1. The utility model provides a towards automatic simulation test system who patrols and examines robot which characterized in that includes:

the automatic testing module is configured to automatically configure a test scheme of the inspection robot and store an automatic testing task;

the test server is configured to call corresponding automatic test tasks according to needs and transmit the corresponding automatic test tasks to the inspection robot module;

the inspection robot module is configured to receive a test task issued by the test server and execute corresponding actions according to the content of the test task;

and the simulation test module is configured to realize the simulation interaction between the system in the inspection site and the inspection robot module.

2. The inspection robot-oriented automated simulation testing system of claim 1, further comprising:

and the code detection module is configured to receive a detection instruction of the test server and detect code coding normalization, security loopholes, repetition rate and complexity of a control program of the inspection robot.

3. The inspection robot-oriented automated simulation testing system of claim 1, wherein the inspection robot module comprises:

the inspection system comprises an inspection host and at least one inspection robot, wherein the inspection robot is communicated with the inspection host through a router; video/image acquisition equipment is carried on the inspection robot;

the video/image acquisition equipment is connected with the video recorder through the switch, and the video recorder is communicated with the inspection host through the router; or the video/image acquisition equipment is communicated with the inspection host through the switch and the router.

4. The inspection robot oriented automated simulation testing system of claim 1, wherein the system within the inspection site includes at least: the system comprises online monitoring equipment, a main and auxiliary system, a security system and an external equipment controller in a transformer substation or a tunnel.

5. The inspection robot-oriented automated simulation testing system of claim 1, wherein the simulation testing module comprises:

the online detection simulation unit is configured to simulate online detection equipment data accessed in a transformer substation or tunnel environment and transmit the online detection equipment data to the inspection robot module;

the main and auxiliary system simulation unit is configured to simulate and initiate main and auxiliary linkage signals and transmit the main and auxiliary linkage signals to the inspection robot module; receiving a linkage inspection result fed back by the inspection robot module, and performing consistency analysis;

the security system simulation unit is configured to simulate security abnormal linkage signals and transmit the security abnormal linkage signals to the inspection robot module;

the fire fighting system simulation unit is configured to simulate fire fighting abnormal linkage signals and transmit the fire fighting abnormal linkage signals to the inspection robot module;

the external equipment controller simulation unit is configured to receive an equipment control instruction sent by the inspection robot module, simulate the control of relevant equipment and return a control result to the inspection robot module;

and the advanced analysis alarm simulation unit is configured to receive the message sent by the inspection robot system, analyze the equipment type, the equipment name, the system code and the data source information, and return an analysis result, alarm content and alarm level information.

6. An automated simulation test method for an inspection robot is characterized by comprising the following steps:

triggering a test task of the inspection robot;

automatically acquiring a source code of the inspection robot and compiling the source code;

after the compiling is successful, analyzing the test task instruction to form a test task queue, and sending the test task queue to the inspection robot; meanwhile, analog interaction data required in the inspection process are sent to the inspection robot;

and after the single task is executed, automatically generating a test result report based on the execution condition of the inspection robot on the inspection task.

7. The automated simulation testing method for the inspection robot as claimed in claim 6, wherein after the source code of the inspection robot is automatically obtained and compiled successfully, the newly added code is automatically subjected to multi-dimensional detection of coding normalization, security holes, repetition rate and complexity, and whether the detection is qualified is judged according to a quality threshold.

8. The automated simulation test method for the inspection robot according to claim 6, wherein the interactive simulation data required in the inspection process is sent to the inspection robot, and the method specifically comprises the following steps:

and analyzing the equipment code, the real object ID, the control instruction, the data requirement, the robot ID and the video equipment ID information contained in the test task instruction, and sending corresponding simulation information to the inspection robot according to the analyzed data.

9. The automated simulation testing method for the inspection robot according to claim 6, further comprising:

in the process of polling the robot, initiating a linkage test data request according to the requirement; analyzing the equipment code, the real object ID and the query time attribute information included in the linkage test data request, and returning corresponding simulation data based on the attribute information.

10. The automated simulation testing method for the inspection robot according to claim 6, further comprising:

in the process of polling the robot, receiving an analog linkage signal and analog data, and generating a corresponding linkage queue according to a linkage rule, wherein the queue comprises a polling task queue and an equipment operation instruction queue;

and the inspection robot executes inspection tasks according to the sequence in the linkage queue.

