CN109696915A

CN109696915A - A kind of test method and system

Info

Publication number: CN109696915A
Application number: CN201910011330.3A
Authority: CN
Inventors: 柳智; 唐志福
Original assignee: Shanghai Tuo Hua Robot Co Ltd
Current assignee: Shanghai Tuo Hua Robot Co Ltd
Priority date: 2019-01-07
Filing date: 2019-01-07
Publication date: 2019-04-30
Anticipated expiration: 2039-01-07
Also published as: CN109696915B

Abstract

The present invention provides a kind of test method and system, method includes: that controlling equipment obtains scheduler task；Controlling equipment generates according to scheduler task and issues traffic order to target device；Target device includes any one in true mobile device and intelligent terminal or two；Virtual mobile device is emulated by intelligent terminal to be generated；Target device is run according to traffic order；Emulator obtains the real-time status of true mobile device and virtual mobile device, shows respective motion track to augmented reality in completing the simulated environment after initialization operation according to real-time status.The present invention can be systematically, the function of mobile device is visually shown to cluster to other people with data, performance, both it had been able to verify that the operational effect of mobile device under full-scale condition, energy is inexpensive again, verifies to intuitive and convenient the feasibility and stability of a large amount of mobile devices, and the party in request of project and embodiment party is helped to carry out clear effective communication.

Description

A kind of test method and system

Technical field

The present invention relates to technical field of virtual reality, espespecially a kind of test method and system.

Background technique

AGV (Automated Guided Vehicle, self-aiming vehicle), robot, unmanned vehicle etc. are intelligent, moveable Mobile device needs to link up by demand, design, implements, surveys in the projects applications such as production line, warehouse logistics, carrying Multiple links, the periods such as examination, examination are longer.At present the mobile devices such as AGV product, robot implement and Product Validation link, The displaying of the true mobile device progress product of the simple virtual mobile device of industry use or smallest number, function and performance are commented Estimate.This method has their very important disadvantages.

The Run-time scenario for carrying out the true mobile device of analogue simulation using virtual mobile device merely, carries out the displaying of product, The assessment of function and performance, it is difficult to which the various factors for considering thorough test site operation is easy and actual fortune in test site Row condition disconnects, and in product introduction, difficulty has biggish convincingness.And it is produced using the true mobile device of smallest number merely The assessment of the displaying of product, function and performance, and the problem that testing cost is high, the period is long is faced, while smallest number test can not yet Prove good product performance, it is safe and reliable.

Therefore, how systematically, cluster and data visually show the function of mobile device to other people, performance, both Be able to verify that the operational effect of mobile device under full-scale condition, but can low cost, verify to intuitive and convenient a large amount of mobile devices can Row and stability help the party in request of project and embodiment party to carry out the problem of clear effective communication is urgent need to resolve.

Summary of the invention

The object of the present invention is to provide a kind of test method and system, realize systematically, cluster and data visually Show the function of mobile device to other people, performance had not only been able to verify that the operational effect of mobile device under full-scale condition, but also can it is low at Originally, the feasibility and stability for verifying to intuitive and convenient a large amount of mobile devices help the party in request of project and embodiment party to carry out clear Clear effective communication.

Technical solution provided by the invention is as follows:

The present invention provides a kind of test method, comprising steps of

Controlling equipment obtains scheduler task；

The controlling equipment generates according to the scheduler task and issues traffic order to target device；The target device Including any one in the true mobile device and the intelligent terminal or two；The virtual mobile device is by intelligent terminal Emulation generates；

The target device is run according to the traffic order；

The emulator obtains the real-time status of the true mobile device and the virtual mobile device, according to described Real-time status shows respective motion track to augmented reality in completing the simulated environment after initialization operation.

Further, the controlling equipment obtain before scheduler task comprising steps of

The intelligent terminal load operating analog simulation program, generates several virtual mobile devices；The analog simulation Program is according to the configuration file and original state of the virtual mobile device of rule settings；The original state includes identity ID, initial Motion state and initial quantity of electricity；The initial motion state includes initial position, initial direction and original operating state.

Further, the intelligent terminal load operating analog simulation program, after generating several virtual mobile devices, The controlling equipment generated according to the scheduler task and issue traffic order to before target device comprising steps of

The controlling equipment obtains the first original state of the virtual mobile device；First original state is using rule Then it is previously set；

The controlling equipment obtains the second original state of the true mobile device；Second original state is from described It is obtained at true mobile device；

The controlling equipment generated according to the scheduler task and issue traffic order to target device comprising steps of

The corresponding scene map in controlling equipment load test place；

The controlling equipment is according to the scheduler task, the scene map, the virtual mobile device and described true The original state of mobile device carries out United Dispatching, generates the traffic order and is sent to the target device.

The emulator obtains the exact shape and the first original state of the true mobile device, and obtains the void The configuration file and the second original state of quasi- mobile device；First original state and the second original state include identity ID, initial motion state and initial quantity of electricity；The initial motion state includes initial position, initial direction and initialization shape State；

The emulator carries out described true according to the exact shape of the true mobile device and the first original state The shape of mobile device initializes and state initialization, and according to the configuration file and the second initial shape of the virtual mobile device State carries out shape initialization and the state initialization of the virtual mobile device, so that the virtual mobile device and described true Mobile device is presented in simulated environment, completes the initialization operation to the simulated environment；

The emulator obtains the real-time status of the true mobile device and the virtual mobile device, according to described Real-time status show respective motion track to augmented reality in completing the simulated environment after initialization operation comprising steps of

The emulator obtains the real-time status of the true mobile device and the virtual mobile device；It is described real-time State includes identity ID, real time kinematics state and real time electrical quantity；The real time kinematics state include real time position, real-time direction and Instantaneous operating conditions；

The emulator is according to the virtual mobile device, the real-time status of the true mobile device, described imitative The real time kinematics shape for showing the virtual mobile device, the true mobile device is updated to continuous augmented reality in true environment State.

Further, the emulator is carried out according to the exact shape of the true mobile device and the first original state The shape of the true mobile device initializes and state initialization, and according to the configuration file of the virtual mobile device and the Two original states carry out the virtual mobile device shape initialization and state initialization so that the virtual mobile device and The true mobile device is presented in simulated environment, complete to the initialization operation of the simulated environment comprising steps of

The emulator starts simulation software, establishes in the simulated environment using preset reference point as the world of origin Coordinate system；

The emulator is by carrying out the outer of the true mobile device with matched first icon of the exact shape Shape initialization, and the true movement is searched according to the identity ID of the true mobile device and its corresponding first original state Device completes the state initialization of the true mobile device in the corresponding position and orientation of the world coordinate system；

The emulator is by carrying out the outer of the virtual mobile device with matched second icon of the configuration file Shape initialization, and the virtual movement is searched according to the identity ID of the virtual mobile device and its corresponding second original state Device completes the state initialization of the virtual mobile device in the corresponding position and orientation of the world coordinate system.

Further, the emulator is according to the virtual mobile device, the real-time status of the true mobile device, The real time kinematics state packet for showing the virtual mobile device, the true mobile device is constantly updated in the simulated environment Include step:

The emulator constantly updates the true mobile device according to the real-time status of the true mobile device The position and orientation that corresponding first icon of identity ID is fastened in the world coordinates, with augmented reality show the true shifting Dynamic motion track of the device in the simulated environment；

The emulator constantly updates the virtual mobile device according to the real-time status of the virtual mobile device The position and orientation that corresponding second icon of identity ID is fastened in the world coordinates, with augmented reality show the virtual shifting Dynamic motion track of the device in the simulated environment.

Further, the corresponding scene map in controlling equipment load test place comprising steps of

The controlling equipment obtains the testing requirement of user's input；

The controlling equipment creates corresponding operation test site according to the testing requirement, obtains the operation checkout area The corresponding scene map in ground；The operation test site includes authentic testing place or the authentic testing place and virtual Test site；The authentic testing place is for the virtual mobile device and/or the true mobile device traveling；It is described virtual Test site is for the virtual mobile device traveling.

Further, the target device run according to the traffic order comprising steps of

When the true mobile device receives the traffic order, the true mobile device is ordered according to the scheduling Order is moved, and detects to obtain by the motion sensor and electric power detection equipment that are set to the true mobile device described true The real-time status and the real time electrical quantity of mobile device；Send the real-time status of the true mobile device and described Real time electrical quantity sends the exact shape of the true mobile device to described imitative to the controlling equipment and the emulator True equipment；

When the intelligent terminal receives the traffic order, the intelligent terminal controls institute according to the traffic order It states virtual mobile device and carries out Simulated movable, and according to the electric quantity consumption situation and virtual mobile device of the true mobile device Real-time status, the real time electrical quantity of the virtual mobile device is calculated；It is sent by the communication module of the intelligent terminal The real-time status and the real time electrical quantity of the virtual mobile device are to the controlling equipment and the emulator, concurrently Send the configuration file of the virtual mobile device to the emulator.

