A simulation test method and device for a device

Abstract

The present invention discloses a simulation test method and device for a device, relating to the technical field of warehousing logistics. A specific implementation manner of the method includes: constructing a simulation test environment corresponding to a warehousing environment; wherein, the simulation test environment includes a virtual storage device and a virtual handling device; generating a test task according to the device configuration information of the virtual storage device and the virtual handling device; determining a target handling device corresponding to the test task from the virtual handling devices, and generating a test instruction for the target handling device; controlling the target handling device to execute the test task according to the test instruction, and obtaining the task execution parameters of the target handling device; and determining a test result according to the task execution parameters. This implementation manner reduces the test cost, shortens the test cycle, and improves the test efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of warehousing logistics, and in particular, to a simulation test method and device for equipment. Background Art

[0002] In a warehousing environment such as an unmanned warehouse, unmanned handling equipment such as an Automated Guided Vehicle (AGV) is usually used to perform tasks such as item handling and dumping. As the tasks change, it may be necessary to adjust the task execution strategy of the unmanned handling equipment. To ensure the smooth execution of the tasks, after adjusting the task execution strategy, it is necessary to test the unmanned handling equipment first.

[0003] Currently, testing is mainly carried out using a real site and real handling equipment, that is, controlling the handling equipment to operate according to the task execution strategy in a real warehousing environment such as an unmanned warehouse, and then determining the test results based on the operation parameters of the handling equipment during the operation process.

[0004] In the process of implementing the present invention, the inventors found that there are at least the following problems in the prior art:

[0005] Due to hardware and other equipment limitations of the real site and real handling equipment, the testing cost using the real site and real handling equipment is very high, and it is difficult to achieve full automation during the testing process, resulting in a long testing cycle and low testing efficiency. Summary of the Invention

[0006] In view of this, embodiments of the present invention provide a simulation test method and device for equipment, which can reduce the testing cost of the equipment, shorten the testing cycle, and improve the testing efficiency.

[0007] To achieve the above object, according to one aspect of the embodiments of the present invention, a simulation test method for equipment is provided, including:

[0008] Constructing a simulation test environment corresponding to the warehousing environment; wherein, the simulation test environment includes a virtual storage device and a virtual handling device;

[0009] Generating a test task according to the device configuration information of the virtual storage device and the virtual handling device;

[0010] Determining a target handling device corresponding to the test task from the virtual handling devices, and generating a test instruction for the target handling device;

[0011] Controlling the target handling device to execute the test task according to the test instruction, and obtaining the task execution parameters of the target handling device;

[0012] Determining a test result according to the task execution parameters.

[0013] Optionally,

[0014] the device configuration information includes any one or both of the availability rate of the virtual handling device and the storage volume ratio of the virtual storage device.

[0015] Optionally, building the simulation test environment includes:

[0016] building a simulation test space corresponding to the warehousing environment;

[0017] determining the types of the virtual storage device and the virtual handling device according to the types of the storage device and the handling device in the warehousing environment;

[0018] respectively adjusting the quantities of different types of the virtual storage device and the virtual handling device, and the positions of the virtual storage device and the virtual handling device in the simulation test space, so as to generate the simulation test environment.

[0019] Optionally, building the simulation test environment further includes:

[0020] determining the available paths in the simulation test space according to the types and the positions of the virtual storage device and the virtual handling device;

[0021] Generating the test instruction for the target handling device includes:

[0022] determining the test path of the target handling device according to the available paths, and generating the test instruction according to the test path and the test speed.

[0023] Optionally, generating the test instruction for the target handling device and controlling the operation of the target handling device according to the test instruction includes:

[0024] splitting the test task into multiple phased tasks according to the task type of the test task, and respectively generating stage test instructions corresponding to the multiple phased tasks;

[0025] controlling the target handling device to respectively execute the phased tasks according to the stage test instructions.

[0026] Optionally, the simulation test method of the device further includes:

[0027] updating the device configuration information according to the task execution parameters, and generating a new test task according to the updated device configuration information.

[0028] Optionally,

[0029] The virtual handling device includes: an automated guided vehicle;

[0030] The test tasks include any one or more of the following: a handling task, a dumping task, a parking task, a packet collection waiting task, a charging task, and an error reporting task.