11. The automated simulation test method for the inspection robot according to claim 10, wherein when the inspection task queue is executed, the inspection robot automatically acquires an inspection image according to the requirement of a test task instruction;

and analyzing and identifying the image, and returning an identification result and alarm information to the inspection robot.

12. The automated simulation test method for the inspection robot according to claim 10, wherein when the device operation instruction queue is executed, the inspection robot executes the device operation instructions in the sequence in the queue, and returns an operation result signal after the operation is completed;

checking whether the operation of the relevant device is successful based on the return signal.

13. The utility model provides a linkage test method towards robot patrols and examines which characterized in that includes:

receiving a linkage test data request initiated by a robot, analyzing equipment codes, entity IDs and query time attribute information included in the linkage test data request, and returning corresponding simulation data based on the attribute information;

and generating a corresponding linkage queue according to the linkage rule by using the received analog linkage signal and analog data, and sending the linkage queue to the inspection robot so that the inspection robot executes inspection tasks according to the sequence in the linkage queue.

Background

The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

With the continuous development of the related technologies of the inspection robots, the inspection by using the inspection robots instead of manpower has become a trend. The inspection robot needs to be tested before formal work, and the inventor finds that the existing inspection robot generally has the following technical problems in the testing process:

(1) data interaction and linkage control exist between the inspection robot module and main and auxiliary equipment in a transformer substation or a tunnel, online detection, security and the like, and the system is usually not provided by adopting a laboratory test mode, so that the linkage control test of the inspection robot cannot be realized; the method of field test in the transformer substation or the tunnel has the problems of high difficulty, high cost, requirement of professional staff for ensuring the test safety and the like.

(2) The inspection robot software testing work is a process of operating a program under specified conditions to find program errors, measure software quality and evaluate whether the software can meet design requirements. At present, software testing of an inspection robot module has the problems of large repetitive workload (such as manual frequent packing and deployment of projects and construction of test configuration), complex diversified deployment work of project operating environments, instability in manual judgment, low working efficiency and the like.

(3) The existing test method does not consider the long-time, continuous operation and limit test of the inspection robot, and the quality and the operation safety of the inspection robot cannot be ensured.

Disclosure of Invention

In view of the above, the invention provides an automated simulation test system and method for an inspection robot, which can perform simulation interaction and simulation on an inspection robot module, a main and auxiliary equipment system in an inspection site, an online monitoring system and a security and protection fire protection system, replace field test, reduce field operation risks, and realize automated deployment and test.

According to a first aspect of the embodiments of the present invention, there is provided an automated simulation test system for inspection robots, including:

the automatic testing module is configured to automatically configure a test scheme of the inspection robot and store an automatic testing task;

the test server is configured to call corresponding automatic test tasks according to needs and transmit the corresponding automatic test tasks to the inspection robot module;

the inspection robot module is configured to receive a test task issued by the test server and execute corresponding actions according to the content of the test task;

and the simulation test module is configured to realize the simulation interaction between the system in the inspection site and the inspection robot module.

According to a second aspect of the embodiments of the present invention, there is provided an automated simulation test method for an inspection robot, including:

triggering a test task of the inspection robot;

automatically acquiring a source code of the inspection robot and compiling the source code;

after the compiling is successful, analyzing the test task instruction to form a test task queue, and sending the test task queue to the inspection robot; meanwhile, analog interaction data required in the inspection process are sent to the inspection robot;

and after the single task is executed, automatically generating a test result report based on the execution condition of the inspection robot on the inspection task.

According to a third aspect of the embodiments of the present invention, there is provided a linkage testing method for an inspection robot, including:

receiving a linkage test data request initiated by a robot, analyzing equipment codes, entity IDs and query time attribute information included in the linkage test data request, and returning corresponding simulation data based on the attribute information;

and generating a corresponding linkage queue according to the linkage rule by using the received analog linkage signal and analog data, and sending the linkage queue to the inspection robot so that the inspection robot executes inspection tasks according to the sequence in the linkage queue.

Compared with the prior art, the invention has the beneficial effects that:

(1) the invention provides an inspection robot system autonomous simulation test technology based on Jenkins automatic construction, relevant systems are developed, Jenkins service is taken as a core, automatic compiling, deployment, code detection and autonomous test of the inspection robot system are realized, the problems of complex deployment, repeated manual labor, idling of a robot and the like are solved, long-time, large-scale, continuous and limit-row test can be carried out on a tested system through an automatic test mode, and the quality and the test efficiency of the inspection robot system are improved.

