by a first isolating piece, and an auxiliary runway between the first runway and the second runway is an opening of the first isolating piece; the second runway and the third runway are isolated by the second isolating piece, and the auxiliary runway between the second runway and the third runway is an opening of the second isolating piece.
In an embodiment, the circulating test runway comprises two circulating runways with preset shapes, a first runway and a second runway are sequentially arranged from outside to inside, or a second runway and a first runway are sequentially arranged from outside to inside, the first runway and the second runway are communicated through a plurality of auxiliary runways, the first runway is provided with a test item for testing the performance of the robot, and the test item comprises one or more of a straight channel section, a curve section, a ramp section, a narrow channel section, a crossing section, a step section and an obstacle section;
The plurality of robots test on a cyclic test runway, comprising:
The plurality of robots are tested on the first runway.
In order to achieve the above object, there is also provided a robot testing system including a cyclic test runway and a plurality of robots;
The plurality of robots perform the steps of any one of the robot testing methods described above while the cyclic test runway is being tested.
In order to achieve the above object, there is also provided a robot including a memory, a processor and a robot test method program stored in the memory and executable on the processor, the processor implementing the steps of any one of the above-mentioned robot test methods when executing the robot test method program.
One or more technical solutions provided in the embodiments of the present application at least have the following technical effects or advantages: a plurality of robots test on a circulating test runway; and a plurality of robots are placed on the circulating test runway to test simultaneously, so that the test efficiency of the robots is improved.
If the robot with the fault exists in the circulating test runway, carrying out fault broadcasting on the position of the fault point where the fault robot is located; and the fault point position of the fault robot is sent to other robots under test in the circulating test runway through fault broadcasting, so that the robot which does not have faults is prevented from being blocked at a fault road section, the test efficiency of the robot is improved, and the test cost of the robot is reduced.
Re-planning a test route of the robot which does not have a fault according to the fault broadcast to obtain a fault-free route, wherein the fault-free route bypasses the fault point position; and continuously testing the robot which does not have faults based on the fault-free route. And planning the test route of the robot which does not have the fault again through the calculation of the position of the fault point to obtain a fault-free route which bypasses the position of the fault point, and testing the robot which does not have the fault by using the fault-free route so as to enable the robot to be tested on a circulating test runway in a circulating and uninterrupted way, thereby improving the test efficiency of the robot.
Drawings
FIG. 1 is a flow chart of a first embodiment of a robotic testing method of the present application;
FIG. 2 is a first schematic view of the cyclical test runway of the present application;
FIG. 3 is a second schematic view of the cyclical test runway of the present application;
FIG. 4 is a flow chart of a second embodiment of the robotic testing method of the present application;
FIG. 5 is a diagram showing steps for implementing step S240 in a second embodiment of the robot testing method according to the present application;
FIG. 6 is a first schematic illustration of a failure-free route;
FIG. 7 is a diagram showing steps performed in step S250 of a second embodiment of the robot testing method according to the present application;
FIG. 8 is a second schematic view of a failure-free route;
fig. 9 is a schematic diagram of a hardware architecture of a robot according to the present application.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The embodiment of the invention provides a robot testing method, which comprises the following steps: a plurality of robots test on a circulating test runway; if the robot with the fault exists in the circulating test runway, carrying out fault broadcasting on the position of the fault point where the fault robot is located; re-planning a test route of the robot which does not have a fault according to the fault broadcast to obtain a fault-free route, wherein the fault-free route bypasses the fault point position; and continuously testing the robot which does not have faults based on the fault-free route. The invention aims to improve the testing efficiency of a robot.
In order to better understand the above technical solutions, the following detailed description will refer to the accompanying drawings and specific embodiments.
Referring to fig. 1, fig. 1 is a first embodiment of a robot testing method according to the present application, the method includes steps S110-S140:
Step S110: the multiple robots test on a circular test runway.
