KR101206456B1 - Test agent system and method for evaulating performance motor module - Google Patents

Abstract

The present invention relates to a test agent system and method for performance evaluation of a motor module, and more particularly, to perform a performance evaluation of a motor module of a robot hardware module to provide reliability to a motor component among robot software components of a higher level. The present invention relates to a test agent system and method for performance evaluation of a motor module.
This invention is a motor module to be tested; A sensor for detecting an operation of the motor module; A processor which controls operation of the motor module and obtains sensor data; A user interface for inputting information necessary to perform a test and displaying a test result for a user to check; A test repository for storing resources necessary for a test such as an evaluation metric and a test case calculated from the performance evaluation index of the motor module; When the test execution command and the information necessary for the test execution are input through the user interface, the evaluation metric and the test case are retrieved from the test repository and transmitted together with the test execution command to the processor, and the sensor data transmitted from the processor is analyzed. It provides a test agent system for performance evaluation of the motor module including a test engine for transmitting the result to the user interface.
In addition, the present invention, if the test execution command and the information necessary to perform the test is input to the user interface, transmitting the input information to the test engine; Requesting, by the test engine, the evaluation metric and the test case calculated from the performance evaluation index of the motor module stored in the test repository, and transmitting the test case with the test execution command to the processor; The processor operating a motor module to perform a test based on a test case; The processor acquiring data from the sensor while the test is in progress and transmitting the test result to the test engine when the test is finished; In addition, the test engine provides a method for evaluating the performance of the motor module, including the step of allowing the user to check the test result by analyzing the received test result and transmitting it to the user interface.

Description

TEST AGENT SYSTEM AND METHOD FOR EVAULATING PERFORMANCE MOTOR MODULE}

The present invention relates to a test agent system and method for performance evaluation of a motor module, and more particularly, to perform a performance evaluation of a motor module of a robot hardware module to provide reliability to a motor component among robot software components of a higher level. The present invention relates to a test agent system and method for performance evaluation of a motor module.

OPRoS (Open Platform for Robotic Services) is a robot software platform that guarantees the reusability, interoperability, and interoperability of robot software and enables the application of various intelligent robot systems. For easy development, it provides robot software and motion program designed to utilize various existing algorithms for robots in component form, or makes it easy to create desired robot contents or components using integrated development tools.

On the other hand, in the development of robots using components complying with the OPRoS standard, a large part of development cost and development time is spent in the test process, but research on test technology is not actively discussed due to short development period and insufficient manpower. I can't.

Under these circumstances, in order to reduce the time and cost required for testing and to provide the reliability of the motor components that comply with the OPRoS standard, the development of a system that automatically handles the test task of the motor module among the robot hardware modules is required.

In order to solve the above problems, the present invention is a motor module to be tested; A sensor for detecting an operation of the motor module; A processor which controls operation of the motor module and obtains sensor data; A user interface for inputting information necessary to perform a test and displaying a test result for a user to check; A test repository for storing resources necessary for a test such as an evaluation metric and a test case calculated from the performance evaluation index of the motor module; When the test execution command and the information necessary for the test execution are input through the user interface, the evaluation metric and the test case are retrieved from the test repository and transmitted together with the test execution command to the processor, and the sensor data transmitted from the processor is analyzed. It provides a test agent system for performance evaluation of the motor module including a test engine for transmitting the result to the user interface.

In addition, the present invention, if the test execution command and the information necessary to perform the test is input to the user interface, transmitting the input information to the test engine; Requesting, by the test engine, the evaluation metric and the test case calculated from the performance evaluation index of the motor module stored in the test repository, and transmitting the test case with the test execution command to the processor; The processor operating a motor module to perform a test based on a test case; The processor acquiring data from the sensor while the test is in progress and transmitting the test result to the test engine when the test is finished; In addition, the test engine provides a method for evaluating the performance of the motor module, including the step of allowing the user to check the test result by analyzing the received test result and transmitting it to the user interface.

The test agent system and method for performance evaluation of a motor module according to the present invention provides reliability at a lower level and guarantees proven hardware prior to using a higher software component in the use of a motor in a robot. It provides an effect that can not waste time and money.

In addition, the test agent system and method for performance evaluation of the motor module according to the present invention provides an effect that can reduce the test cost and time by presenting the criteria of the motor module metric and test case calculation according to the performance evaluation index. .

In addition, the test agent system and method for performance evaluation of the motor module according to the present invention can derive the optimal test case according to the performance evaluation index can increase the confidence in the test.