Further, it further comprises the steps of:

The controlling equipment according to the true mobile device and the corresponding real time kinematics of the virtual mobile device into Row task schedule generates new traffic order, issues the new traffic order to the true mobile device and/or the void Quasi- mobile device, completes whole job tasks.

The present invention also provides a kind of test macros, comprising: controlling equipment, emulator, true mobile device and for imitating Really generate the intelligent terminal of virtual mobile device；The controlling equipment includes first communication module, the first control module, the first letter Breath obtains module；The true mobile device includes second communication module and the first execution module；The intelligent terminal includes the Three communication modules and the second execution module；The emulator includes fourth communication module, the first first processing module；

The first information obtains module, for obtaining scheduler task；

First control module obtains module with the first information and connect, for being generated according to the scheduler task Traffic order；

The first communication module, with first control module, the second communication module and the third communication mould Block connection, for issuing traffic order to the second communication module and/or the third communication module；

First execution module, connect with the second communication module, for being run according to the traffic order；

Second execution module is connect with the third communication module, for control the virtual mobile device according to The traffic order operation；

The fourth communication module is connect, for obtaining with the second communication module and the third communication module State the real-time status of true mobile device and the virtual mobile device；

First first processing module is connect with the fourth communication module, is used for according to the real-time status complete Respective motion track is shown at augmented reality in the simulated environment after initialization operation.

Further, the intelligent terminal further include: operation module；

The operation module is used for load operating analog simulation program, generates several virtual mobile devices；The simulation Simulated program is according to the configuration file and original state of the virtual mobile device of rule settings；The original state include identity ID, Initial motion state and initial quantity of electricity；The initial motion state includes initial position, initial direction and original operating state.

Further, the controlling equipment further include: map obtains module；

The first information obtains module, is also used to obtain the first original state of the virtual mobile device, and obtain Take the second original state of the true mobile device；First original state is previously set using rule；At the beginning of described second Beginning state obtains from the true mobile device；

The map obtains module, is used for the corresponding scene map in load test place；

First control module obtains module with the map and connect, is also used to according to the scheduler task, the field The original state of scape map, the virtual mobile device and the true mobile device carries out United Dispatching, described in generation Traffic order.

Further, further includes:

The fourth communication module is also used to obtain the reality of the true mobile device from the second communication module Shape and the first original state, and obtain from the third communication module configuration file and second of the virtual mobile device Original state；First original state and the second original state include identity ID, initial motion state and initial quantity of electricity；Institute Stating initial motion state includes initial position, initial direction and original operating state；

The fourth communication module is also used to obtain the real-time of the true mobile device from the second communication module State, and obtain from the third communication module real-time status of the virtual mobile device；The real-time status includes body Part ID, real time kinematics state and real time electrical quantity；The real time kinematics state includes real time position, real-time direction and real-time working shape State；

First first processing module includes: initialization unit, simulation unit；

The initialization unit, for carrying out institute according to the exact shape of the true mobile device and the first original state Shape initialization and the state initialization of true mobile device are stated, and according to the configuration file and second of the virtual mobile device Original state carries out shape initialization and the state initialization of the virtual mobile device, so that the virtual mobile device and institute It states true mobile device to be presented in simulated environment, completes the initialization operation to the simulated environment；

The simulation unit is connect with the initialization unit, for according to the virtual mobile device, the true shifting The real-time status of dynamic device updates to continuous augmented reality in the simulated environment and shows the virtual mobile device, described The real time kinematics state of true mobile device.

Further, the emulator further include: starting creation module；

The starting creation module, for starting simulation software, foundation is in the simulated environment with preset reference point The world coordinate system of origin；

The initialization unit is also used to by carrying out the true movement with matched first icon of the exact shape The shape of device initializes, and according to the identity ID of the true mobile device and its lookup of corresponding first original state For true mobile device in the corresponding position and orientation of the world coordinate system, the state for completing the true mobile device is initial Change；

The initialization unit is also used to by carrying out the virtual movement with matched second icon of the configuration file The shape of device initializes, and according to the identity ID of the virtual mobile device and its lookup of corresponding second original state For virtual mobile device in the corresponding position and orientation of the world coordinate system, the state for completing the virtual mobile device is initial Change.

Further, further includes:

The simulation unit is also used to the real-time status according to the true mobile device, constantly updates the true shifting The position and orientation that corresponding first icon of identity ID of dynamic device is fastened in the world coordinates, with augmented reality show institute State motion track of the true mobile device in the simulated environment；

The simulation unit is also used to the real-time status according to the virtual mobile device, constantly updates the virtual shifting The position and orientation that corresponding second icon of identity ID of dynamic device is fastened in the world coordinates, with augmented reality show institute State motion track of the virtual mobile device in the simulated environment.

Further, the controlling equipment further include: input module and map building module；

The input module, for obtaining the testing requirement of user's input；

The map building module, connect with the input module, for creating corresponding fortune according to the testing requirement Row test site obtains the corresponding scene map of the operation test site；The operation test site includes authentic testing field Ground or the authentic testing place and virtual test place；The authentic testing place for the virtual mobile device and/or The true mobile device traveling；The virtual test place is for the virtual mobile device traveling.

Further, the true mobile device is equipped with for detecting the real-time status for obtaining the true mobile device Motion sensor, and the electric power detection equipment of the real time electrical quantity of the true mobile device: the intelligence is obtained for detecting Terminal further include: computing module and storage module；

When the second communication module receives the traffic order, first execution module is also used to according to Traffic order is moved；

The second communication module, be also used to send the true mobile device the real-time status and the real-time electricity Amount sends the exact shape of the true mobile device to described to the first communication module and the fourth communication module Fourth communication module；

When the third communication module receives the traffic order, second execution module is also used to according to The traffic order control virtual mobile device carries out Simulated movable；

The storage module, for storing the history electric quantity consumption data of true mobile device；

The computing module is connect with the storage module, for according to the history electric quantity consumption data and virtual shifting The real-time status of dynamic device, is calculated the real time electrical quantity of the virtual mobile device；

The third communication module, be also used to send the virtual mobile device the real-time status and the real-time electricity Amount sends the configuration file of the virtual mobile device to described to the first communication module and the fourth communication module Fourth communication module.

Further, further includes:

The first communication module is also used to obtain the real-time shape of the true mobile device and the virtual mobile device State；

First control module, connect with the first communication module, according to the true mobile device and described Virtually the corresponding real time kinematics of mobile device carry out task schedule and generate new traffic order, control under the first communication module The traffic order that send out described new is completed whole operations and is appointed to the second communication module and/or the third communication module Business.

The present invention also provides a kind of test macros, comprising: controls equipment, true mobile device and generates virtually for emulating The intelligent terminal of mobile device；The control equipment includes fifth communication module, the second control module, the second acquisition of information mould Block, Second processing module；The true mobile device includes second communication module and the first execution module；The intelligent terminal packet Include third communication module and the second execution module；

Second data obtaining module, for obtaining scheduler task；

Second control module is connect with second data obtaining module, for being generated according to the scheduler task Traffic order；

The fifth communication module, with second control module, the second communication module and the third communication mould Block connection, for issuing traffic order to the second communication module and/or the third communication module；

The fifth communication module is also used to obtain the real-time shape of the true mobile device and the virtual mobile device State；

The Second processing module is connect with the fifth communication module, for being completed just according to the real-time status Augmented reality respective motion track is shown in simulated environment after beginningization operation.

A kind of test method and system provided through the invention, can systematically, cluster and data visually to Other people show the function of mobile device, performance, have not only been able to verify that the operational effect of mobile device under full-scale condition, but can low cost, The feasibility and stability for verifying to intuitive and convenient a large amount of mobile devices, help the party in request of project and embodiment party clearly to be had The communication of effect.

Detailed description of the invention

Below by clearly understandable mode, preferred embodiment is described with reference to the drawings, to a kind of test method and system Above-mentioned characteristic, technical characteristic, advantage and its implementation be further described.

Fig. 1 is a kind of flow chart of one embodiment of test method of the present invention；

Fig. 2 is a kind of flow chart of another embodiment of test method of the present invention；

Fig. 3 is a kind of flow chart of another embodiment of test method of the present invention；

Fig. 4 is the structural schematic diagram of whole control structure system framework of the invention；

Fig. 5 is the overall scenario effect of test macro of the present invention；

Fig. 6 is the structural schematic diagram of one embodiment of test macro of the present invention.

Fig. 7 is the structural schematic diagram of another embodiment of test macro of the present invention.

