Rotation test method, system and device of mobile robot and server

Abstract

The embodiment of the invention discloses a rotation test method, system and device of a mobile robot and a server, and relates to the technical field of mobile robots. According to the specific implementation scheme, a task execution instruction is sent to the mobile robot, the task execution instruction is used for instructing the mobile robot to execute a test task, and the test task comprises rotation at a test position point according to a preset direction; obtaining rotation data collected by the distance measuring module when the mobile robot rotates at the test position point according to the preset direction; and obtaining a rotation performance index of the mobile robot based on the rotation data. In the scheme, by setting the test position point and the corresponding distance measurement baffle plate, the rotation performance of the mobile robot can be evaluated by using the rotation data acquired by the distance measurement module in the process that the mobile robot rotates at the test position point according to the preset direction, so that the accuracy of the rotation test of the mobile robot is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mobile robots, in particular to a rotation test method, system and device of a mobile robot and a server. BACKGROUND

[0002] In the test of a mobile robot, rotation speed is an important test and evaluation index, which affects the overall motion performance evaluation of the mobile robot. The current rotation test scheme for the mobile robot can test and evaluate technical indexes in different aspects and degrees, but the rotation test scheme has certain errors, resulting in low accuracy of the rotation test of the mobile robot. SUMMARY

[0003] The present application provides a rotation test method, system, device and server of a mobile robot, which can improve the accuracy of the rotation test of the mobile robot.

[0004] The present application provides the following solutions:

[0005] According to a first aspect, a rotation test method of a mobile robot is provided, which is applied to a test scene containing test position points and corresponding ranging barriers, the ranging barriers are spaced apart from the corresponding test position points by a preset distance, and a ranging module is arranged on the mobile robot. The rotation test method comprises: sending a task execution instruction to the mobile robot, the task execution instruction being used to instruct the mobile robot to execute a test task, the test task comprising rotating in a preset direction at a test position point; acquiring rotation data collected by the ranging module during rotation of the mobile robot in the preset direction at the test position point; and obtaining a rotation performance index of the mobile robot based on the rotation data.

[0006] As an optional mode, after acquiring the rotation data collected by the ranging module during rotation of the mobile robot in the preset direction at the test position point, the rotation test method further comprises: analyzing the rotation data to obtain a time point at which distance jump occurs; acquiring an initial time point and an end time point corresponding to the ranging barrier detected by the ranging module according to the time point at which distance jump occurs; and acquiring distances corresponding to the initial time point and the end time point respectively according to the rotation data.

[0007] As an optional mode, acquiring the initial time point and the end time point corresponding to the ranging barrier detected by the ranging module according to the time point at which distance jump occurs comprises: acquiring a time at which distance jump occurs for the first time and a time at which distance jump occurs for the second time; determining the time at which distance jump occurs for the first time as the initial time point; and determining the time at which distance jump occurs for the second time as the end time point.

[0008] As an optional mode, the rotation performance index of the mobile robot is obtained based on the rotation data, including: determining a test rotation speed of the mobile robot at the test position point based on distances corresponding to the initial time point and the end time point respectively and a time interval between the initial time point and the end time point; and determining the rotation performance index of the mobile robot based on the test rotation speed.

[0009] As an optional mode, the test rotation speed of the mobile robot at the test position point is determined based on distances corresponding to the initial time point and the end time point respectively and a time interval between the initial time point and the end time point, including: obtaining an offset of a position of the ranging module relative to a rotation axis of the mobile robot, and obtaining a width of the ranging baffle; and determining the test rotation speed of the mobile robot at the test position point based on the distances corresponding to the initial time point and the end time point respectively, the time interval, the offset and the width.

[0010] As an optional mode, the rotation performance index of the mobile robot is determined based on the test rotation speed, including: determining the rotation performance index of the mobile robot by using the test rotation speed and a preset rotation speed of the mobile robot.

[0011] As an optional mode, the number of test rotation speeds is at least two; the rotation performance index of the mobile robot is determined based on at least two test rotation speeds, including: determining at least one of a maximum rotation speed, a minimum rotation speed, an average rotation speed and a root mean square error; and determining the rotation performance index of the mobile robot by using the preset rotation speed and using at least one of the maximum rotation speed, the minimum rotation speed, the average rotation speed and the root mean square error.

[0012] As an optional mode, the at least two test rotation speeds are obtained based on at least one of the following: sending at least two task execution instructions to the mobile robot to determine at least two test rotation speeds of the mobile robot at the test position point; the number of test position points is at least two, and the test task includes moving between the at least two test position points in turn and rotating in a preset direction at each test position point; sending a task execution instruction to the mobile robot to determine at least two test rotation speeds of the mobile robot at the at least two test position points; the test task includes rotating in a preset direction at the test position point at least twice; and sending a task execution instruction to the mobile robot to determine at least two test rotation speeds of the mobile robot at the test position point.