Referring to fig. 2, the present embodiment proposes a circulation test runway, which at least includes three circulation runways of preset shapes, including, from outside to inside, a first runway 10, a second runway 20, and a third runway 30, in order, the first runway 10 and the second runway 20 are communicated through a plurality of auxiliary channels 40, the second runway 20 and the third runway 30 are communicated through a plurality of auxiliary channels 40, and test items for testing performance of the robot are provided on the first runway 10 and the third runway 30, and the test items include one or more of a straight-path section, a curve section, a ramp section, a narrow-path section, a crossing section, a step section, and an obstacle section. For example, the test site is planned to be a first runway 10, a second runway 20, and a third runway 30 of the cyclical test runway by spacers, wherein the spacers include a first spacer and a second spacer; the first runway 10 and the second runway 20 are isolated by a first isolation piece, and the auxiliary runway 40 between the first runway 10 and the second runway 20 is an opening of the first isolation piece; the second runway 20 and the third runway 30 are separated by a second separator, and the auxiliary runway 40 between the second runway 20 and the third runway 30 is an opening of the second separator. Optionally, the first spacer is a barrier wall and the second spacer is a barrier wall.
One robot can be placed on the circulation test runway at each preset distance (for example, 5 meters) to perform walking test, so that a plurality of robots can be ensured to perform the test on the circulation test runway at the same time. The preset distance in this embodiment is not limited, and may be adjusted according to the number of the cyclic test tracks and the number of robots to be tested. Wherein, in the present embodiment, the test direction in the cyclic test runway may be a clockwise direction; or may be counterclockwise; and is not limited thereto. In this embodiment, the clockwise direction is used as the test direction.
The robot according to the present embodiment has a walking function, a signal receiving function, a signal transmitting function, and a route re-planning function.
Step S120: and if the robot with the fault exists in the circulating test runway, carrying out fault broadcasting on the position of the fault point where the fault robot is located.
In an embodiment, a plurality of test robots are in communication connection with each other, if one robot fails in the circulating test runway, the failed robot sends the failure point position where the failed robot is located to other robots which do not fail, and the failed robot analyzes the failure broadcast to obtain the failure point position where the failed robot is located. The communication between robots can be based on terminal communication between point to point, or can also be based on a cloud server, the fault robot sends information to the cloud server, and the cloud server communicates in a mode of broadcasting information to the robots which do not have faults.
Step S130: and re-planning a test route of the robot which does not generate faults according to the fault broadcast to obtain a non-fault route, wherein the non-fault route bypasses the fault point positions.
In one embodiment, a robot which does not have a fault receives fault information sent by the fault robot through fault broadcasting, and determines a fault point position where the fault robot is located according to the fault information. At this time, the non-faulty robot re-plans the test path to avoid the fault point position, so that the non-faulty robot can still continue to perform the test on the cyclic test runway.
Step S140: and continuously testing the robot which does not have faults based on the fault-free route.
In one embodiment, the non-failed robot continues to travel and test on the cyclical test runway along a failure-free path. That is, when a faulty robot fails and cannot continue testing, the faulty robot may block the testing runway, and affect the subsequent non-faulty robots to continue the cyclic testing.
The technical scheme of the application can be specifically applied to the ageing test of the performance of the robot, can also be applied to the factory test of the robot function, and can be specifically used for adjusting test items according to different test requirements.
A plurality of robots test on a circulating test runway; and a plurality of robots are placed on the circulating test runway to test simultaneously, so that the test efficiency of the robots is improved.
If the robot with the fault exists in the circulating test runway, carrying out fault broadcasting on the position of the fault point where the fault robot is located; and the fault point position of the fault robot is sent to other robots under test in the circulating test runway through fault broadcasting, so that the robot which does not have faults is prevented from being blocked at a fault road section, the test efficiency of the robot is improved, and the test cost of the robot is reduced.
Re-planning a test route of the robot which does not have a fault according to the fault broadcast to obtain a fault-free route, wherein the fault-free route bypasses the fault point position; and continuously testing the robot which does not have faults based on the fault-free route. And planning the test route of the robot which does not have the fault again through the calculation of the position of the fault point to obtain a fault-free route which bypasses the position of the fault point, and testing the robot which does not have the fault by using the fault-free route so as to enable the robot to be tested on a circulating test runway in a circulating and uninterrupted way, thereby improving the test efficiency of the robot.