(2) The invention provides a linkage test technology of an inspection robot system and a simulation test module, develops a high-grade data analysis module, realizes the simulation interaction and simulation of the inspection robot system and a main and auxiliary equipment system, an online monitoring system and a security and fire protection system in a transformer substation or a tunnel, and solves the problems of heavy manual work and low accuracy; the interaction capacity of the robot and a third-party system is improved, the field test is replaced, the operation risk in the station is reduced, the manpower and material resources are saved, the inspection range of the robot is expanded, the automatic deployment and test are realized, and the adaptability and the reliability of the inspection of the robot are improved.

Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

Fig. 1 is a schematic structural diagram of an automated simulation test system for an inspection robot according to an embodiment of the invention;

fig. 2 is a schematic structural diagram of an inspection robot according to an embodiment of the invention;

FIG. 3 is a schematic structural diagram of a simulation test module according to an embodiment of the present invention;

FIG. 4 is a flowchart of a method of an automated simulation test system for inspection robots according to an embodiment of the present invention;

fig. 5 is a flowchart of a linkage control method of the inspection robot and the simulation test module according to an embodiment of the invention.

Detailed Description

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, and it should be understood that the terms "comprises" and "comprising", and any variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

The embodiments and features of the embodiments of the present invention may be combined with each other without conflict.

Example one

According to an embodiment of the present invention, an embodiment of an automated simulation test system for an inspection robot is provided, and with reference to fig. 1, the automated simulation test system specifically includes:

the automatic testing module is configured to automatically configure a test scheme of the inspection robot and store an automatic testing task; the automatic test module configures an automatic test scheme and stores an automatic test script, and sends a test task sequence when receiving a call request sent by the test server.

The test server is configured to call corresponding automatic test tasks according to needs and transmit the corresponding automatic test tasks to the inspection robot module; the test server is a Jenkins server, automatically deploys the inspection robot system program to be tested, and completes automatic downloading of codes, deployment of a test environment and calling of an automatic test script.

And the code detection module is configured to receive detection data and a detection command transmitted by the Jenkins server, perform multi-dimensional detection on codes in normalization and safety, and judge whether the codes meet requirements according to quality threshold setting.

The inspection robot module is configured to receive a test task issued by the test server and execute corresponding actions according to the content of the test task; the inspection robot can be an inspection robot in a transformer substation scene or an inspection robot in a tunnel scene.

Referring to fig. 2, the inspection robot module mainly includes: the system comprises an inspection background system, a hard disk video recorder, a plurality of video devices and a plurality of robot devices, wherein the inspection background system is connected with the hard disk video recorder, the video devices and the robot devices through a switch, and the access of a router and a safety access device can be increased according to the field requirement.

The inspection background is used for taking charge of functions such as model management, message distribution, task scheduling, real-time data analysis and storage, mode identification, abnormal linkage, alarm analysis, file storage and the like; the hard disk video recorder collects fixed point high-definition videos and robot equipment videos to complete video monitoring and storage; the video devices comprise a visible light gun, a visible light dome camera, a thermal infrared imager, a double spectrum camera head and the like which are fixedly installed, and the video devices and the pictures of the devices concerned in the transformer substation are acquired according to the carried detection devices; the robots support autonomous navigation, offline detection, automatic supplementary detection, autonomous return under abnormal conditions and other autonomous inspection functions.

And the simulation test module is configured to realize the simulation interaction between the system in the inspection site and the inspection robot module.

Referring to fig. 3, the main structure of the simulation test module includes: the system comprises 6 functional units of message distribution, on-line inspection monitoring system simulation, main and auxiliary system simulation, security system simulation, fire-fighting system simulation, external equipment controller simulation and advanced analysis alarm simulation. Wherein the content of the first and second substances,

the message distribution module is responsible for simulating message circulation among all the functional modules of the test module, and other functional modules can realize the transmission of communication information among the functional modules through the subscription and the release of messages.