[0031] According to a second aspect of the embodiments of the present invention, there is provided a simulation test device for a device, including: a simulation environment construction module, a task generation module, a task execution module, and a test result determination module; wherein,

[0032] The simulation environment construction module is configured to construct a simulation test environment corresponding to a warehousing environment; wherein, the simulation test environment includes a virtual storage device and a virtual handling device;

[0033] The task generation module is configured to generate test tasks according to the device configuration information of the virtual storage device and the virtual handling device and the test requirements.

[0034] The task execution module is configured to determine a target handling device corresponding to the test task from the virtual handling devices, and generate a test instruction for the target handling device; according to the test instruction, control the target handling device to execute the test task, and obtain the task execution parameters of the target handling device.

[0035] The test result determination module is configured to determine the test result according to the task execution parameters.

[0036] Optionally, the simulation environment construction module is configured to construct a simulation test space corresponding to the warehousing environment, determine the types of the virtual storage device and the virtual handling device according to the types of the storage device and the handling device in the warehousing environment; respectively adjust the quantities of different types of the virtual storage device and the virtual handling device, and the positions of the virtual storage device and the virtual handling device in the simulation test space, so as to generate the simulation test environment.

[0037] Optionally, the simulation environment construction module is further configured to determine the available paths in the simulation test space according to the types and the positions of the virtual storage device and the virtual handling device;

[0038] The task execution module is configured to determine the test path of the target handling device according to the available paths, and generate the test instruction according to the test path and the test speed.

[0039] Optionally, the task execution module is configured to split the test task into multiple phased tasks according to the task type of the test task, and respectively generate stage test instructions corresponding to the multiple phased tasks; and control the target handling device to execute the phased tasks respectively according to the stage test instructions.

[0040] According to a third aspect of an embodiment of the present invention, there is provided a server for simulation testing of a device, including: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, enabling the one or more processors to implement the method according to any one of the above first aspects.

[0041] According to a fourth aspect of an embodiment of the present invention, there is provided a computer-readable medium having a computer program stored thereon, characterized in that when the program is executed by a processor, it implements the method according to any one of the above first aspects.

[0042] One embodiment of the above invention has the following advantages or beneficial effects: By constructing a simulation test environment corresponding to the warehousing environment, and then generating a test task according to the device configuration information and test requirements of the virtual storage device and virtual handling device in the simulation test environment; then determining a target handling device corresponding to the test task from the virtual handling devices, and generating corresponding test instructions, it is possible to control the target handling device to execute the test task according to the test instructions, and obtain the task execution parameters of the target handling device during the execution of the test task, and finally determine the test result according to the task execution parameters. Thus, the testing of the handling device is completed using the simulation test environment, which reduces the testing cost compared to using real sites and real devices, and realizes the full-process automation from generating the test task to determining the test result, thereby shortening the testing cycle and improving the testing efficiency.

[0043] The further effects of the above non-conventional optional methods will be described in conjunction with specific embodiments below. Description of the Drawings

[0044] The drawings are used to better understand the present invention and do not constitute an improper limitation to the present invention. Among them:

[0045] Figure 1 is a schematic diagram of the main process of the method for simulation testing of a device according to an embodiment of the present invention;

[0046] Figure 2 is a schematic diagram of the main process of the method for simulation testing of a device according to another embodiment of the present invention;

[0047] Figure 3 is a schematic diagram of the main modules of the device for simulation testing of a device according to an embodiment of the present invention;

[0048] Figure 4 is an exemplary system architecture diagram to which the embodiments of the present invention can be applied;

[0049] Figure 5 is a schematic structural diagram of a computer system of a terminal device or a server suitable for implementing the embodiments of the present invention. Detailed implementation manners

[0050] The following describes exemplary embodiments of the present invention with reference to the accompanying drawings. Various details of the embodiments of the present invention are included to facilitate understanding, and they should be considered merely exemplary. Therefore, those of ordinary skill in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present invention. Similarly, for clarity and conciseness, descriptions of well-known functions and structures are omitted in the following.