Referring to fig. 2, in an embodiment, the circulation test track includes at least three circulation tracks of preset shapes, namely, a first track 10, a second track 20 and a third track 30 from outside to inside, and the first track 10 and the second track 20 are communicated by a plurality of auxiliary channels 40, for example, the first track 10 and the second track 20 are communicated by a plurality of first auxiliary channels 41. The second runway 20 and the third runway 30 are in communication via a plurality of auxiliary channels 40, for example, the second runway 20 and the third runway 30 are in communication via a plurality of second auxiliary channels 42. Test items for testing the performance of the robot are provided at the first runway 10 and the third runway 30, and include one or more of a straight-path section, a curve section, a ramp section, a narrow-path section, a crossing section, a step section, and an obstacle section.
On the basis of the first embodiment, the plurality of robots perform testing on a cyclic test runway, including:
The plurality of robots are tested on the first runway 10;
Or the plurality of robots are tested on the third runway 30;
Or a portion of the plurality of robots are tested on the first runway 10 and another portion of the plurality of robots are tested on the third runway 30.
Wherein the auxiliary runway 40 and the second runway 20 are not provided with test items.
Specifically, the auxiliary road 40 and the second runway 20 are not provided with test items, so that the robot can pass easily, and the situations that the robot fails, breaks down and the like in the auxiliary road 40 and the second runway 20 are reduced.
Specifically, the circulation test track is not limited to the three or two circulation tracks of the preset shape mentioned in the above embodiments, and the circulation test track may be a circulation track composition of more than or equal to two preset shapes; the number of auxiliary tracks and the number of second tracks are not limited, and are adjusted according to actual test requirements.
Specifically, when the robot is tested, the first runway 10 can be opened and the third runway 30 can be closed for testing; or the third runway 30 may be opened and the first runway 10 closed for testing; alternatively, the first runway 10 and the third runway 30 may be simultaneously opened for testing.
Specifically, the ramp section comprises an upper slope surface and a lower slope surface, wherein the gradient of the upper slope surface is 5-15 degrees, the gradient of the lower slope surface is also 5-15 degrees, and the test angle of the ramp section can be adjusted according to requirements.
Specifically, the height of the obstacle is 15-50 mm, wherein the height of the obstacle can be adjusted according to the requirement.
Specifically, the step section comprises an upper stage and a lower stage, wherein the upper stage and the lower stage respectively comprise 2-10 steps, and the height of the steps can be adjusted according to the performance of the robot.
Specifically, the ridge distance of the ridge passing section is 15 cm-40 cm, and the ridge distance can be specifically adjusted according to the performance of the robot.
The test items may also be carpeted floors, smooth floors, etc. The device can be arranged in a circulation test runway according to the test requirement of the robot.
And an auxiliary runway and a second runway are arranged in the circulating test runway, so that the robot which does not have faults can be tested uninterruptedly, and the testing efficiency of the robot is ensured.
In yet another embodiment, referring to fig. 3, fig. 3 is another implementation of a cyclical test runway. The circulating test runway comprises two circulating runways with preset shapes, a first runway 10 and a second runway 20 are sequentially arranged from outside to inside, the first runway 10 and the second runway 20 are communicated through a plurality of auxiliary runways 40, the first runway is provided with a test item for testing the performance of the robot, and the test item comprises one or more of a straight runway section, a curve section, a ramp section, a narrow runway section, a crossing section, a step section and an obstacle section. The preset shape may be circular, rounded rectangle, square or rectangle, but is not limited herein.
The plurality of robots test on a cyclic test runway, comprising:
The plurality of robots are tested on the first runway.
Or in another embodiment, the second runway and the first runway are sequentially arranged from outside to inside, the plurality of robots perform testing on the circulating test runway, and the method comprises the following steps: the plurality of robots are tested on the first runway.
Referring to fig. 4, a second embodiment of the present application is presented on the basis of the first embodiment, and the method includes steps S210-S260:
step S210: the multiple robots test on a circular test runway.
Step S220: and if the robot with the fault exists in the circulating test runway, carrying out fault broadcasting on the position of the fault point where the fault robot is located.
Step S230: and determining the position of a fault point of the robot fault according to the fault broadcast.