Specific embodiment

In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, Detailed description of the invention will be compareed below A specific embodiment of the invention.It should be evident that drawings in the following description are only some embodiments of the invention, for For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other Attached drawing, and obtain other embodiments.

To make simplified form, part related to the present invention is only schematically shown in each figure, they are not represented Its practical structures as product.In addition, there is identical structure or function in some figures so that simplified form is easy to understand Component only symbolically depicts one of those, or has only marked one of those.Herein, "one" is not only indicated " only this ", can also indicate the situation of " more than one ".

One embodiment of the present of invention, as shown in Fig. 1,5 and 6, a kind of test method, comprising:

S100 controlling equipment 1 obtains scheduler task；

S200 controlling equipment 1 generates according to scheduler task and issues traffic order to target device；Virtual mobile device Nj It is emulated and is generated by intelligent terminal 3；Target device includes any one or two in true mobile device Mi and intelligent terminal 3；

S300 target device is run according to traffic order；

S400 emulator 2 obtains the real-time status of true mobile device Mi and virtual mobile device Nj, according to real-time shape State shows respective motion track to augmented reality in completing the simulated environment after initialization operation.

Specifically, controlling equipment 1 being capable of the virtual mobile device Nj of scheduling controlling and true mobile device in the present embodiment Mi, when user needs to test mobile device, to understand practicability of the mobile device in the using area of various complexity, Such as several mobile devices can react tune in time in the using area of the complexity such as factory, hospital, warehouse, crossroad It is whole, it is safe and efficient to prevent from colliding, and reduce and stagnate motionless probability.User issues an order to controlling equipment 1, so that adjusting Degree equipment 1 is parsed to obtain corresponding scheduler task according to order, then according to scheduler task and each virtual mobile dress Working condition and the position for setting Nj and true mobile device Mi, based on most short moving distance or most short traveling time Scheduling controlling principle generates the traffic order for meeting user demand, and then, the traffic order of generation is issued to by controlling equipment 1 Corresponding target device.

When target device is true mobile device Mi, true mobile device Mi is according to traffic order on true place It is moved, also periodic broadcast sends itself real-time status to controlling equipment 1 and emulator 2 to true mobile device Mi. When target device is virtual mobile device Nj, virtual mobile device Nj carries out Simulated movable, intelligent terminal 3 according to traffic order Periodic broadcast sends the real-time status of virtual mobile device Nj to controlling equipment 1 and emulator 2.Enable controlling equipment 1 Enough states for grasping each virtual mobile device Nj and true mobile device Mi in real time to emulate to be scheduled control Equipment 2 can grasp the state of each virtual mobile device Nj and true mobile device Mi in real time, so that emulator 2 exists in real time Each virtual mobile device Nj and the true corresponding motion track of mobile device Mi are updated in simulated environment.In this way, User can observe by the naked eye the virtual mobile device Nj and true mobile dress shown by the simulation software of emulator 2 The moving state for setting Mi is conducive to the visualization of project, and the party in request of project and embodiment party is helped to carry out clear effective communication, Promote intuitive, effective performance test experience.

Present invention employs virtual mobile device Nj and true mobile device Mi to combine the method for showing respective motion track, Can systematically, cluster and data visually illustrate mobile device operation scene.

Preferably, virtual mobile device Nj is greater than the quantity of true mobile device Mi.In this way, not only can systematically, The visualization that mobile device operation scene is conducive to project is visually illustrated to cluster with data, helps the party in request of project Clear effective communication is carried out with embodiment party, promotes intuitive, effective performance test experience.Moreover, because can be used a small amount of True mobile device Mi, a large amount of virtual mobile device Nj passes through virtual mobile device Nj and true mobile device Mi and combines Show respective motion track, be not only able to verify that the operational effect of true mobile device Mi under full-scale condition, but can current conditions also Under conditions of on the true mobile device Mi of the big quantity not having and big place, low cost verifies to intuitive and convenient a large amount of movements The feasibility and stability of device.

Based on previous embodiment, as shown in Fig. 2, a kind of test method, comprising:

3 load operating analog simulation program of S010 intelligent terminal, generates several virtual mobile device Nj；Analog simulation journey Sequence is according to the configuration file and original state of the virtual mobile device Nj of rule settings；Original state includes identity ID, initial motion State and initial quantity of electricity；Initial motion state includes initial position, initial direction and original operating state；

S100 controlling equipment 1 obtains scheduler task；

S101 controlling equipment 1 obtains the first original state of virtual mobile device Nj；First original state is using regular thing First set；

S102 controlling equipment 1 obtains the second original state of true mobile device Mi；Second original state is moved from true It is obtained at device Mi；

The corresponding scene map in 1 load test place of S210 controlling equipment；

S220 controlling equipment 1 is according to the first of scheduler task, scene map, virtual mobile device Nj and true mobile device Mi Beginning state carries out United Dispatching, generates traffic order and is sent to target device；

S300 target device is run according to traffic order；

Specifically, there is no sequencing between S101, S102 and S100 in the present embodiment.Exact shape and configuration file It include outer shape, size, limbs and joint description, motor description etc..The virtual simulation environment of emulator 2 is Gazebo 7, Gazebo 7 is a three-dimensional multirobot dynamics simulation application software, and Gazebo 7 can simulate joint type Virtual mobile device Nj.In Gazebo 7, most basic sphere, cylindrical body are provided, three basic figures of cube utilize These three basic figures and their stretching or rotation transformation can design a simplest virtual mobile device Nj three-dimensional simulation model.More, Gazebo 7 provides CAD, the various 2D such as Blender, the interface of 3D design software, can be with CAD diagram paper is imported, Blender drawing makes the virtual mobile device Nj of the creation of Gazebo 7 truer.Meanwhile Gazebo 7 The motion simulation interface of virtual mobile device Nj is provided, the movement of virtual mobile device Nj can be carried out in Gazebo 7 Emulation.

Start Gazebo 7, enters the model editing interface " Model Editor " into 7 software of Gazebo, pass through basis Figure creates the ontology of a virtual mobile device Nj, for example, it is assumed that pull a circle when virtual mobile device Nj is AGV Cylinder is into editor's panel, and editing cylindrical body attribute is chassis, and the radius of cylindrical body and thickness are met configuration file instead The size of middle ontology.Then pull four spheres to editor panel in, editor sphere attribute be movable pulley, by the radius of sphere with Thickness meets the size of movable pulley in configuration file instead, and the joint type that movable pulley selects is rotatable, so that movable pulley can To change direction of rotation, to change the direction of virtual mobile device Nj, the creation of a virtual mobile device Nj is completed, for wound It builds the virtual mobile device Nj of each of completion and distributes unique identity ID.This process editor is generated into analog simulation program, is saved The analog simulation program is imported into each intelligent terminal 3 by USB interface or wireless network transmissions mode.Intelligent terminal 3 Load operating analog simulation program, to generate several virtual mobile device Nj by several intelligent terminals 3.Due to often A intelligent terminal 3 can run the loading simulation simulated program virtual mobile device with unique identities ID that generates at least one Nj, and different configuration files, initial motion state and initial quantity of electricity can be set for each virtual mobile device Nj, because This, controlling equipment 1 can be obtained from each intelligent terminal 3 its generation virtual mobile device Nj corresponding to original state and Configuration file.Controlling equipment 1 can the corresponding scene map in load test place, in addition, controlling equipment 1 is from true mobile device The exact shape and original state that true mobile device Mi is obtained at Mi, according to the configuration file of virtual mobile device Nj, really Exact shape, scene map and the original state of mobile device Mi, establishes scene simulation model.

Based on previous embodiment, as shown in figure 3, a kind of test method, comprising:

S100 controlling equipment 1 obtains scheduler task；

S103 emulator 2 obtains the exact shape and the first original state of true mobile device Mi, and obtains virtual move The configuration file and the second original state of dynamic device Nj；First original state and the second original state include identity ID, initial Motion state and initial quantity of electricity；Initial motion state includes initial position, initial direction and original operating state；

S104 emulator 2 carries out true mobile dress according to the exact shape of true mobile device Mi and the first original state Shape initialization and the state initialization of Mi are set, and is carried out according to the configuration file of virtual mobile device Nj and the second original state The shape initialization of virtual mobile device Nj and state initialization, so that virtual mobile device Nj and true mobile device Mi is presented In simulated environment, the initialization operation to simulated environment is completed；

S300 target device is run according to traffic order；

S410 emulator 2 obtains the real-time status of true mobile device Mi and virtual mobile device Nj；Real-time status packet Include identity ID, real time kinematics state and real time electrical quantity；Real time kinematics state includes real time position, real-time direction and real-time working shape State；

S420 emulator 2 is according to the real-time status of virtual mobile device Nj, true mobile device Mi, in simulated environment Update the real time kinematics state for showing virtual mobile device Nj, true mobile device Mi to continuous augmented reality.