[0051] As Figure 1 shown, the embodiments of the present invention provide a simulation test method for a device, and the method may include the following steps S101 to step S105:

[0052] Step S101: Construct a simulation test environment corresponding to a warehousing environment; wherein, the simulation test environment includes a virtual storage device and a virtual handling device.

[0053] Among them, the virtual storage device corresponds to fixed devices in the warehousing environment, such as shelves and stacking systems, etc., and the virtual handling device corresponds to moving devices in the warehousing environment, such as AGVs and tipping trolleys, etc.

[0054] When constructing the simulation test environment, a simulation test environment matching the real warehousing environment can be constructed, that is, the types, quantities, and positions and other attributes of the virtual storage device and the virtual handling device constructed are the same as those of the storage device and the handling device in the real warehousing environment, so as to improve the simulation fitting degree and the authenticity of the simulation test. Of course, based on the real warehousing environment, a more diverse simulation test environment can also be constructed to meet the diversity of the test and improve the test efficiency.

[0055] Specifically, a simulation test space corresponding to the warehousing environment can be constructed first, then according to the types of the storage device and the handling device in the warehousing environment, the types of the virtual storage device and the virtual handling device are determined, and then the quantities of different types of the virtual storage device and the virtual handling device, as well as the positions of the virtual storage device and the virtual handling device in the simulation test space are adjusted respectively to generate the simulation test environment.

[0056] Of course, when adjusting the quantity and position of different types of virtual storage devices and virtual handling devices, they can be adjusted to be the same as the quantity and position of the storage devices and handling devices in the real warehousing environment, so that the generated simulation test environment matches the real warehousing environment. Additionally, according to actual test requirements, the quantity and position of the virtual storage devices and virtual handling devices can also be adjusted to be different from the quantity or position of the real storage devices and handling devices, so as to construct more diverse simulation test environments on the basis of the real warehousing environment. For example, the quantity of the virtual storage devices and virtual handling devices can be adjusted to be greater than the quantity of the storage devices and handling devices in the real warehousing environment, so that during the test process, multiple virtual handling devices can concurrently execute multiple test tasks, thereby improving the test efficiency.

[0057] Moreover, during the process of generating the simulation test environment, the quantity or position of one or more virtual storage devices or virtual handling devices can be continuously adjusted. For example, for a virtual handling device, it has a fixed transportation path when it is not the target handling device. During the construction of the simulation test environment, its transportation path can be adjusted by continuously adjusting its position, so as to construct a simulation test environment in which the same virtual handling device corresponds to multiple transportation paths, thereby meeting diverse test requirements and being conducive to improving the test efficiency.

[0058] Step S102: Generate test tasks according to the device configuration information of the virtual storage devices and the virtual handling devices.

[0059] Wherein, the device configuration information includes any one or both of the availability rate of the virtual handling device and the storage volume ratio of the virtual storage device.

[0060] The simulation test method of the device provided by the embodiments of the present invention can be completed through a simulation test device. This simulation test provides a task self-generator, which can trigger different types of tasks regularly according to the availability rate of the virtual handling device and / or the storage volume ratio of the virtual storage device. Taking the virtual handling device as an AGV as an example, the availability rate of the virtual handling device indicates the respective ratios corresponding to the available vehicles and unavailable vehicles in the virtual handling device. Among them, the unavailable vehicles may be due to insufficient power or equipment abnormalities, etc. When the reason for the unavailability of the AGV is insufficient power and the ratio of unavailable vehicles is greater than the preset ratio threshold, the task self-generator automatically generates a charging task. Additionally, the storage volume ratio of the virtual storage device can indicate the volume ratios of different picking positions or placing positions. When the volume ratio of picking position A is greater than the preset first threshold, the volume ratio of the placing position is less than the preset second threshold, and the ratio of available vehicles is greater than the preset ratio threshold, the task self-generator automatically generates a handling task.

[0061] According to the different types of handling equipment, the task generator can generate different types of test tasks. For example, when the handling equipment is a sorting flap AGV, the test tasks can include handling tasks, dumping tasks, parking tasks, packet collection waiting tasks, charging tasks, error reporting tasks, etc. When the handling equipment is a ground wolf AGV, the test tasks can include handling tasks, packet collection waiting tasks, parking tasks, charging tasks, and surface changing tasks, etc.