1 is a block diagram showing the overall structure of a test agent system according to the present invention.
2 is a diagram illustrating a process of sequentially inputting information through a test setting information input unit.
3 is a view for explaining the performance evaluation index of the motor module according to the present invention.
4 is a table illustrating the accuracy assessment metric of RPM.
5 is a table illustrating test cases for the accuracy evaluation metric of RPM.
6 is a table illustrating an accuracy evaluation metric of motor resolution.
7 is a table illustrating test cases for an accuracy evaluation metric of motor resolution.
8 is a table illustrating torque accuracy evaluation metrics.
9 is a table illustrating test cases for torque accuracy evaluation metrics.
10 is a flowchart illustrating a process of a test on a motor module using a test agent system according to the present invention.

Hereinafter, preferred embodiments of the present invention, in which the above object can be specifically realized, are described with reference to the accompanying drawings. In describing the present embodiment, the same name and the same reference numerals are used for the same configuration and additional description thereof will be omitted below.

1 is a block diagram showing the overall structure of a test agent system according to the present invention.

As shown in FIG. 1, the test agent system according to the present invention includes a test bed 100 and a test agent 200.

The test bed 100 refers to an environment in which a test environment of a technology is tested by establishing a virtual environment in which a technology is consumed in a technology development process or a virtual environment that can predict a result. The test bed 100 controls the operation of the motor module 110, the sensor 120 that senses the operation of the motor module 110, and the operation of the motor module 110, and acquires sensor data. It includes a processor (130).

The test agent 200 controls the test bed 100 to allow the test on the motor module 110 to proceed, and analyzes the test results and provides them to the user. The test agent 200 includes a user interface (UI) 210, a test repository 220, and a test engine 230.

The user interface 210 is a device for inputting information necessary to perform a test and displaying a test result so that a user can check the test setting information input unit 211 and inputting information necessary for performing a test, and a test execution command. The test execution command unit 212 and the test result confirmation unit 213 showing a test result report analyzed and provided by the test engine 230 after the test execution is completed.

2 is a diagram illustrating a process of sequentially inputting information through a test setting information input unit.

Here, through the test setting information input unit 211, a user sequentially inputs a test method, a test item, test environment information, and the like as shown in FIG. Specifically, first, the user inputs a test method for evaluating the performance of the motor module 110. Test methods for performance evaluation are divided into unit, integration, and system test. Unit test is a test method that separates test targets into testable (minimum) component units. Integration test is a test method performed after unit test. This is a method of testing the interaction between the separated component units, and system test is a test method for the robot software component itself. Assuming that the test can be performed by separating the motor module 110 into minimum component units, the test method for the motor module 110 may be divided into unit, integration, and system test methods.

When the input of the test method is completed, the target robot hardware module to be tested is set. The test item may include not only the motor module 110 but also a list of various robot hardware modules such as an arm module and a sensor 120 module. Therefore, if necessary, the robot hardware module other than the motor module 110 may be set as a test item to perform a test.

Finally, enter test environment information. The test environment information includes basic environment information of the test bed 100 in which the test is performed, such as the number of test executions and the ambient temperature.

The test store 220 stores resources necessary for testing, such as an evaluation metric and a test case, which are calculated from the performance indicators of the motor module 110.

Performance indicators can be defined as the main characteristics of the robot hardware module as well as the sub characteristics subdivided into the main characteristics. Specifically, the main characteristics of the robot hardware module can be determined with reference to ISO / IEC 9126, an international standard that defines software quality characteristics. The software quality characteristics suggested in the ISO / IEC 9126 standard include functionality, reliability, usability, efficiency, maintainability and portability, but quality characteristics that are not suitable for evaluating the performance of modules according to robot hardware modules may be excluded from the main characteristics. Can be. The sub-characteristics are subdivided from the main characteristics as described above, and are defined based on specification information of the motor module 110 (eg, data sheet, manual, specification document, requirement document).

3 is a view for explaining the performance evaluation index of the motor module according to the present invention.

Specifically, as shown in FIG. 3, the main characteristics of the motor module 110 may be determined by functionality and reliability excluding usability, efficiency, maintainability, and portability among the six software quality characteristics described above. In addition, among the main characteristics of the motor module 110, the functionality can be subdivided into sub-characteristics such as the suitability of the document, the accuracy of the RPM, the accuracy of the motor resolution, the accuracy of the torque, and the reliability of the fault tolerance of the RPM and the resolution of the motor. It can be subdivided into sub characteristics such as fault tolerance and torque fault tolerance.