Specifically, identical part is referring to above-described embodiment, this is no longer going to repeat them.In the present embodiment, S101, There is no sequencing between S102, S103 and S100, S104 is executed after S103.Both execution sequence can be S010 → S100 → S101 → S102 → S103 → S104 → S200 (or S201).Execution sequence can be S010 → S101 → S102 → S100 → S103 → S104 → S200 (or S201).Execution sequence can also be S010 → S103 → S104 → S100 → S101 → S102 → S200 (or S201).Execution sequence can also be S010 → S100 → S103 → S104 → S101 → S102 → S200 (or Person S201).Other situations are not repeating one by one again, as long as S010 ratio S101, S102, S103, S100 are first carried out, and S103 ratio S104 is first carried out, and is all fallen in the scope of protection of the present invention.

Preferably, S104 emulator 2 carries out true according to the exact shape of true mobile device Mi and the first original state The shape of real mobile device Mi initializes and state initialization, and according at the beginning of the configuration file and second of virtual mobile device Nj Beginning state carries out shape initialization and the state initialization of virtual mobile device Nj, so that virtual mobile device Nj and true movement Device Mi is presented in simulated environment, complete to the initialization operation of simulated environment comprising steps of

S1041 emulator 2 starts simulation software, establishes in simulated environment and sits by the world of origin of preset reference point Mark system；

S1042 emulator 2 is at the beginning of by carrying out the shape of true mobile device Mi with matched first icon of exact shape Beginningization, and it is alive according to the identity ID of true mobile device Mi and its true mobile device Mi of corresponding first original state lookup Coordinate system corresponding position and orientation in boundary's complete the state initialization of true mobile device Mi；

S1043 emulator 2 is at the beginning of by carrying out the shape of virtual mobile device Nj with matched second icon of configuration file Beginningization, and it is alive according to the identity ID of virtual mobile device Nj and its virtual mobile device Nj of corresponding second original state lookup Coordinate system corresponding position and orientation in boundary's complete the state initialization of virtual mobile device Nj；

S420 emulator 2 is according to the real-time status of virtual mobile device Nj, true mobile device Mi, in simulated environment Constantly update show virtual mobile device Nj, true mobile device Mi real time kinematics state comprising steps of

S421 emulator 2 constantly updates the body of true mobile device Mi according to the real-time status of true mobile device Mi Position and orientation of corresponding first icon of part ID on world coordinate system, with augmented reality show that true mobile device Mi exists Motion track in simulated environment；

S422 emulator 2 constantly updates the body of virtual mobile device Nj according to the real-time status of virtual mobile device Nj Position and orientation of corresponding second icon of part ID on world coordinate system, with augmented reality show that virtual mobile device Nj exists Motion track in simulated environment.

Specifically, 3 load operating analog simulation program of intelligent terminal, generates several virtual mobile device Nj, intelligence is eventually The real-time status of virtual mobile device Nj is reported every a cycle in end 3, and real-time status includes identity ID, and real time position is real When electricity etc..True mobile device Mi starting, according to self-sensor device, (such as the camera for measuring itself position is logical Crossing image procossing positioning, perhaps GPS sensor carries out GPS positioning or gyroscope, acceleration transducer according to inertial navigation meter Calculate positioning etc.) it obtains in itself real time position, it detects to obtain the real time electrical quantity of itself according to the electric power detection equipment of itself, It can also be detected to obtain its working condition and fault message etc. by other equipment.True mobile device Mi is every one A period reports the real-time status of true mobile device Mi, and real-time status includes identity ID, real time position, real time electrical quantity etc..

Controlling equipment 1 obtains the original state of true mobile device Mi and virtual mobile device Nj, and operation checkout area The corresponding scene map in ground, then controlling equipment 1 according to the original state of virtual mobile device Nj and true mobile device Mi and Scene map establishes United Dispatching scene, knows the various states of virtual mobile device Nj and true mobile device Mi in real time.It adjusts Equipment 1 is spent according to the nondistinctive initiation traffic order of state of equipment, so that true mobile device Mi and virtual mobile device Nj It receives and orders and fulfil assignment.

The process of the motion track of the virtual mobile device Nj and true mobile device Mi of displaying of augmented reality is as follows:

Virtual mobile device Nj carries out shape initialization and state initialization.It is unified outer that shape initialization uses robot Shape description language describes the shape of virtual mobile device Nj comprising limbs and joint description, motor description etc..State is initial The data of change are given using rule, such as according to the needs of users and project demand, set the shape of a virtual mobile device Nj For cylindrical AGV trolley, the initial position of the virtual mobile device Nj is oriented west in origin position.It only lifts herein Example, others can be configured with project demand according to the needs of users, and final virtual mobile device Nj is presented on emulation In environment.

True mobile device Mi carries out shape initialization and state initialization.It is unified outer that shape initialization uses robot Shape description language describes the shape of true mobile device Mi comprising limbs and joint description, motor description etc..It is final true Mobile device Mi is presented in simulated environment.The shape initialization data and state initialization data of true mobile device Mi is logical It crosses when network carries out state report from true mobile device Mi and obtains.

Controlling equipment 1 initiates traffic order, and true mobile device Mi and virtual mobile device Nj can receive scheduling and set Standby 1 traffic order issued, and emulator 2 due to obtaining true mobile device Mi and virtual mobile device Nj period in real time Property the real-time status that uploads cause true mobile device Mi and virtual mobile dress so that emulator 2 constantly updates data Position of the Nj in the world coordinate system of simulated environment is set to constantly update.Since controlling equipment 1 obtains true mobile device in real time The real-time status that Mi and virtual mobile device Nj are periodically uploaded, so that controlling equipment 1 grasps each virtual mobile device in real time The state of Nj and true mobile device Mi realize the displaying of augmented reality to virtual mobile device Nj to be scheduled control With true mobile device Mi dispatching effect.The visualization for being conducive to project helps the party in request of project and embodiment party to carry out clear It is effective to link up, promote intuitive, effective performance test experience.

Preferably, the corresponding scene map in 1 load test place of S210 controlling equipment comprising steps of

S211 controlling equipment 1 obtains the testing requirement of user's input；

S212 controlling equipment 1 creates corresponding operation test site according to testing requirement, and it is corresponding to obtain operation test site Scene map；Operation test site includes authentic testing place or authentic testing place and virtual test place；It is true to survey Travelled for virtual mobile device Nj and/or true mobile device Mi to examination hall；Virtual test place supplies virtual mobile device Nj row It sails.

Specifically, controlling equipment 1 obtains the environment in authentic testing place from suppliers or network in the present embodiment Map.Emulator 2 generates the corresponding environmental map in virtual test place by the creation of Gazebo 7.Gazebo 7 can establish Virtual scene such as is put into dustbin by adding object library, and the corresponding icon of the barriers such as wall imitates real world, The house desigh figure of 2D can also be added, the house of 3D is constructed on the basis of design drawing by Building Editor.Always It can generate the corresponding environmental map in virtual test place by emulator 2, which can be according to the survey of user Examination demand arbitrarily adds corresponding article icon.Preferably, when mobile device factory is shown, field is generally used according to mobile device The corresponding environmental map in virtual test place is pre-created in scape.It can be convenient user (including client or staff) root in this way The corresponding environmental map in virtual test place is quickly and easily called according to testing requirement, accelerates the test effect of different usage scenarios Rate promotes test experience.

Illustratively, AGV manufacturer completion AGV production promote in exhibition place and be sold, and needs to show AGV manufacturer The performance and function of AGV product.If client needs to carry out drug delivery using AGV in hospital's scene, not needing will be true Real AGV is transported in hospital, a small amount of true AGV can be directly put into exhibition place, then in exhibition place (i.e. this hair Bright authentic testing place) in intelligent terminal 3 (notebook, mobile phone or desktop computer of test job personnel etc.) load fortune Row analog simulation program, to generate a large amount of Virtual Access Gateway V.Then, pass through (the desktop computer with copying of emulator 2 Or notebook) the corresponding environmental map in virtual test place for generating hospital is created according to the testing requirement of client, hospital The corresponding environmental map in virtual test place includes the icon of transfusion pole, operating room, medical waste recycling bin etc. hospital's article Scene, and the authentic testing place i.e. corresponding environmental map in exhibition place is stored in emulator 2.Therefore, checkout area is run Ground is made of authentic testing place and virtual test place, can be according to the corresponding environmental map in authentic testing place and creation The corresponding environmental map in virtual test place for generating hospital is integrated to obtain the corresponding scene map of operation test site.Scheduling is set Standby 1 generates traffic order according to the real-time status of scene map and virtual mobile device Nj and true mobile device Mi, issues Traffic order is scheduled control, completes whole job tasks to true mobile device Mi and/or virtual mobile device Nj.