[0013] According to a second aspect, a rotation test system of a mobile robot is provided, which is applied to a test scene including test position points and corresponding ranging barriers, the ranging barriers are spaced apart from the corresponding test position points by a preset distance, the rotation test system includes: a relay server configured to send a task execution instruction to the mobile robot, the task execution instruction being used to instruct the mobile robot to perform a test task; the mobile robot provided with a ranging module, configured to perform the test task in response to the task execution instruction, the test task including rotating at a preset direction at the test position points, and sending rotation data collected by the ranging module during the rotating at the preset direction at the test position points to the relay server; the relay server is further configured to obtain a rotation performance index of the mobile robot based on the rotation data.

[0014] As an optional mode, the ranging module is located on a central axis of the mobile robot in the moving direction, and the ranging module is located at a front end position of the mobile robot in the moving direction.

[0015] As an optional mode, the ranging module is a laser sensor.

[0016] As an optional mode, the ranging barriers are arranged on one side or opposite sides of the test position points, and a connecting line between the ranging barriers and the center of the test position points is perpendicular to the moving direction of the mobile robot.

[0017] According to a third aspect, a rotation test device of a mobile robot is provided, which is applied to a test scene including test position points and corresponding ranging barriers, the ranging barriers are spaced apart from the corresponding test position points by a preset distance, and the mobile robot is provided with a ranging module, the rotation test device includes: an instruction sending unit configured to send a task execution instruction to the mobile robot, the task execution instruction being used to instruct the mobile robot to perform a test task, the test task including rotating at a preset direction at the test position points; a data acquisition unit configured to acquire rotation data collected by the ranging module during the rotating at the preset direction at the test position points; and a rotation test unit configured to obtain a rotation performance index of the mobile robot based on the rotation data.

[0018] According to a fourth aspect, a relay server is provided, which includes: one or more processors; and a memory associated with the one or more processors, the memory being used to store program instructions, the program instructions being used to perform the rotation test method of the mobile robot of the first aspect when read and executed by the one or more processors.

[0019] According to a fifth aspect, a computer program product is provided, which includes a computer program, the computer program being used to implement the rotation test method of the mobile robot of the first aspect when executed.

[0020] According to the specific embodiments provided in the present application, the following technical effects are disclosed in the present application:

[0021] The application sets a test position point and sets a ranging baffle corresponding to the test position point at a position spaced apart from the test position point by a preset distance. The relay server can send a task execution instruction to the mobile robot. The mobile robot executes a test task of rotating at the test position point in a preset direction according to the task execution instruction. The ranging module arranged on the mobile robot collects rotation data of the mobile robot in real time in the process of rotating at the test position point in the preset direction, so as to obtain a rotation performance index of the mobile robot by using the rotation data, and evaluate the rotation performance of the mobile robot. The rotation data of the mobile robot in the rotating process is used to evaluate the rotation performance of the mobile robot, which can improve the accuracy of testing the rotation performance of the mobile robot.

[0022] Of course, implementing any product of the application does not necessarily require all the above advantages to be achieved at the same time. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the drawings needed to be used in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0024] Figure 1 A structural schematic diagram of a rotation test system of a mobile robot provided by an embodiment of the application;

[0025] Figure 2 A schematic diagram of a test scene provided by an embodiment of the application;

[0026] Figure 3 A flowchart of a rotation test method of a mobile robot provided by an embodiment of the application;

[0027] Figure 4 A structural schematic diagram of a rotation test device of a mobile robot provided by an embodiment of the application;

[0028] Figure 5 A schematic block diagram of a relay server provided by an embodiment of the application.

[0029] Explanation of reference signs:

[0030] 10: rotation test system of a mobile robot; 11: relay server; 12: mobile robot; 121: ranging module;

[0031] 13: test position point; 14: ranging baffle;

[0032] 400: rotation test device of mobile robot; 410: instruction sending unit; 420: data acquisition unit; 430: rotation test unit;

[0033] 501: memory; 502: processor; 503: communication interface; 504: bus. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art belong to the scope of protection of the present application.

[0035] The terms used in the embodiments of the present application are only for the purpose of describing the specific embodiments, and are not intended to limit the present application. The singular forms "a", "an" and "the" used in the embodiments of the present application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0036] It should be understood that the term "and / or" used herein is only to describe the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " in this paper generally represents that the front and rear associated objects are a "or" relationship.

[0037] Depending on the context, the word "if" as used herein can be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting". Similarly, depending on the context, the phrase "if determined" or "if detecting (a stated condition or event)" can be interpreted as "when determined" or "in response to determining" or "when detecting (a stated condition or event)" or "in response to detecting (a stated condition or event)".