[0062] Step S103: Determine the target handling equipment corresponding to the test task from the virtual handling equipment, and generate a test instruction for the target handling equipment.

[0063] After constructing the simulation test environment, the available paths in the simulation test space can be determined according to the types and positions of the virtual storage equipment and the virtual handling equipment. Then, when generating a test instruction for the target handling equipment, the test path of the target handling equipment can be determined according to the available paths, and the test instruction can be generated according to the test path and the test speed.

[0064] Specifically, the simulation test device provided by the embodiments of the present invention also provides a map editor. The map editor can determine the basic map attributes in the simulation test environment according to the types and positions of the virtual storage equipment and the virtual handling equipment in the simulation test environment. Among them, the basic map attributes include multiple point attributes and section attributes. Among them, the point attributes can indicate whether a certain position point in the simulation test environment is an intersection point, whether it is a cluster entrance or whether it is a hiding point, etc. The point attributes recorded by the map editor can be shown in Table 1 below. In addition, the section attributes can indicate the section type of a certain section in the simulation test environment, such as whether the section is a main road or a bend, etc., and can also indicate whether a certain section requires delay allocation, etc. The section attributes recorded by the map editor can be shown in Table 2 below.

[0065] Table 1

[0066]

[0067]

[0068] Table 2

[0069]

[0070]

[0071] The simulation test device provided by the embodiment of the present invention further provides a scheduling control module for macro scheduling control. After the point attributes and road section attributes in the simulation test environment are obtained in the map editor, the determined point attributes and road section attributes can be stored in the scheduling control module. Then, when the scheduling control system needs to generate a test instruction for the handling device, based on the available path determined by the point attributes and road section attributes, the business attributes of each point or road section in the map basic attributes can be further combined to determine a test path suitable for the test task from the available paths, and then a test instruction can be generated according to the determined test path and the test speed of the virtual handling device to be controlled. Among them, the business attribute represents the business type of a certain point or road section, such as whether it is an exclusive type or a narrow roadway type, etc. The business attribute can be defined when constructing the simulation test environment, and the business attributes stored in the scheduling control module can be as shown in Table 3.

[0072] Table 3

[0073]

[0074]

[0075] Step S104: According to the test instruction, control the target handling device to execute the test task, and obtain the task execution parameters of the target handling device.

[0076] During the process of controlling the target handling device to execute the test task, the test task can be split into multiple phased tasks according to the task type of the test task, and stage test instructions corresponding to the multiple phased tasks can be generated respectively, and then the target handling device can be controlled to execute the phased tasks respectively according to the stage test instructions.

[0077] When splitting the test task into multiple phased tasks, it can be split according to different task phases of different task types. For example, when the test task is a handling task, the test task can be split into multiple phased tasks such as picking up goods journey, lifting the forklift, delivering goods journey, lowering the forklift, etc.; when the test task is a parking task, the test task is split into multiple phased moving tasks corresponding to multiple road sections from the current position to the parking position; when the test task is a charging task, the test task is split into multiple phased moving tasks corresponding to multiple road sections from the current position to the charging position for charging.

[0078] After splitting the test task into multiple phased tasks, stage test instructions corresponding to the multiple phased tasks are generated respectively, and then the multiple stage test instructions and the execution order of the multiple stage test instructions are sent to the target handling device, so that the target handling device automatically executes the next phased task after completing one phased task according to the execution order of the multiple stage test instructions.

[0079] Of course, the scheduling control module can also control the target handling equipment to perform phased tasks in stages according to the phase test instructions. For example, when performing a handling task, the scheduling control module first sends a phase test instruction corresponding to the pickup trip to the target handling equipment. When the target handling equipment performs the phase task of the pickup trip, the target handling equipment feeds back its task execution parameters to the scheduling control module. The task execution parameters include its heartbeat data and task execution status. The scheduling control module can determine whether the operating status of the target handling equipment is normal and determine the task execution progress of the pickup trip based on the task execution parameters. When the operating status of the target handling equipment is normal and the pickup trip is completed, the scheduling control module can send a phase test instruction of the lifting fork phase to the target handling equipment, so that the target handling equipment performs the lifting fork phase task. Similarly, the target handling equipment also feeds back task execution parameters to the scheduling control module in the lifting fork phase. By analogy, the test of the handling task can be completed.