Illustratively, the production of transportation robot manufacturer completion transportation robot promote in exhibition place and be sold, and is tested Demand needs to show the performance and function of the transportation robot product of transportation robot manufacturer to client.If client needs opening up When the transport of bottled drinking water needed for carrying out the participant of exhibition using transportation robot in meeting place, without in transportation machines The a large amount of reality transport robot of arrangement in the show venue of people manufacturer, in the show venue of transportation robot manufacturer (i.e. originally Invention authentic testing place) it is put into a small amount of reality transport robot, then using in the show venue of transportation robot manufacturer Intelligent terminal 3 (notebook, mobile phone or desktop computer of test job personnel etc.) load operating analog simulation program, from And generate a large amount of virtual transportation robot.And the show venue that transportation robot manufacturer is stored in controlling equipment 1 is corresponding Environmental map, therefore, the show venue of transportation robot manufacturer are exactly to run test site, and the operation test site is by really surveying The corresponding environmental map composition of the show venue of examination hall Di Ji transportation robot manufacturer.Controlling equipment 1 is according to scene map and void The real-time status of quasi- mobile device Nj and true mobile device Mi generates traffic order, issues traffic order to true mobile dress Mi and/or virtual mobile device Nj is set, control is scheduled, completes whole job tasks.

Specifically, scene map due to include the corresponding environmental map in authentic testing place or authentic testing place with The corresponding environmental map in both virtual test places therefore can be with any of authentic testing place or virtual test place The point i.e. preset reference point that one user specifies is that origin establishes world coordinate system.Then for true mobile device Mi and virtually Mobile device Nj is marked using different icons, for example, true mobile device Mi uses the first icon, virtual mobile device Nj uses the second icon.In this way, when true mobile device Mi is moved in authentic testing place, can Real-time Feedback extremely Emulator 2, so that emulator 2 passes through motion track of the first icon of simulated environment real-time display on world coordinate system, The motion track of first icon can be to motion track of the true mobile device Mi of user feedback in authentic testing place.When When virtual mobile device Nj carries out Simulated movable in virtual test place or authentic testing place, can Real-time Feedback to imitating True equipment 2, so that emulator 2 is somebody's turn to do by motion track of the second icon of simulated environment real-time display on world coordinate system The motion track of second icon can be to motion track of the virtual mobile device Nj of user feedback in virtual test place.Scheduling Equipment 1 generates traffic order according to the real-time status of scene map and virtual mobile device Nj and true mobile device Mi, under Traffic order is sent out to true mobile device Mi and/or virtual mobile device Nj, control is scheduled, completes whole job tasks During, the phase to controlling equipment 1 reports respective real-time shape every other week by true mobile device Mi and virtual mobile device Nj State, and respective real-time status is reported to emulator 2, so that emulator 2 is updated each void in simulated environment While quasi- mobile device Nj and true mobile device Mi corresponding motion track, moreover it is possible to pass through controlling equipment 1 and adjust in real time Degree controls true mobile device or virtual mobile device.

The present invention can arbitrarily create required virtual test place to be tested, be transported to be created according to testing requirement The corresponding scene map of row test site does not need to carry what a large amount of true mobile device Mi were disposed to different usage scenarios Workload, the energy without consuming client and staff go to different usage scenarios to dispose, directly can any scene Place is disposed, and testing cost is low, convenient and efficient, simple and easy, and test experience is high.

Based on previous embodiment, S400 target device run according to traffic order comprising steps of

When true mobile device Mi receives traffic order, true mobile device Mi is moved S410 according to traffic order It is dynamic, it detects to obtain the reality of true mobile device Mi by the motion sensor and electric power detection equipment that are set to true mobile device Mi When state and real time electrical quantity；The real-time status and real time electrical quantity for sending true mobile device Mi are to controlling equipment 1 and emulator 2, and the exact shape of true mobile device Mi is sent to emulator 2；

For S420 when intelligent terminal 3 receives traffic order, intelligent terminal 3 controls virtual mobile device according to traffic order Nj carries out Simulated movable, and according to the real-time status of the electric quantity consumption situation of true mobile device Mi and virtual mobile device Nj, The real time electrical quantity of virtual mobile device Nj is calculated；Send virtual mobile device Nj's by the communication module of intelligent terminal 3 Real-time status and real time electrical quantity send the configuration file of virtual mobile device Nj to emulating to controlling equipment 1 and emulator 2 Equipment 2.

Specifically, true mobile device Mi can be examined respectively by the motion sensor and electric power detection equipment for being set to itself Real-time status and real time electrical quantity are measured, is then sent and is reported to controlling equipment 1 by true mobile device Mi.And it virtually moves Device Nj can then be got the real-time status of virtual mobile device Nj by controlling equipment 1, according to the reality of virtual mobile device Nj When state in real-time position information it is calculated from T_kMoment is to T_k+1Moving distance S in moment_Nj, obtain true mobile The moving distance S of device Mi_MiAnd its moving distance S_MiThe true every shifting of mobile device Mi is calculated in consumed electricity E Unit quantity of electricity value Wo=E ÷ S consumed by dynamic preset length (such as 1m)_Mi.Then, controlling equipment 1 can be according to calculating The moving distance S arrived_Nj, be calculated virtual mobile device Nj in T_kMoment is to T_k+1Consumption charge value W in moment_Nj= E÷S_Mi×S_Nj.Then, according to according to virtual mobile device Nj in T_k-1Moment is to T_kConsumption charge value in moment, and it is initial Electricity is calculated.Virtual mobile device Nj is calculated in T_kThe real time electrical quantity at moment.

Whole control structure system framework is as shown in figure 4, include several virtual mobile device Nj and true mobile device Mi and controlling equipment 1 lead between each virtual mobile device Nj, true mobile device Mi, emulator 2 and controlling equipment 1 It crosses communications platform connection and realizes information exchange.Wherein, virtual mobile device Nj and true mobile device Mi pass through Ethernet (Ethernet), WIFI, bluetooth or 2G, 3G, the communications platforms such as 4G 5G network and controlling equipment 1, emulator 2 connect It connects.

True mobile device Mi is powered on and initialization program, and intelligent terminal 3 powers on and load operating analog simulation journey Sequence starts virtual mobile device Nj initialization, and controlling equipment 1 and emulator 2 are powered on and initialized.In true mobile device After Mi, intelligent terminal 3 and controlling equipment 1 and emulator 2 complete initialization, whole system enters working condition.Controlling equipment 1 Etc. the real-time status of each true mobile device Mi and virtual mobile device Nj to be received, controlling equipment 1 is according under real-time status Send out traffic order.In whole flow process, true mobile device Mi reports one to controlling equipment 1 and emulator 2 every a cycle Itself secondary real-time status, virtual mobile device Nj is by intelligent terminal 3 every a cycle to controlling equipment 1 and emulator 2 report once the real-time status of itself.Emulator 2 is according to the real-time status of the true mobile device Mi obtained in real time, virtual The real-time status of mobile device Nj shows respective motion track in simulating scenes.After completing primary test, true mobile device Mi, intelligent terminal 3 and the respective memory source of offline release of controlling equipment 1 and cpu resource, so as to next time can more quickly, It is efficient to carry out power up test, lifting system stability and test performance.

Virtual mobile device Nj does not have hardware components, and virtual mobile device Nj is to operate in the intelligent terminals such as computer, mobile phone 3 Middle operation.3 electrifying startup of intelligent terminal, running simulation simulated program, according to the virtual mobile device Nj of analog simulation Program Generating. Initial position of the virtual mobile device Nj of 2 Initialize installation of emulator in simulated environment Gazebo 7, initial direction and just Beginning velocity information.Intelligent terminal 3 reports real-time status (including the real-time position of virtual mobile device Nj by the status topic of ROS Confidence breath, in real time direction, real time speed information and real time electrical quantity).Intelligent terminal 3 dispatches master by subscribing to the ROS of controlling equipment 1 Topic receives 1 traffic order of controlling equipment, and virtual mobile device Nj is carried out in moving process according to traffic order, constantly updates real When electricity, real-time position information and real-time direction, and reported every a time cycle to controlling equipment 1 and emulator 2. Whenever completing primary test, the analog simulation program out of service of intelligent terminal 3, the resource that release process occupies.

