Verification method and system of robot joint communication system model

Abstract

The invention relates to a verification method and system of a robot joint communication system model. The method comprises the steps of modeling for and analyzing a CAN-based field bus type control system in a formalization manner, wherein model abstracting is performed on the system, and then formal modeling and verification are performed; determining whether a timed automata meets constraints of correctness and timeliness; if the time automata does not meet the constraint of correctness, replanning a system solution; if the time automata does not meet the constraint of timeliness, improvingthe timeliness through deploying a dynamic priority policy. According to the method, a timed automata model is built in a formal description manner, and the correctness and timeliness of the timed automata are verified in a UPPAAL tool; if the constraint of timeliness is not met, the dynamic priority policy is deployed.

Description

technical field [0001] The invention relates to the field of robot communication, in particular to a verification method and system for a robot joint communication system model. Background technique [0002] Robot applications are becoming more and more extensive, not limited to industry. Due to market demand, a large number of service robots have begun to be used in medical care and households. Due to the complexity, high concurrency, and high requirements for real-time performance of the robot communication system, it is very important to ensure that the robot completes the expected action accurately and in real time, especially in the information transmission between the distributed nodes of the robot, the communication delay must meet Specify the requirements for response time, otherwise it will affect the stability of the system or cause system errors and crashes. [0003] In the CAN bus protocol specification, the static priority strategy of information is used for co...

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Problems solved by technology

[0003] In the CAN bus protocol specification, the static priority strategy of information is used for communication, which can basically guarantee real-time performance. However, with the increase of nodes on the CAN bus and the improvement of real-time requirements, the static priority strategy cannot meet the delay requirements of transmission between nodes.

[0004] At present, the verification of CAN bus protocol is mainly concentrated in the control system of electric vehicles. In these verification methods of CAN protocol, traditional testing, simulation and simulation methods are mainly used. However, these three methods have certain limitations. It cannot cover all execution paths, so it will lead to incomplete verification results

The traditional test method is to use a physical machine to build a test platform for parameter setting and testing in the final stage of design. This method needs to be carried out in the final stage, and the parameter setting during the test process is limited, resulting in inaccurate test results.

The traditional simulation and emulation methods mainly use computer software for environment simulation and action simulation, and then for communication analysis. However, this method relies on hardware and provides limited parameter settings, which will also lead to incomplete verification results.

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