[0080] It is worth mentioning that when the target handling equipment feeds back the task execution parameters to the scheduling control module, that is, when the scheduling control module obtains the task execution parameters of the target handling equipment, the heartbeat data and task execution status of the target handling equipment can be fed back according to different cycles. For example, the feedback frequency of the heartbeat data is higher than the feedback frequency of the task execution status, such as the heartbeat data is fed back every 200ms, and the task execution status is fed back only after a certain stage task is completed, so that the scheduling control module can monitor the operating status of the target handling equipment in real time according to the heartbeat data, and obtain the signal of the completion of the stage task in time, so as to send the next stage test instruction in time. It is understandable that when the target handling equipment receives the test instruction, it will adjust its own parameter configuration (such as running speed, speed of executing tasks, etc.) in time according to the test instruction to accurately execute the test task according to the test instruction.

[0081] In addition, after the scheduling control module obtains the task execution parameters, it can also send the task execution parameters to the task self-generator, so that the task self-generator updates the device configuration information according to the task execution parameters, and generates a new test task according to the updated device configuration information. For example, after executing the task of transporting items from pickup point A to delivery point B, the storage volume ratio of pickup point A and delivery point B can be updated according to the task execution parameters to generate a new test task accordingly. If the task execution parameters obtained by the scheduling control module contain abnormal information, the scheduling control module will also send the abnormal information to the task self-generator, so that the task self-generator generates test tasks related to abnormal information processing, such as equipment abnormality reporting, equipment abnormality resolution, and equipment offline.

[0082] It is worth mentioning that when the task generator generates multiple test tasks, the scheduling control device can simultaneously control multiple test tasks to run concurrently. Since the number of virtual handling devices and virtual storage devices can be large enough, the number of concurrently running test tasks can be large. Compared with the test method using real sites and real handling devices in the prior art, which is limited by the site and equipment, the simulation test method provided by the embodiments of the present invention improves the test efficiency.

[0083] Step S105: Determine the test result according to the task execution parameter.

[0084] The simulation test device provided by the embodiments of the present invention also provides a simulation monitoring interface. The simulation monitoring interface can dynamically display the overall operation of devices, resource occupancy, and dynamic driving trajectories of virtual handling devices in the simulation test environment in real time in various forms such as a linear map or a grid map. For example, in the simulation monitoring interface, idle virtual AGVs, busy AGVs, and charging AGVs can be distinguished and displayed by squares of different colors, and the walking points, online points, charging positions, parking positions, and pick-up / delivery positions of AGVs can be distinguished and displayed by dots of different colors, so that users can view the execution process of test tasks in real time through the simulation monitoring interface.

[0085] Taking the use of a virtual AGV to perform a handling task as an example, the simulation test method of the device provided by the embodiments of the present invention will be described in detail as follows. Figure 2 As shown in the figure, the method may include the following steps:

[0086] Step S201: Construct a simulation test space corresponding to the real warehousing environment, and determine the types of the virtual storage device and the virtual handling device according to the types of storage devices and handling devices in the warehousing environment.

[0087] For example, if the warehousing equipment in the real warehousing environment includes shelves and a stacking system, the types of the virtual storage device are also virtual shelves and a virtual stacking system; if the handling device in the real warehousing environment is an AGV, the type of the virtual handling device is a virtual AGV.

[0088] Step S202: Adjust the quantities of different types of the virtual storage device and the virtual handling device, and the positions of the virtual storage device and the virtual handling device in the simulation test space respectively to generate the simulation test environment.

[0089] Step S203: Determine the available paths in the simulation test space according to the types and positions of the virtual storage device and the virtual handling device.

[0090] Step S204: Generate a handling task according to the availability of the virtual handling device and the storage volume ratio of the virtual storage device.

[0091] Step S205: Determine the virtual AGV corresponding to the test task from the virtual handling devices.

[0092] Step S206: Split the handling task into multiple phased tasks.

[0093] Among them, the split phased tasks include: 4 phased tasks: picking up journey, lifting the forklift, delivering journey, and lowering the forklift.