Step S240: if the fault point position is located in the first runway, the test route of the robot which does not have faults in the first runway is re-planned by using the planning principle of the longest path so as to obtain a fault-free route, and the fault-free route passes through the auxiliary runway and the second runway so as to bypass the fault point position.
For example, a plurality of robots located in the first runway may communicate with each other, and when the fault point location is located in the first runway, the fault robot located in the first runway broadcasts the fault point location in which it is located, and the broadcast information is received by the robots in the first runway. After the robot which does not have faults acquires the positions of the fault points, the longest path planning principle is utilized to re-plan the test route, and the auxiliary track and the second track are utilized to bypass the positions of the fault points, so that a fault-free route is generated.
Step S250: and if the fault point position is located on the third runway, re-planning a test route of the robot which does not have faults in the third runway by utilizing a planning principle of a shortest path to obtain a fault-free route, wherein the fault-free route bypasses the fault point position through the auxiliary runway and the second runway.
For example, a plurality of robots located in the third runway may communicate with each other, and when the fault point location is located in the third runway, the fault robot located in the third runway broadcasts the fault point location where it is located, and the broadcast information is received by the robots in the third runway. After the robot which does not have faults acquires the positions of the fault points, the shortest path planning principle is utilized to re-plan the test route, and the auxiliary track and the second track are utilized to bypass the positions of the fault points, so that a fault-free route is generated.
Step S260: and continuously testing the robot which does not have faults based on the fault-free route.
The second embodiment includes step S230, step S240 and step S250 compared with the first embodiment, and other steps have been described in the first embodiment, and are not described herein.
And re-planning the testing route of the robot which does not have faults according to the longest path planning principle or the shortest path planning principle, so that the probability of stagnation of the robot at the fault point is reduced, and the testing efficiency of the robot is further improved.
Referring to fig. 5, fig. 5 is a block diagram showing a specific implementation step of step S240 in a second embodiment of the robot testing method according to the present application, wherein if the fault point is located on the first runway, the longest path planning principle is used to re-plan the testing route of the robot that has not failed in the first runway to obtain a fault-free route, and the fault-free route bypasses the fault point through the auxiliary runway and the second runway, and the method includes steps S241-S242:
Step S241: and if the fault point position is positioned on the first runway, acquiring a fault starting point and a fault ending point of a road section where the fault point position is positioned by a robot which does not generate a fault in the first runway, wherein the fault starting point and the fault ending point are respectively the crossing points of the road section where the fault point position is positioned and two adjacent auxiliary roads.
Step S242: the robot which does not generate faults utilizes the planning principle of the longest path to re-plan the test route so as to obtain a non-fault route, and the non-fault route sequentially passes through a fault starting point, an auxiliary road, a second runway, the auxiliary road, a fault ending point and circulates to the fault starting point along the first runway so as to bypass the position of the fault point.
Specifically, referring to fig. 6, fig. 6 is a first schematic diagram of a fault-free route; when the fault point location 70 is located on the first runway 10, the intersection of the two auxiliary roads 40 closest to the fault point location 70 and the first runway 10 is taken as a fault start point 50 and a fault end point 60, and the non-fault route 80 sequentially circulates to the fault start point 50 through the fault start point 50, the auxiliary roads 40, the second runway 20, the auxiliary roads 40, the fault end point 60, and along the first runway 10 to bypass the fault point location 70.
When a fault point occurs in the first runway, the robot which does not have the fault in the first runway carries out test route planning again so as to reduce time cost and test cost caused by blockage and improve the test efficiency of the robot.
Referring to fig. 7, fig. 7 is a block diagram showing a specific implementation step of step S250 in the second embodiment of the robot testing method according to the present application, wherein if the fault point is located on the third runway, the shortest path planning principle is utilized to re-plan the testing route of the robot that does not fail in the third runway to obtain a non-fault route, and the non-fault route bypasses the fault point through the auxiliary runway and the second runway, and the method includes steps S251-S252:
Step S251: and if the fault point position is positioned on a third runway, acquiring a fault starting point and a fault ending point of a road section where the fault point position is positioned by a robot which does not generate a fault in the third runway, wherein the fault starting point and the fault ending point are respectively the crossing points of the road section where the fault point position is positioned and two adjacent auxiliary roads.