Controlling equipment 1 is responsible for all true mobile device Mi and virtual mobile device Nj of scheduling, and controlling equipment 1 is subscribed to The state for receiving true mobile device Mi and virtual mobile device Nj is reported, according to all mobile devices (true mobile device Mi The status information schedule job sent with virtual mobile device Nj), the scheduling life that controlling equipment 1 is issued to all mobile devices It enables.All mobile devices show that all mobile devices are in the operation phase in 7 simulated environment of Gazebo of emulator 2 It requires to constantly update its position in 7 simulated environment of Gazebo.All mobile devices have corresponding model file, this A little model files for rendering the shape of virtual mobile device Nj and true mobile device Mi, size and identity ID in In 7 simulated environment of Gazebo.True displaying of the mobile device Mi in 7 simulated environment of Gazebo by with true mobile device Mi Corresponding control program is responsible for, which is responsible for subscribing to the real-time position information of true mobile device Mi, real-time direction, more New true position and orientation of the mobile device Mi in 7 simulated environment of Gazebo.Virtual mobile device Nj is emulated in Gazebo 7 Displaying in environment is responsible for by control program corresponding with virtual mobile device Nj, which is responsible for subscribing to virtual mobile dress The real-time position information of Nj is set, real-time direction updates position and court of the virtual mobile device Nj in 7 simulated environment of Gazebo To.

Controlling equipment 1 carries out task tune according to the corresponding real time kinematics of true mobile device Mi and virtual mobile device Nj Degree generates new traffic order, issues new traffic order to true mobile device Mi and/or virtual mobile device Nj, completes complete The job task in portion.

Preferably, the second icon that in 7 simulated environment of Gazebo, can also represent virtual mobile device Nj is aobvious nearby The real time speed information and real time electrical quantity for showing virtual mobile device Nj, near the first icon for representing true mobile device Mi Show the real time speed information and real time electrical quantity of true mobile device Mi.In this way, also can quickly be directly acquainted with the palm convenient for user The movement speed of each true mobile device Mi and virtual mobile device Nj are held, and according to real time electrical quantity, quick and time control The true mobile device Mi and virtual mobile device Nj of not enough power supply processed go at charging pile and charge, so that test scene is more Stick on and closely meet the actual usage scenario of reality, greatly improves the true mobile device of big quantity not having also in current conditions Under conditions of on Mi and big place, low cost, the feasibility and stability for verifying to intuitive and convenient a large amount of mobile devices.

Illustratively, using 5 true AGV, 30 square metres of true places, 200 Virtual Access Gateway V, 2000 square metres it is virtual Place runs test together, and the overall scenario effect of the test macro is as shown in figure 5, true AGV uses rectangle, Virtual Access Gateway V Using triangle, true AGV Mi can only be moved in authentic testing place 5, and Virtual Access Gateway V Nj both can be in authentic testing field Ground 5 can also move in virtual test place 6.Gazebo 7 can be used by authentic testing place 5 and virtual test place 6 are depicted as the region of 1.2m*1.2m grid composition.The system can be stable operation one month or more time, demonstrate scheduling Equipment 1 can be dispatched a large amount of AGV and reliablely and stablely be run by communications platform.If being completely dependent on software using tradition Emulation testing means not can prove that AGV scheduling system can be dispatched reliablely and stablely when true AGV is run then；And if complete Portion is verified using true AGV, then needs AGV and 2,000 square metre of up to ten million members or more of place.Therefore using the present invention Test method can greatly reduce cost and the period of AGV system verifying so that user (client and staff) can be with Quick and convenient, naked eyes intuitively verify the feasibility and stability of a large amount of mobile devices, help party in request and the embodiment party of project Carry out clear effective communication.

Another embodiment of the invention, a kind of test macro, as shown in Figure 6, comprising: controlling equipment 1, emulator 2, True mobile device Mi and for emulating the intelligent terminal 3 for generating virtual mobile device Nj；Controlling equipment 1 includes the first communication mould Block 11, the first control module 12, data obtaining module 13；True mobile device Mi includes that second communication module 20 and first execute Module 30；Intelligent terminal 3 includes third communication module 31 and the second execution module 32；Emulator 2 includes fourth communication module 21, first processing module 22；

Data obtaining module 13, for obtaining scheduler task；

First control module 12, connect with data obtaining module 13, for generating traffic order according to scheduler task；

First communication module 11 is connect with the first control module 12, second communication module 20 and third communication module 31, For issuing traffic order to second communication module 20 and/or third communication module 31；

First execution module 30, connect with second communication module 20, for being run according to traffic order；

Second execution module 32, connect with third communication module 31, is ordered for controlling virtual mobile device Nj according to scheduling Enable operation；

Fourth communication module 21 is connect with second communication module 20 and third communication module 31, for obtaining true movement The real-time status of device Mi and virtual mobile device Nj；

First processing module 22 is connect with fourth communication module 21, for completing initialization operation according to real-time status Respective motion track is shown to augmented reality in simulated environment afterwards.

Preferably, intelligent terminal 3 further include: operation module；

Module is run, load operating analog simulation program is used for, generates several virtual mobile device Nj；Analog simulation journey Sequence is according to the configuration file and original state of the virtual mobile device Nj of rule settings；Original state includes identity ID, initial motion State and initial quantity of electricity；Initial motion state includes initial position, initial direction and original operating state.

Preferably, controlling equipment 1 further include: map obtains module；

Data obtaining module 13 is also used to obtain the first original state of virtual mobile device Nj, and obtains true move The second original state of dynamic device Mi；First original state is previously set using rule；Second original state is filled from true movement It sets and is obtained at Mi；

Map obtains module, is used for the corresponding scene map in load test place；

First control module 12 obtains module with map and connect, and is also used to according to scheduler task, scene map, virtual shifting The original state of dynamic device Nj and true mobile device Mi carries out United Dispatching, generates traffic order.

Preferably, further includes:

Fourth communication module 21, be also used to obtain from second communication module 20 true mobile device Mi exact shape and First original state, and obtain from third communication module 31 configuration file and the second original state of virtual mobile device Nj； First original state and the second original state include identity ID, initial motion state and initial quantity of electricity；Initial motion state packet Include initial position, initial direction and original operating state；

Fourth communication module 21 is also used to obtain the real-time status of true mobile device Mi from second communication module 20, And the real-time status of virtual mobile device Nj is obtained from third communication module 31；Real-time status includes identity ID, real time kinematics State and real time electrical quantity；Real time kinematics state includes real time position, real-time direction and instantaneous operating conditions；

First processing module 22 includes: initialization unit, simulation unit；

Initialization unit, for really being moved according to the exact shape and the first original state of true mobile device Mi The shape of device Mi initializes and state initialization, and according to the configuration file of virtual mobile device Nj and the second original state into The shape initialization of the virtual mobile device Nj of row and state initialization, so that virtual mobile device Nj and true mobile device Mi is in In present simulated environment, the initialization operation to simulated environment is completed；

Simulation unit is connect with initialization unit, for the reality according to virtual mobile device Nj, true mobile device Mi When state, updated to continuous augmented reality in simulated environment the virtual mobile device Nj of display, true mobile device Mi it is real-time Motion state.

Preferably, emulator 2 further include: starting creation module；

Start creation module, for starting simulation software, establishes in simulated environment using preset reference point as the generation of origin Boundary's coordinate system；

Initialization unit is also used to by carrying out the outer of true mobile device Mi with matched first icon of exact shape Shape initialization, and true mobile device Mi is searched according to the identity ID of true mobile device Mi and its corresponding first original state In the corresponding position and orientation of world coordinate system, the state initialization of true mobile device Mi is completed；

Initialization unit is also used to by carrying out the outer of virtual mobile device Nj with matched second icon of configuration file Shape initialization, and virtual mobile device Nj is searched according to the identity ID of virtual mobile device Nj and its corresponding second original state In the corresponding position and orientation of world coordinate system, the state initialization of virtual mobile device Nj is completed.

Preferably, further includes: simulation unit is also used to the real-time status according to true mobile device Mi, constantly updates true Position and orientation of corresponding first icon of the identity ID of real mobile device Mi on world coordinate system, with augmented reality show True motion track of the mobile device Mi in simulated environment；

Simulation unit is also used to the real-time status according to virtual mobile device Nj, constantly updates virtual mobile device Nj's Position and orientation of corresponding second icon of identity ID on world coordinate system, with augmented reality show virtual mobile device Nj Motion track in simulated environment.

Preferably, controlling equipment 1 further include: input module and map building module；

Input module, for obtaining the testing requirement of user's input；

Map building module, connect with input module, for creating corresponding operation test site according to testing requirement, obtains Take the corresponding scene map of operation test site；Operation test site include authentic testing place or authentic testing place with Virtual test place；Authentic testing place is travelled for virtual mobile device Nj and/or true mobile device Mi；Virtual test place It is travelled for virtual mobile device Nj.