[0094] Step S207: Determine the test path of the virtual AGV according to the available paths in the simulation test environment, and generate stage test instructions corresponding to each phased task according to the test speed of each phased task.

[0095] Step S208: Control the virtual AGV to execute the phased tasks respectively according to the stage test instructions.

[0096] Step S209: Obtain the task execution parameters fed back by the virtual AGV, and determine the test result according to the task execution parameters.

[0097] As Figure 3 shown, an embodiment of the present invention also provides a simulation test device 300 for a device, including: a simulation environment construction module 301, a task generation module 302, a task execution module 303, and a test result determination module 304; among them,

[0098] The simulation environment construction module 301 is used to construct a simulation test environment corresponding to the warehousing environment; among them, the simulation test environment includes a virtual storage device and a virtual handling device;

[0099] The task generation module 302 is used to generate a test task according to the device configuration information of the virtual storage device and the virtual handling device;

[0100] The task execution module 303 is used to determine the target handling device corresponding to the test task from the virtual handling devices, and generate a test instruction for the target handling device; according to the test instruction, control the target handling device to execute the test task, and obtain the task execution parameters of the target handling device;

[0101] The test result determination module 304 is used to determine the test result according to the task execution parameters.

[0102] In an embodiment of the present invention, the simulation environment construction module 301 is configured to construct a simulation test space corresponding to the warehousing environment, determine the types of the virtual storage devices and the virtual handling devices according to the types of the storage devices and the handling devices in the warehousing environment; respectively adjust the quantities of different types of the virtual storage devices and the virtual handling devices, and the positions of the virtual storage devices and the virtual handling devices in the simulation test space, so as to generate the simulation test environment.

[0103] In an embodiment of the present invention, the simulation environment construction module 301 is further configured to determine available paths in the simulation test space according to the types and the positions of the virtual storage devices and the virtual handling devices;

[0104] The task execution module 303 is configured to determine a test path of the target handling device according to the available paths, and generate the test instruction according to the test path and the test speed.

[0105] In an embodiment of the present invention, the task execution module 303 is configured to split the test task into multiple stage tasks according to the task type of the test task, and respectively generate stage test instructions corresponding to the multiple stage tasks; control the target handling device to execute the stage tasks respectively according to the stage test instructions.

[0106] An embodiment of the present invention further provides a server for simulating and testing a device, including: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, enabling the one or more processors to implement the method as described in any of the above embodiments.

[0107] An embodiment of the present invention further provides a computer-readable medium, on which a computer program is stored, and when the program is executed by a processor, the method as described in any of the above embodiments is implemented.

[0108] Figure 4 An exemplary system architecture 400 to which the method for simulating and testing a device or the device for simulating and testing a device according to the embodiments of the present invention can be applied is shown.

[0109] As Figure 4 shown, the system architecture 400 may include terminal devices 401, 402, 403, a network 404, and a server 405. The network 404 is used as a medium to provide a communication link between the terminal devices 401, 402, 403 and the server 405. The network 404 may include various connection types, such as wired, wireless communication links, or fiber optic cables, etc.

[0110] Users can use terminal devices 401, 402, and 403 to interact with server 405 via network 404 to receive or send messages, etc. Various communication client applications can be installed on terminal devices 401, 402, and 403, such as shopping applications, web browser applications, search applications, instant messaging tools, email clients, social platform software, etc.

[0111] Terminal devices 401, 402, and 403 can be various electronic devices with a display screen and supporting web browsing, including but not limited to smartphones, tablets, laptop computers, desktop computers, and so on.

[0112] Server 405 can be a server that provides various services. For example, it is a background management server that supports shopping websites browsed by users using terminal devices 401, 402, and 403. The background management server can analyze and process data such as product information query requests received, and feedback the processing results (such as target push information, product information - only for example) to the terminal device.

[0113] It should be noted that the simulation test method of the device provided by the embodiments of the present invention is generally executed by server 405. Correspondingly, the simulation test device of the device is generally set in server 405.