The evaluation metric is proposed for the performance evaluation of the motor module 110. As described above, the sub-characteristics such as the accuracy of the RPM subdivided from the main characteristics, the accuracy of the motor resolution, the accuracy of the torque, etc. It may be an evaluation metric item as an indicator for evaluating.

4 is a table illustrating the accuracy assessment metric of RPM.

Specifically, as shown in FIG. 4, the accuracy evaluation metric of RPM as a performance evaluation index may be represented by a table including a metric name, a measurement item, a calculation formula, a result area, a result value, a problem, and the like.

The accuracy of RPM, the metric name, is a sub-feature broken down from the main feature, Functional, as described above, and the meaning of the evaluation metric is described in the right column. The measurement item represents an item necessary for calculating the result value of the evaluation metric, and is composed of (A) the total number of test executions and (B) the number of test successes. Here, (A) the total number of test executions may be a fixed value preset in the test store 220 or a value input by a user. In addition, (A) the total number of test runs may be automatically generated when the total number of test runs is directly or indirectly described in a data sheet, a requirements document, or a technical specification document. (B) The number of successful tests is the number of times when the predetermined expected value and the measured value are the same within a certain error range. Here, the error range may be adjusted by the user according to the specification information, the use environment, etc. for the motor module 110 to be tested. The result value of the evaluation metric is calculated according to the formula described in the calculation item, which is calculated from the data of the above-described measurement item.

5 is a table illustrating test cases for the accuracy evaluation metric of RPM.

Test cases are generated taking into account the conditions described in the evaluation metrics described above. For example, the test case for the accuracy evaluation metric of RPM has a test condition, an input value, and an expected result item derived by considering the conditions described in the evaluation metric of FIG. 4, as shown in FIG. 5. As the input value, the RPM value of the motor module 110 is given, and the test result is expected according to the test condition.

FIG. 6 is a table illustrating the accuracy evaluation metric of the motor resolution, and FIG. 7 is a table illustrating the test case for the accuracy evaluation metric of the motor resolution.

In addition, when the accuracy of the motor resolution is an evaluation metric item as an index for evaluating the performance of the motor module 110, the accuracy evaluation metric of the motor resolution as shown in the table shown in FIG. 6 and the accuracy of the motor resolution as shown in FIG. Test cases are generated according to the evaluation metrics.

8 is a table illustrating torque accuracy evaluation metrics, and FIG. 9 is a table illustrating test cases for torque accuracy evaluation metrics.

In addition, when torque accuracy is an evaluation metric item as an index for evaluating the performance of the motor module 110, the torque accuracy accuracy metric as shown in the table shown in FIG. 8 and torque accuracy evaluation metric as shown in FIG. The test case accordingly is generated.

When the test execution command and the information necessary to perform the test are input through the user interface 210, the test engine 230 retrieves the above-described evaluation metrics and test cases from the test repository 220 and loads the test case together with the test execution command. Transfer to test bed 100.

In detail, the test engine 230 transmits a test execution command and a test case to the processor 130 of the test bed 100, and the processor 130 that receives the test execution command operates the motor module 110 to perform a test. Let go. At this time, the test of the motor module 110 proceeds based on the test case described above.

Here, the test engine 230 may transmit the driving command of the motor module 110 to the processor 130 separately from the test execution command. In this case, the processor 130 receives the driving command of the motor module 110. The module 110 is operated to allow the test to proceed.

In addition, when a test result is received from the test bed 100, the test engine 230 analyzes the test result and transmits the test result to the user interface 210. In detail, when the processor 130 receives the measurement data (test result) acquired by the processor 130, the test engine 230 may output the result according to the evaluation metric generated according to the performance evaluation index of the motor module 110. The analysis is transmitted to the user interface 210, and the transmitted result is displayed through the test result checker 213 of the user interface 210 in a report form.

Meanwhile, the test engine 230 transmits a command to stop the driving of the motor module 110 to the processor 130 when the test result is received so that the driving of the motor module 110 is stopped and at the same time the test bed 100. The end of the command is transmitted to the processor 130 of the test bed 100 to terminate the entire operation of the test bed 100.

Referring to the process of the test for the motor module 110 using the test agent system according to the present invention configured as described above are as follows.

10 is a flowchart illustrating a process of a test on a motor module using a test agent system according to the present invention.

First, when a test execution command and information necessary for test execution are input to the user interface 210, the input information is transmitted to the test engine 230.