Step S252: the robot which does not generate faults utilizes the planning principle of the shortest path to re-plan the test route so as to obtain a non-fault route, and the non-fault route sequentially passes through a fault starting point, an auxiliary road, a second runway, the auxiliary road, a fault ending point and circulates to the fault starting point along a third runway so as to bypass the position of the fault point.
Specifically, referring to fig. 8, fig. 8 is a second schematic diagram of a fault-free route; when the fault point location 70 is located at the third runway 30, the intersection of the two auxiliary roads 40 closest to the fault point location 70 and the third runway 30 is taken as the fault point 50 and the fault end point 60, and the non-fault route 80 sequentially circulates to the fault point 50 through the fault point 50, the auxiliary roads 40, the second runway 20, the auxiliary roads 40, the fault end point 60, and along the third runway 30 to bypass the fault point location 70.
When a fault point occurs in the third runway, the robot which does not have the fault in the third runway carries out test route planning again so as to reduce the time cost and the test cost caused by blockage and improve the test efficiency of the robot.
In an embodiment, if there is a failed robot in the cyclic test runway, performing fault broadcasting on a fault point where the failed robot is located, including:
if the robot in the first runway has a fault, the faulty robot broadcasts a fault to the robot which has not the fault in the first runway; and/or
If a fault occurs in the robots in the third runway, the faulty robots broadcast the fault to the robots in the third runway that have not failed.
That is, if a robot in the first runway fails, the failed robot broadcasts a failure to the non-failed robots in the first runway; and if the robot in the third runway has a fault, the faulty robot broadcasts a fault to the robot which has not failed in the third runway.
In another embodiment, if the robot fails in the first runway or the third runway, the position of the failure point where the failed robot is located is sent to all the robots in the cyclic test runway that are not failed.
The application also provides a robot testing system which comprises a circulating test runway and a plurality of robots;
the plurality of robots perform the steps of the robot testing method set forth in the above embodiment when the cyclic test runway is tested.
The application also provides a robot, which comprises a memory, a processor and a robot testing method program stored in the memory and capable of running on the processor, wherein the steps of the robot testing method provided by the embodiment are realized when the processor executes the robot testing method program.
Referring to fig. 9, the present application provides a robot a10, wherein the robot a10 includes a processor a12 and a memory a11.
Processor a12 may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuitry of hardware in the processor a12 or instructions in the form of software. The processor a12 described above may be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in the memory a11, and the processor a12 reads the information in the memory a11, and in combination with its hardware, performs the steps of the above method.
It will be appreciated that the memory a11 in embodiments of the invention may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The nonvolatile Memory may be a Read Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable EPROM (EEPROM), or a flash Memory. The volatile memory may be random access memory (Random Access Memory, RAM) which acts as external cache memory. By way of example, and not limitation, many forms of RAM are available, such as static random access memory (STATIC RAM, SRAM), dynamic random access memory (DYNAMIC RAM, DRAM), synchronous Dynamic Random Access Memory (SDRAM), double data rate Synchronous dynamic random access memory (Double DATARATE SDRAM, DDRSDRAM), enhanced Synchronous dynamic random access memory (ENHANCED SDRAM, ESDRAM), synchronous link dynamic random access memory (SYNCH LINK DRAM, SLDRAM), and Direct memory bus random access memory (DRRAM). The memory a11 of the systems and methods described in embodiments of the present invention is intended to comprise, without being limited to, these and any other suitable types of memory.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (8)
1. A method of robotic testing, the method comprising:
a plurality of robots test on a circulating test runway;
If the robot with the fault exists in the circulating test runway, carrying out fault broadcasting on the position of the fault point where the fault robot is located;
Re-planning a test route of the robot which does not have a fault according to the fault broadcast to obtain a fault-free route, wherein the fault-free route bypasses the fault point position;
Based on the fault-free route, continuing to test the robot which does not have faults;
The circulating test runway at least comprises three circulating runways with preset shapes, wherein a first runway, a second runway and a third runway are sequentially arranged from outside to inside, the first runway and the second runway are communicated through a plurality of auxiliary channels, and the second runway and the third runway are communicated through a plurality of auxiliary channels;
The plurality of robots test on a cyclic test runway, comprising:
the plurality of robots are tested on the first runway;
or the plurality of robots are tested on the third runway;
or a part of the plurality of robots are tested on the first runway, and another part of the plurality of robots are tested on the third runway;
And re-planning a test route of the robot which does not generate faults according to the fault broadcast to obtain a non-fault route, wherein the non-fault route bypasses the fault point positions and comprises the following steps of:
determining the position of a fault point where the robot generates a fault according to the fault broadcast;
If the fault point position is located in the first runway, re-planning a test route of the robot which does not have faults in the first runway by utilizing a planning principle of the longest path to obtain a fault-free route, wherein the fault-free route bypasses the fault point position through the auxiliary runway and the second runway;
and if the fault point position is located on the third runway, re-planning a test route of the robot which does not have faults in the third runway by utilizing a planning principle of a shortest path to obtain a fault-free route, wherein the fault-free route bypasses the fault point position through the auxiliary runway and the second runway.