[0114] It should be understood that Figure 4 the numbers of the terminal devices, network, and server in

[0115] are merely illustrative. According to actual needs, there can be any number of terminal devices, network, and server. Figure 5 Shown below is a schematic structural diagram of computer system 500 of a terminal device suitable for implementing the embodiments of the present invention with reference to Figure 5 The shown terminal device is merely an example and should not impose any limitation on the functions and usage scope of the embodiments of the present invention.

[0116] As Figure 5 shown, computer system 500 includes a central processing unit (CPU) 501, which can perform various appropriate actions and processes according to the program stored in read-only memory (ROM) 502 or the program loaded from storage section 508 into random access memory (RAM) 503. In RAM 503, various programs and data required for the operation of system 500 are also stored. CPU 501, ROM 502, and RAM 503 are connected to each other via bus 504. Input / output (I / O) interface 505 is also connected to bus 504.

[0117] The following components are connected to the I / O interface 505: an input section 506 including a keyboard, a mouse, etc.; an output section 507 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc. as well as a speaker, etc.; a storage section 508 including a hard disk, etc.; and a communication section 509 including a network interface card such as a LAN card, a modem, etc. The communication section 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to the I / O interface 505 as needed. A removable medium 511 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc. is mounted on the drive 510 as needed so that a computer program read therefrom is installed into the storage section 508 as needed.

[0118] Specifically, according to the embodiments disclosed by the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed by the present invention include a computer program product which includes a computer program carried on a computer-readable medium, and the computer program includes program codes for performing the methods shown in the flowcharts. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 509, and / or installed from the removable medium 511. When the computer program is executed by a central processing unit (CPU) 501, the above functions defined in the system of the present invention are executed.

[0119] It should be noted that the computer-readable medium shown in the present invention can be a computer-readable signal medium, a computer-readable storage medium, or any combination of the above two. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of a computer-readable storage medium can include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In the present invention, a computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on a computer-readable medium can be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination of the above.

[0120] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram can represent a module, a program segment, or a part of code that contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks can occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks shown can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or by a combination of dedicated hardware and computer instructions.

[0121] The modules involved in the embodiments of the present invention can be implemented in software or in hardware. The described modules can also be provided in a processor. For example, it can be described as: a processor includes a simulation environment construction module, a task generation module, a task execution module, and a test result determination module. Among them, the names of these modules do not constitute a limitation to the modules themselves in some cases. For example, the test result determination module can also be described as "a module for determining test results".

[0122] As another aspect, the present invention also provides a computer-readable medium. The computer-readable medium can be included in the device described in the above embodiments; or it can exist separately without being assembled into the device. The above computer-readable medium carries one or more programs. When the above one or more programs are executed by the device, the device includes: constructing a simulation test environment corresponding to the warehousing environment; wherein the simulation test environment includes a virtual storage device and a virtual handling device; generating a test task according to the device configuration information of the virtual storage device and the virtual handling device; determining a target handling device corresponding to the test task from the virtual handling device, and generating a test instruction for the target handling device; controlling the target handling device to execute the test task according to the test instruction, and obtaining the task execution parameters of the target handling device; determining the test result according to the task execution parameters.

[0123] According to the technical solution of the embodiments of the present invention, by constructing a simulation test environment corresponding to the warehousing environment, and then generating a test task according to the device configuration information of the virtual storage device and the virtual handling device in the simulation test environment and the test requirements; then determining a target handling device corresponding to the test task from the virtual handling device, and generating a corresponding test instruction, it is possible to control the target handling device to execute the test task according to the test instruction, and obtain the task execution parameters of the target handling device during the execution of the test task, and finally determine the test result according to the task execution parameters. Thus, the test of the handling device is completed by using the simulation test environment, which reduces the test cost compared with using a real site and real devices, and realizes the full process automation from generating the test task to determining the test result, thereby shortening the test cycle and improving the test efficiency.