Preferably, true mobile device Mi is equipped with the movement for detecting the real-time status for obtaining true mobile device Mi and passes Sensor, and the electric power detection equipment of the real time electrical quantity of true mobile device Mi: intelligent terminal 3 is obtained for detecting further include: Computing module and storage module；

When second communication module 20 receives traffic order, the first execution module 30 is also used to be carried out according to traffic order It is mobile；

Second communication module 20, be also used to send true mobile device Mi real-time status and real time electrical quantity to first communication Module 11 and fourth communication module 21, and the exact shape of true mobile device Mi is sent to fourth communication module 21；

When third communication module 31 receives traffic order, the second execution module 32 is also used to be controlled according to traffic order Virtual mobile device Nj carries out Simulated movable；

Storage module, for storing the history electric quantity consumption data of true mobile device Mi；

Computing module is connect with storage module, for the reality according to history electric quantity consumption data and virtual mobile device Nj When state, the real time electrical quantity of virtual mobile device Nj is calculated；

Third communication module 31, be also used to send virtual mobile device Nj real-time status and real time electrical quantity to first communication Module 11 and fourth communication module 21, and the configuration file of virtual mobile device Nj is sent to fourth communication module 21.

Preferably, further includes:

First communication module 11 is also used to obtain the real-time status of true mobile device Mi and virtual mobile device Nj；

First control module 12, connect with first communication module 11, according to true mobile device Mi and virtual mobile dress It sets the corresponding real time kinematics progress task schedule of Nj and generates new traffic order, control first communication module 11 issues new scheduling Order completes whole job tasks to second communication module 20 and/or third communication module 31.

Specifically, the present embodiment is the corresponding system embodiment of above method embodiment, specific effect is referring to the above method Embodiment, this is no longer going to repeat them.

Another embodiment of the invention, a kind of test macro, as shown in fig. 7, comprises: control equipment 4, true mobile dress Set Mi and for emulating the intelligent terminal 3 for generating virtual mobile device Nj；Controlling equipment 4 includes fifth communication module 43, second Control module 42, the second data obtaining module 41, Second processing module 44；True mobile device Mi includes second communication module 20 With the first execution module 30；Intelligent terminal 3 includes third communication module 31 and the second execution module 32；

Second data obtaining module 41, for obtaining scheduler task；

Second control module 42 is connect with the second data obtaining module 41, for generating traffic order according to scheduler task；

Fifth communication module 43 is connect with the second control module 42, second communication module 20 and third communication module 31, For issuing traffic order to second communication module 20 and/or third communication module 31；

Fifth communication module 43 is also used to obtain the real-time status of true mobile device Mi and virtual mobile device Nj；

Second processing module 44 is connect with fifth communication module 43, for completing initialization operation according to real-time status Respective motion track is shown to augmented reality in simulated environment afterwards.

Specifically, the present embodiment, for the above system embodiment, control equipment 4 is integrated with the above system embodiment In controlling equipment 1 and emulator function, the above system embodiment, will scheduling and emulation be divided into different equipment, The CPU consumption that can reduce equipment improves the effective percentage and emulation rate of scheduling controlling, to promote testing efficiency, significantly Increase the test experience of user.And in the present embodiment, scheduling and emulation are concentrated in a control equipment 4, reduced as upper It states in system embodiment, needs to upload to controlling equipment 1 and emulator between true mobile device Mi and intelligent terminal 3 and report The real-time status of itself, it is only necessary to upload the real-time status for reporting itself to control equipment 4, reduce Internet resources bandwidth and account for With rate, communication efficiency is promoted to promote testing efficiency indirectly.

It should be noted that above-described embodiment can be freely combined as needed.The above is only of the invention preferred Embodiment, it is noted that for those skilled in the art, in the premise for not departing from the principle of the invention Under, several improvements and modifications can also be made, these modifications and embellishments should also be considered as the scope of protection of the present invention.

Claims

1. a kind of test method, which is characterized in that comprising steps of

Controlling equipment obtains scheduler task；

The controlling equipment generates according to the scheduler task and issues traffic order to target device；The target device includes Any one in the true mobile device and the intelligent terminal or two；The virtual mobile device is emulated by intelligent terminal It generates；

The target device is run according to the traffic order；

The emulator obtains the real-time status of the true mobile device and the virtual mobile device, according to described real-time State shows respective motion track to augmented reality in completing the simulated environment after initialization operation.

2. test method according to claim 1, which is characterized in that the controlling equipment obtains scheduler task and includes before Step:

The intelligent terminal load operating analog simulation program, generates several virtual mobile devices；The analog simulation program According to the configuration file and original state of the virtual mobile device of rule settings；The original state includes identity ID, initial motion State and initial quantity of electricity；The initial motion state includes initial position, initial direction and original operating state.

3. test method according to claim 2, which is characterized in that the intelligent terminal load operating analog simulation journey Sequence, after generating several virtual mobile devices, the controlling equipment generates according to the scheduler task and issues traffic order To before target device comprising steps of

The controlling equipment obtains the first original state of the virtual mobile device；First original state is using regular thing First set；

The controlling equipment obtains the second original state of the true mobile device；Second original state is from described true It is obtained at mobile device；

The corresponding scene map in controlling equipment load test place；

The controlling equipment is according to the scheduler task, the scene map, the virtual mobile device and the true movement The original state of device carries out United Dispatching, generates the traffic order and is sent to the target device.

4. test method according to claim 3, which is characterized in that the intelligent terminal load operating analog simulation journey Sequence, after generating several virtual mobile devices, the controlling equipment generates according to the scheduler task and issues traffic order To before target device comprising steps of

The emulator obtains the exact shape and the first original state of the true mobile device, and obtains the virtual shifting The configuration file and the second original state of dynamic device；First original state and the second original state include identity ID, just Beginning motion state and initial quantity of electricity；The initial motion state includes initial position, initial direction and original operating state；

The emulator carries out the true movement according to the exact shape of the true mobile device and the first original state The shape of device initializes and state initialization, and according to the configuration file of the virtual mobile device and the second original state into The shape initialization of the row virtual mobile device and state initialization, so that the virtual mobile device and the true movement Device is presented in simulated environment, completes the initialization operation to the simulated environment；

The emulator obtains the real-time status of the true mobile device and the virtual mobile device, according to described real-time State show respective motion track to augmented reality in completing the simulated environment after initialization operation comprising steps of

The emulator obtains the real-time status of the true mobile device and the virtual mobile device；The real-time status Including identity ID, real time kinematics state and real time electrical quantity；The real time kinematics state include real time position, real-time direction and in real time Working condition；

The emulator is according to the virtual mobile device, the real-time status of the true mobile device, in the emulation ring The display virtual mobile device, the real time kinematics state of the true mobile device are updated to continuous augmented reality in border.

5. test method according to claim 4, which is characterized in that the emulator is according to the true mobile device Exact shape and the first original state carry out shape initialization and the state initialization of the true mobile device, and according to institute The configuration file and the second original state for stating virtual mobile device carry out the shape initialization and state of the virtual mobile device Initialization is completed so that the virtual mobile device and the true mobile device are presented in simulated environment to the emulation The initialization operation of environment comprising steps of

The emulator starts simulation software, establishes in the simulated environment using preset reference point as the world coordinates of origin System；

The emulator is at the beginning of by carrying out the shape of the true mobile device with matched first icon of the exact shape Beginningization, and the true mobile device is searched according to the identity ID of the true mobile device and its corresponding first original state In the corresponding position and orientation of the world coordinate system, the state initialization of the true mobile device is completed；

The emulator is at the beginning of by carrying out the shape of the virtual mobile device with matched second icon of the configuration file Beginningization, and the virtual mobile device is searched according to the identity ID of the virtual mobile device and its corresponding second original state In the corresponding position and orientation of the world coordinate system, the state initialization of the virtual mobile device is completed.

6. test method according to claim 5, which is characterized in that the emulator is according to the virtual mobile dress It sets, the real-time status of the true mobile device, is constantly updated in the simulated environment and show the virtual mobile device, institute State the real time kinematics state of true mobile device comprising steps of

The emulator constantly updates the identity of the true mobile device according to the real-time status of the true mobile device The position and orientation that corresponding first icon of ID is fastened in the world coordinates with augmented reality show the true mobile dress Set the motion track in the simulated environment；

The emulator constantly updates the identity of the virtual mobile device according to the real-time status of the virtual mobile device The position and orientation that corresponding second icon of ID is fastened in the world coordinates with augmented reality show the virtual mobile dress Set the motion track in the simulated environment.

7. test method according to claim 6, which is characterized in that the corresponding field in controlling equipment load test place Scape map comprising steps of

The controlling equipment obtains the testing requirement of user's input；

The controlling equipment creates corresponding operation test site according to the testing requirement, obtains the operation test site pair The scene map answered；The operation test site includes authentic testing place or the authentic testing place and virtual test Place；The authentic testing place is for the virtual mobile device and/or the true mobile device traveling；The virtual test Place is for the virtual mobile device traveling.