When the test engine 230 receives the test execution command and the information necessary to perform the test from the user interface 210, the test engine 230 requests the test repository 220 the resources necessary for the test, that is, evaluation metrics and test cases, and the test repository 220. When a test resource is received from the test case, the test case is transmitted to the processor 130 together with the test execution command. In this case, the test engine 230 also transmits a driving command of the motor module 110 to the processor 130.

When the processor 130 receives a test case, a test execution command, and a driving command of the motor module 110, the processor 130 operates the motor module 110 to perform a test based on the test case. While the test is in progress, the processor 130 acquires data from the sensor 120 and transmits the test result to the test engine 230 when the test is finished.

When the test result is received, the test engine 230 sequentially transmits a test execution end command to the processor 130 together with a command to terminate driving of the motor module 110, and the processor 130 receives the command. The operation of the module 110 and the operation of the entire test bed 100 are terminated.

Finally, the test engine 230 analyzes the received test results and transmits them to the user interface 210 so that the user can check the test results. The test result analysis is performed based on the evaluation metric generated according to the performance evaluation index of the motor module 110 received from the test reservoir 220.

The present invention described in detail above is not limited to the above-described range, and those of ordinary skill in the art may easily change or replace the scope of the present invention, as well as equivalents thereof. Also included within the scope of the present invention.

100: test bed 110: motor module
120: sensor 130: processor
200: test agent 210: user interface
211: test setting information input unit 212: test execution command unit
213: test result checker 220: test repository
230: test engine

Claims (8)

A motor module under test;
A sensor for detecting an operation of the motor module;
A processor which controls operation of the motor module and obtains sensor data;
A user interface for inputting information necessary to perform a test and displaying a test result for a user to check;
A test repository for storing resources necessary for a test such as an evaluation metric and a test case calculated from the performance evaluation index of the motor module; And,
When the test execution command and the information necessary for the test execution are input through the user interface, the evaluation metric and the test case are retrieved from the test repository and transmitted together with the test execution command to the processor, and the sensor data transmitted from the processor is analyzed and the result is obtained. Test agent system for performance evaluation of the motor module comprising a test engine for transmitting to the user interface. The method according to claim 1,
The user interface includes a test setting information input unit for inputting information necessary for performing a test, a test execution command unit for performing a test execution command, and a test result confirmation unit for displaying a test result report analyzed and provided by a test engine after the test execution is completed. Test agent system for performance evaluation of the motor module comprising. The method of claim 2,
And a test method, a test item, and test environment information are sequentially input through the test setting information input unit. The method according to claim 1,
The performance evaluation index is composed of the main characteristics and sub-characteristics subdivided from the main characteristics,
The main characteristics include functionality and reliability among the software quality characteristics set forth in the ISO / IEC 9126 standard, and the sub characteristics include the suitability of documents subdivided in the functionality, the accuracy of RPM, the accuracy of motor resolution, the accuracy of torque, The test agent system for the performance evaluation of the motor module, characterized in that it comprises the fault tolerance of the RPM, the fault tolerance of the motor resolution, the torque tolerance that is broken down in the reliability. If a test execution command and information necessary for a test execution are input to the user interface, transmitting the input information to the test engine;
Requesting, by the test engine, the evaluation metric and the test case calculated from the performance evaluation index of the motor module stored in the test repository, and transmitting the test case with the test execution command to the processor;
The processor operating a motor module to perform a test based on a test case;
The processor acquiring data from the sensor while the test is in progress and transmitting the test result to the test engine when the test is finished; And,
And a step of allowing the user to check the test result by analyzing and receiving the received test result to the user interface. 6. The method of claim 5,
When the test engine receives data obtained from the sensor, the test engine analyzes the result according to the evaluation metric generated according to the performance evaluation index of the motor module and transmits the result to the user interface. 6. The method of claim 5,
The performance evaluation index is composed of the main characteristics and sub-characteristics subdivided from the main characteristics,
The main characteristics include functionality and reliability among the software quality characteristics set forth in the ISO / IEC 9126 standard, and the sub characteristics include the suitability of documents subdivided in the functionality, the accuracy of RPM, the accuracy of motor resolution, the accuracy of torque, The performance evaluation method of the motor module comprising the fault tolerance of RPM, the fault tolerance of motor resolution, and the fault tolerance of torque subdivided in the reliability. 6. The method of claim 5,
Information necessary to perform the test is input through the test setting information input unit of the user interface,
The performance evaluation method of the motor module, characterized in that the test method, the test item, the test environment information is sequentially input through the test setting information input unit.

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