[0124] The above specific embodiments do not constitute a limitation to the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can occur depending on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A simulation test method for a device, characterized in that, Including: Construct a simulation test environment corresponding to the warehousing environment; wherein, the simulation test environment includes virtual storage devices and virtual handling devices; specifically including: constructing a simulation test space corresponding to the warehousing environment; determining the types of the virtual storage devices and the virtual handling devices according to the types of the storage devices and the handling devices in the warehousing environment; respectively adjusting the quantities of different types of the virtual storage devices and the virtual handling devices, and the positions of the virtual storage devices and the virtual handling devices in the simulation test space to generate the simulation test environment; Generate test tasks according to the device configuration information of the virtual storage devices and the virtual handling devices; the device configuration information includes: any one or both of the availability rate of the virtual handling devices and the storage volume ratio of the virtual storage devices; the storage volume ratio indicates the volume ratio of different picking positions or placing positions; specifically including: a task self-generator triggers different types of tasks regularly according to the availability rate of the virtual handling devices and the storage volume ratio of the virtual storage devices; the test tasks include: any one or more of a handling task, a dumping task, a parking task, a parcel assembling waiting task, a charging task, an error reporting task; Determine a target handling device corresponding to the test task from the virtual handling devices, and generate a test instruction for the target handling device; Control the target handling device to execute the test task according to the test instruction, and obtain the task execution parameters of the target handling device; Determine the test result according to the task execution parameters; 2. The method according to claim 1, wherein The constructing the simulation test environment further includes: Determine the available paths in the simulation test space according to the types and the positions of the virtual storage devices and the virtual handling devices; The generating the test instruction for the target handling device includes: Determine the test path of the target handling device according to the available paths, and generate the test instruction according to the test path and the test speed; 3. The method according to claim 1, wherein The generating the test instruction for the target handling device and controlling the target handling device to run according to the test instruction includes: Split the test task into multiple phased tasks according to the task type of the test task, and respectively generate stage test instructions corresponding to the multiple phased tasks; Control the target handling device to execute the phased tasks respectively according to the stage test instructions; 4. The method according to claim 1, characterized in that, Further including: Update the device configuration information according to the task execution parameters, and generate new test tasks according to the updated device configuration information; 5. The method according to any one of claims 1 to 4, wherein The virtual handling device includes: an automated guided vehicle; 6. An emulation test device for a device, characterized in that, Including: A simulation environment construction module, a task generation module, a task execution module, and a test result determination module; wherein The simulation environment construction module is used to construct a simulation test environment corresponding to the warehousing environment. Among them, the simulation test environment includes virtual storage devices and virtual handling devices. It is also used to construct a simulation test space corresponding to the warehousing environment, determine the types of the virtual storage devices and the virtual handling devices according to the types of the storage devices and the handling devices in the warehousing environment, and respectively adjust the quantities of different types of the virtual storage devices and the virtual handling devices, as well as the positions of the virtual storage devices and the virtual handling devices in the simulation test space, so as to generate the simulation test environment. The task generation module is used to generate test tasks according to the device configuration information of the virtual storage devices and the virtual handling devices. The device configuration information includes any one or both of the availability rate of the virtual handling devices and the storage volume ratio of the virtual storage devices. The storage volume ratio indicates the volume ratio of different picking positions or placing positions. It is also used for the task self-generator to trigger different types of tasks regularly according to the availability rate of the virtual handling devices and the storage volume ratio of the virtual storage devices. The test tasks include any one or more of the following: handling tasks, dumping tasks, parking tasks, consolidation waiting tasks, charging tasks, error reporting tasks. The task execution module is used to determine a target handling device corresponding to the test task from the virtual handling devices and generate a test instruction for the target handling device. According to the test instruction, control the target handling device to execute the test task and obtain the task execution parameters of the target handling device. The test result determination module is used to determine the test result according to the task execution parameters.

7. The device according to claim 6, wherein The simulation environment construction module is further used to determine the available paths in the simulation test space according to the types and the positions of the virtual storage devices and the virtual handling devices. The task execution module is used to determine the test path of the target handling device according to the available paths, and generate the test instruction according to the test path and the test speed.

8. The device according to claim 6, wherein The task execution module is used to split the test task into multiple phased tasks according to the task type of the test task, and respectively generate stage test instructions corresponding to the multiple phased tasks, and control the target handling device to execute the phased tasks respectively according to the stage test instructions.

9. A server for simulation testing of a device, characterized in that, It includes: One or more processors; A storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1-5.

10. A computer-readable medium having a computer program stored thereon, characterized in that, The program, when executed by the processor, implements the method according to any one of claims 1-5.

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