The online detection simulation module is used for simulating online detection equipment connected in a transformer substation and a tunnel test environment, such as various gas sensors, water level sensors, smoke sensors, environment detection sensors and the like, sending the real-time data upwards, analyzing control instructions of equipment such as a fan, a water pump, a fireproof door and the like, and returning simulation data. The simulation instructions may be sent in a customized manner as desired.

The main and auxiliary system simulation module is used for initiating main and auxiliary linkage signals to the inspection robot system, after the system receives the linkage signals, the inspection action of the corresponding equipment is completed according to the linkage strategy and the inspection result is returned to the main and auxiliary system simulation module, and the main and auxiliary system simulation module checks the inspection result and performs consistency analysis. The module may also customize different linkage strategies.

The security system simulation module and the fire protection system simulation module are used for simulating abnormal linkage signals sent by the security system and the fire protection system, the inspection robot system analyzes video equipment required to be called and plans an inspection task according to a signal instruction, and relevant robots are scheduled to monitor and analyze abnormal behaviors.

The external equipment simulation module receives an equipment control instruction sent by the inspection robot system, simulates and controls related equipment, and returns a control result to the inspection robot system, so that the linkage control simulation of the inspection robot system and the external equipment is realized.

Advanced analysis alarm simulation module: the advanced analysis has the functions of image recognition, image discrimination and video recognition. The image recognition is based on images, features are extracted through manual or machine learning, and classification is carried out according to target characteristic alignment in the images, so that the following categories are supported: the method comprises the following steps of (1) fuzzy dial plate, dial plate damage, shell damage, insulator damage, ground oil stain, respirator damage, abnormal box door closing, suspended object hanging, bird nest, cover plate damage or insulator crack loss, oil stain on the surface of a part, metal corrosion, damage to the ground of a door and window wall, unlocked framework crawling ladder and dirty surface; the image discrimination is based on the characteristics of the same object at different time, the characteristics are compared, the difference between the two pictures is compared, and the difference position is found out, wherein the image discrimination comprises the following categories: the device comprises a box door, a fire-fighting facility, an isolating switch, a meter and a switch, wherein the box door is closed and changed, the position of a fire-fighting facility is changed, the opening and closing of the isolating switch is changed, the reading value of the meter is changed in a large range, the equipment is damaged and changed, the position of foreign matters in a picture is changed, an indicator lamp is changed, the position of a switch pressing plate is changed, and the position of an equipment device is changed; the video identification function is used for identifying, capturing and extracting cigarettes, fire, tools, safety helmets and small animals (cats, dogs and rabbits) based on a deep learning target detection technology, configuring a virtual safety fence and automatically identifying objects intruding into a forbidden zone, and finally forming an image automatic identification and feedback service program interface for research to realize automatic identification and positioning of target images.

The advanced analysis alarm simulation module realizes communication connection with the inspection robot system, completes login and message subscription, analyzes and identifies key information such as types, equipment names, system codes, data sources and the like according to messages sent by the inspection robot system, and returns subscription contents such as analysis results, alarm contents, alarm levels and the like.

Example two

According to the embodiment of the invention, the embodiment of the automated simulation test method for the inspection robot is provided, and the method comprises the following processes:

(1) triggering a test task of the inspection robot;

(2) automatically acquiring a source code of the inspection robot and compiling the source code;

(3) after the compiling is successful, analyzing the test task instruction to form a test task queue, and sending the test task queue to the inspection robot; meanwhile, analog interaction data required in the inspection process are sent to the inspection robot;

(4) and after the single task is executed, automatically generating a test result report based on the execution condition of the inspection robot on the inspection task.

Specifically, referring to fig. 4, the specific implementation steps of the above process are as follows:

step 4-1: when detecting that a code is updated or a test task deployed in a Jenkins server reaches the execution time, automatically triggering the test task, and initiating the test task can also be manually specified.

Step 4-2: and after receiving the test task driving initiation, the Jenkins server automatically downloads the source codes of the robot inspection system from the code management server.

Step 4-3: after downloading the source codes, the Jenkins server automatically compiles, and the compiling successfully enters the step 4-4; if not, the method goes to step 4-13, the test task is executed, and an error report is formed to inform the tester.

Step 4-4: after the codes of the Jenkins server are compiled successfully, a code detection server is automatically called, multi-dimensional detection such as coding normalization, security loopholes, repetition rate, complexity and the like is carried out on the newly added codes, whether the newly added codes pass the detection is judged according to a quality threshold value, and if the newly added codes pass the detection, the step 4-5 is carried out; and 4-13, completing the execution of the test task, and forming an error report to inform a tester.