8. test method according to claim 1-7, which is characterized in that the target device is according to the scheduling Order operation comprising steps of

When the true mobile device receives the traffic order, the true mobile device according to the traffic order into Row movement detects to obtain the true movement by the motion sensor and electric power detection equipment that are set to the true mobile device The real-time status and the real time electrical quantity of device；Send the true mobile device the real-time status and it is described in real time Electricity is to the controlling equipment and the emulator, and exact shape to the emulation for sending the true mobile device is set It is standby；

When the intelligent terminal receives the traffic order, the intelligent terminal controls the void according to the traffic order Quasi- mobile device carries out Simulated movable, and according to the reality of the electric quantity consumption situation of the true mobile device and virtual mobile device When state, the real time electrical quantity of the virtual mobile device is calculated；Described in communication module transmission by the intelligent terminal The real-time status and the real time electrical quantity of virtual mobile device send institute to the controlling equipment and the emulator The configuration file of virtual mobile device is stated to the emulator.

9. test method according to claim 1-7, which is characterized in that further comprise the steps of:

The controlling equipment is appointed according to the true mobile device and the corresponding real time kinematics of the virtual mobile device Business scheduling generates new traffic order, issues the new traffic order to the true mobile device and/or the virtual shifting Dynamic device, completes whole job tasks.

10. a kind of test macro characterized by comprising controlling equipment, emulator, true mobile device and for emulating Generate the intelligent terminal of virtual mobile device；The controlling equipment includes first communication module, the first control module, the first information Obtain module；The true mobile device includes second communication module and the first execution module；The intelligent terminal includes third Communication module and the second execution module；The emulator includes fourth communication module, first processing module；

The first information obtains module, for obtaining scheduler task；

First control module obtains module with the first information and connect, dispatches for being generated according to the scheduler task Order；

The first communication module connects with first control module, the second communication module and the third communication module It connects, for issuing traffic order to the second communication module and/or the third communication module；

Second execution module is connect with the third communication module, for controlling the virtual mobile device according to Traffic order operation；

The fourth communication module is connect with the second communication module and the third communication module, described true for obtaining The real-time status of real mobile device and the virtual mobile device；

The first processing module is connect with the fourth communication module, for completing to initialize according to the real-time status Respective motion track is shown to augmented reality in simulated environment after operation.

11. test macro according to claim 10, which is characterized in that the intelligent terminal further include: operation module；

The operation module is used for load operating analog simulation program, generates several virtual mobile devices；The analog simulation Program is according to the configuration file and original state of the virtual mobile device of rule settings；The original state includes identity ID, initial Motion state and initial quantity of electricity；The initial motion state includes initial position, initial direction and original operating state.

12. test macro according to claim 11, which is characterized in that the controlling equipment further include: map obtains mould Block；

The first information obtains module, is also used to obtain the first original state of the virtual mobile device, and obtain institute State the second original state of true mobile device；First original state is previously set using rule；Second initial shape State obtains from the true mobile device；

First control module obtains module with the map and connect, is also used to according to the scheduler task, the scene The original state of figure, the virtual mobile device and the true mobile device carries out United Dispatching, generates the scheduling Order.

13. test macro according to claim 12, it is characterised in that:

The fourth communication module is also used to obtain the exact shape of the true mobile device from the second communication module With the first original state, and the configuration file of the virtual mobile device and second initial is obtained from the third communication module State；First original state and the second original state include identity ID, initial motion state and initial quantity of electricity；It is described first Beginning motion state includes initial position, initial direction and original operating state；

The fourth communication module is also used to obtain the real-time shape of the true mobile device from the second communication module State, and obtain from the third communication module real-time status of the virtual mobile device；The real-time status includes identity ID, real time kinematics state and real time electrical quantity；The real time kinematics state includes real time position, real-time direction and real-time working shape State；

The first processing module includes: initialization unit, simulation unit；

The initialization unit is described true for being carried out according to the exact shape of the true mobile device and the first original state The shape of real mobile device initializes and state initialization, and initial according to the configuration file of the virtual mobile device and second State carries out shape initialization and the state initialization of the virtual mobile device, so that the virtual mobile device and described true Real mobile device is presented in simulated environment, completes the initialization operation to the simulated environment；

The simulation unit is connect with the initialization unit, for according to the virtual mobile device, the true mobile dress The real-time status set updates to continuous augmented reality the display virtual mobile device, described true in the simulated environment The real time kinematics state of mobile device.

14. test macro according to claim 13, which is characterized in that the emulator further include: starting creation mould Block；

The starting creation module is established in the simulated environment using preset reference point as origin for starting simulation software World coordinate system；

The initialization unit is also used to by carrying out the true mobile device with matched first icon of the exact shape Shape initialization, and searched according to the identity ID of the true mobile device and its corresponding first original state described true Mobile device completes the state initialization of the true mobile device in the corresponding position and orientation of the world coordinate system；

The initialization unit is also used to by carrying out the virtual mobile device with matched second icon of the configuration file Shape initialization, and searched according to the identity ID of the virtual mobile device and its corresponding second original state described virtual Mobile device completes the state initialization of the virtual mobile device in the corresponding position and orientation of the world coordinate system.

15. test macro according to claim 14, it is characterised in that:

The simulation unit is also used to the real-time status according to the true mobile device, constantly updates the true mobile dress The position and orientation that corresponding first icon of the identity ID set is fastened in the world coordinates with augmented reality are shown described true Motion track of the real mobile device in the simulated environment；

The simulation unit is also used to the real-time status according to the virtual mobile device, constantly updates the virtual mobile dress The position and orientation that corresponding second icon of the identity ID set is fastened in the world coordinates, with augmented reality show the void Quasi- motion track of the mobile device in the simulated environment.

16. test macro according to claim 15, which is characterized in that the controlling equipment further include: input module and Map building module；

The input module, for obtaining the testing requirement of user's input；

The map building module, connect with the input module, surveys for creating corresponding operation according to the testing requirement Examination hall, obtain the corresponding scene map of the operation test site；The operation test site includes authentic testing place, or Authentic testing place described in person and virtual test place；The authentic testing place is for the virtual mobile device and/or described True mobile device traveling；The virtual test place is for the virtual mobile device traveling.

17. the described in any item test macros of 0-16 according to claim 1, which is characterized in that the true mobile device is equipped with The motion sensor of the real-time status of the true mobile device is obtained for detecting, and obtains the true shifting for detecting The electric power detection equipment of the real time electrical quantity of dynamic device: the intelligent terminal further include: computing module and storage module；

When the second communication module receives the traffic order, first execution module is also used to according to the scheduling Order is moved；

The second communication module, the real-time status and the real time electrical quantity for being also used to send the true mobile device are extremely The first communication module and the fourth communication module, and the exact shape of the true mobile device is sent to the described 4th Communication module；

When the third communication module receives the traffic order, second execution module is also used to according to the scheduling The order control virtual mobile device carries out Simulated movable；

The computing module is connect with the storage module, for according to the history electric quantity consumption data and virtual mobile dress The real time electrical quantity of the virtual mobile device is calculated in the real-time status set；

The third communication module, the real-time status and the real time electrical quantity for being also used to send the virtual mobile device are extremely The first communication module and the fourth communication module, and the configuration file of the virtual mobile device is sent to the described 4th Communication module.

18. the described in any item test macros of 0-16 according to claim 1, it is characterised in that:

The first communication module is also used to obtain the real-time status of the true mobile device and the virtual mobile device；

First control module, connect with the first communication module, according to the true mobile device and described virtual The corresponding real time kinematics of mobile device carry out task schedule and generate new traffic order, control the first communication module and issue institute New traffic order is stated to the second communication module and/or the third communication module, completes whole job tasks.

19. a kind of test macro characterized by comprising control equipment, true mobile device and generate virtual shifting for emulating The intelligent terminal of dynamic device；The control equipment include fifth communication module, the second control module, the second data obtaining module, Second processing module；The true mobile device includes second communication module and the first execution module；The intelligent terminal includes Third communication module and the second execution module；

Second data obtaining module, for obtaining scheduler task；

Second control module is connect with second data obtaining module, is dispatched for being generated according to the scheduler task Order；

The fifth communication module connects with second control module, the second communication module and the third communication module It connects, for issuing traffic order to the second communication module and/or the third communication module；

The fifth communication module is also used to obtain the real-time status of the true mobile device and the virtual mobile device；

The Second processing module is connect with the fifth communication module, for completing to initialize according to the real-time status Respective motion track is shown to augmented reality in simulated environment after operation.