2. The robot testing method of claim 1, wherein test items for testing performance of the robot are provided on the first runway and the third runway, the test items including one or more of a straight-path section, a curve section, a ramp section, a narrow-path section, a threshold section, a step section, and an obstacle section.
3. The robot testing method of claim 1, wherein if the fault point location is located on the first runway, re-planning the test route of the robot that has not failed in the first runway using the planning principle of the longest path to obtain a non-fault route, the non-fault route bypassing the fault point location through the auxiliary runway and the second runway, comprising:
If the fault point position is located in a first runway, a robot which does not generate faults in the first runway obtains a fault starting point and a fault ending point of a road section where the fault point position is located, wherein the fault starting point and the fault ending point are respectively the crossing points of the road section where the fault point position is located and two adjacent auxiliary roads;
The robot which does not generate faults utilizes the planning principle of the longest path to re-plan the test route so as to obtain a non-fault route, and the non-fault route sequentially passes through a fault starting point, an auxiliary road, a second runway, the auxiliary road, a fault ending point and circulates to the fault starting point along the first runway so as to bypass the position of the fault point.
4. The robot testing method of claim 1, wherein if the fault point location is located on the third runway, re-planning the test route of the robot that has not failed in the third runway using a shortest path planning principle to obtain a non-fault route that bypasses the fault point location via the auxiliary runway and the second runway, comprising:
If the fault point position is located in a third runway, the robot which does not generate faults in the third runway acquires a fault starting point and a fault ending point of a road section where the fault point position is located, wherein the fault starting point and the fault ending point are respectively the crossing points of the road section where the fault point position is located and two adjacent auxiliary roads;
the robot which does not generate faults utilizes the planning principle of the shortest path to re-plan the test route so as to obtain a non-fault route, and the non-fault route sequentially passes through a fault starting point, an auxiliary road, a second runway, the auxiliary road, a fault ending point and circulates to the fault starting point along a third runway so as to bypass the position of the fault point.
5. The robot testing method of claim 1, wherein if there is a failed robot in the cyclic test track, performing fault broadcasting on a fault point position where the failed robot is located, comprising:
if the robot in the first runway has a fault, the faulty robot broadcasts a fault to the robot which has not the fault in the first runway; and/or
If a fault occurs in the robots in the third runway, the faulty robots broadcast the fault to the robots in the third runway that have not failed.
6. The robot testing method of claim 1, wherein the testing site is planned to be a first runway, a second runway, and a third runway of the cyclic testing runway by spacers, wherein the spacers include a first spacer and a second spacer; the first runway and the second runway are isolated by a first isolating piece, and an auxiliary runway between the first runway and the second runway is an opening of the first isolating piece; the second runway and the third runway are isolated by the second isolating piece, and the auxiliary runway between the second runway and the third runway is an opening of the second isolating piece.
7. A robot testing system, comprising a cyclic test runway and a plurality of robots;
The plurality of robots performing the steps of the robot testing method of any one of claims 1-6 while the cyclical test runway is being tested.
8. A robot comprising a memory, a processor and a robot testing method program stored on said memory and executable on said processor, said processor implementing the steps of the robot testing method according to any one of claims 1-6 when said robot testing method program is executed.
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