And 4-5: the executable program is deployed into a test environment and the system is started and normal operation of the system is detected.

And 4-6: and analyzing the test task instruction to form a test task queue. When the tasks in the queue need to be initiated by the test simulation service, entering the step 4-7; and (4) when the inspection robot system directly runs, entering the step 4-9.

And 4-7: the simulation test module receives the instruction requirement sent by the test task, analyzes the equipment code, the physical ID, the control instruction, the data requirement, the robot ID and the video equipment ID contained in the instruction, and sends simulation information to the inspection robot system according to the analyzed data.

And 4-8: and the inspection robot system receives the simulation data sent by the simulation test module, automatically plans a path according to the configured linkage rule, and operates a corresponding equipment inspection task or sends a control instruction of a related device.

And 4-9: when the inspection robot system needs to acquire environment monitoring data and on-line detection equipment information in the process of executing a test task, a request is sent to a test simulation service.

Step 4-10: and the test simulation service module returns the interactive data required by the inspection robot system.

And 4-11: and according to the interaction result, the inspection robot system automatically generates control commands corresponding to inspection tasks, equipment control, query statistics and the like according to the linkage requirement, and automatically issues and executes the control commands.

And 4-12: and after the single test task is completed, generating a result report, and recording information such as task execution time, test data generation, test results and the like in detail in the report. And 4-6, if the test queue is not empty, acquiring the next test task from the test queue to continue execution, and if the test queue is empty, entering into step 4-13.

Step 4-13: and after the test task is finished, sending a test report to a tester.

Referring to fig. 5, in the above process, when the simulation test module and the inspection robot perform data interaction linkage control, the specific process is as follows:

step 5-1: and initiating a linkage test. And the inspection robot system initiates a linkage test data request to the simulation test module, or the simulation test module sends a linkage signal to the inspection robot system.

The linkage data comprises data such as real-time data of the online device, such as water level, gas concentration, temperature, humidity, wind speed and the like, requested by the online monitoring module, fire conditions, fire doors, safety door control states and the like, and requested by a security and fire protection system and a fire protection system. The analog linkage signal comprises a main and auxiliary equipment linkage signal sent by a main and auxiliary equipment system, a safety inspection requirement sent by a security and protection system and a safety inspection requirement sent by an advanced analysis module and an equipment alarm signal sent by an advanced analysis module.

Step 5-2: and the simulation test module receives a data request sent by the inspection robot system, analyzes attributes such as equipment codes, entity IDs, query time and the like included in the data request, and returns simulation data according to a built-in simulation rule.

Step 5-3: the inspection robot system receives the simulation linkage signals and the simulation data sent by the simulation test module, and generates corresponding linkage queues according to the linkage rules, wherein the queues comprise an inspection task queue and an equipment operation instruction queue.

Step 5-4-A: and generating a polling task queue.

Step 5-4-B: and the inspection robot system executes inspection tasks according to the sequence in the queue.

Step 5-4-C: the robot automatically runs to a detection point according to the simulation route to capture the visible light image and the infrared image. And sends a pattern recognition request to the simulation test module,

step 5-4-D: and the high-level analysis module in the simulation test module analyzes the sent equipment codes, equipment types, point location association relations and identification types, organizes corresponding pictures according to test requirements, sends identification results back to the inspection robot system, and the inspection robot system stores picture files and performs alarm analysis.

Step 5-4-E: and after all the detection points are detected, the task execution is finished, and a task inspection report is generated.

Step 5-5-A: and generating an operation instruction queue.

Step 5-5-B: and the inspection robot system executes the equipment operation instructions according to the sequence in the queue. And after the operation is finished, sending a signal back to the simulation test module.

Step 5-5-C: the simulation test module checks whether the operation of the relevant device is successful according to the return signal. And if the operation meets the linkage condition, entering the step 5-1.

And 5-6: and the inspection robot system displays the alarm generated in the task process and the alarm generated by equipment operation failure in real time.

And 5-7: and after the current task and operation are executed, judging that the linkage queue is empty, if the linkage queue is empty, finishing linkage, and if the linkage queue is not empty, entering the step 5-3.

And 5-8: and finishing the linkage.

Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.