[0038] In order to ensure the quality of the mobile robot, the mobile robot needs to be tested in many aspects, and the rotation test of the mobile robot is an important aspect. The present inventors found that there are some shortcomings in the current rotation test scheme for mobile robots during research:

[0039] In one related technology, the speed instruction and the position instruction are generated by determining the synthetic angular displacement of the robot, so as to realize the rotation test of the robot. However, the preset and iterative calculation method of this way has certain error.

[0040] In another related technology, the rotation center offset is determined based on a test mode in which a plurality of sensors are respectively connected to a controller, and the rotation of the robot is tested by using the offset. However, this test mode is relatively complex and has a high cost.

[0041] Therefore, how to balance the accuracy of testing the rotation of the mobile robot and reduce the complexity and cost of the test process has become an important technical problem.

[0042] Therefore, a new idea is provided in the present application. In order to facilitate the understanding of the embodiments of the present application, first refer to Figure 1 The rotation test system of the mobile robot of the present application is introduced, and refer to Figure 2 The test scenario of the present application is introduced. Figure 1 The structure diagram of the rotation test system of the mobile robot provided in the embodiments of the present application. Figure 2 The schematic diagram of the test scenario provided in the embodiments of the present application. It should be noted that, Figure 1 The structure of the rotation test system shown in Figure 2 The structure of the rotation test system and the test scenario shown in

[0043] As Figure 1 shown, the rotation test system 10 of the mobile robot includes a relay server 11 and a mobile robot 12, and the relay server 11 and the mobile robot 12 can be connected through a network. The mobile robot 12 is provided with a ranging module 121.

[0044] The relay server 11 can send a task execution instruction to the mobile robot 12. After receiving the task execution instruction, the mobile robot 12 executes the test task, that is, the mobile robot 12 executes the test task of rotating in a preset direction at a test position point 13. During the rotation of the mobile robot 12 at the test position point 13 in the preset direction, the ranging module 121 collects the rotation data of the mobile robot 12 in real time and sends the rotation data to the relay server 11. After receiving the rotation data, the relay server 11 obtains the rotation performance index of the mobile robot 12 by using the rotation data, and evaluates the rotation performance of the mobile robot 12. By using the rotation data of the mobile robot during the rotation to evaluate the rotation performance of the mobile robot, the accuracy of testing the rotation performance of the mobile robot can be improved.

[0045] The rotation testing system 10 can be applied to a test scenario that includes a test position point 13 and its corresponding ranging baffle 14. In this test scenario, the front-to-back length of the mobile robot 12 in the direction of movement is l (that is, the front-to-back length of the top surface of the mobile robot in the direction of movement); the center height of the ranging module 121 is h; the width of the ranging baffle 14 is L, the height is H (for example, H = 2h, in practice, it is sufficient to ensure that H is greater than h), and the thickness is d; the ranging baffle 14 and the corresponding test position point 13 are separated by a preset distance s (s is sufficient to ensure that the mobile robot 12 can rotate without encountering obstacle avoidance problems). The ranging module 121 is used to measure the distance between the mobile robot 12 and the ranging baffle 14, and there are no other interfering factors around the ranging baffle 14 that could affect the ranging module 121's measurement of the distance between the mobile robot 12 and the ranging baffle 14.

[0046] like Figure 2 As shown, the number of test location points 13 is two (in Figure 2 (In the diagram, A and B are shown). Taking each test position 13 as an example, each test position 13 corresponds to two ranging baffles 14. The line connecting the two ranging baffles 14 corresponding to A with the center of A is perpendicular to the moving direction of the mobile robot 12; the line connecting the two ranging baffles 14 corresponding to B with the center of B is perpendicular to the moving direction of the mobile robot 12. The mobile robot 12 can travel back and forth between A and B, and when it reaches A and B respectively, it follows the same preset direction (e.g., ...). Figure 2 Rotate clockwise (in the middle) to obtain multiple sets of rotation data.

[0047] Preferably, the ranging module 121 is located on the central axis of the mobile robot 12 in the direction of movement, and the ranging module 121 is located at the front end of the mobile robot 12 in the direction of movement, so that the ranging module 121 is flush with the front end of the mobile robot 12. This can reduce the influence of the position of the ranging module 121 on the rotation performance test of the mobile robot 12, and further improve the accuracy of the rotation performance test of the mobile robot 12.

[0048] Optionally, the ranging module 121 can be located at any position on the central axis of the mobile robot 12 in the direction of movement.

[0049] In one embodiment, the ranging module 121 can be a laser sensor. During the rotation of the mobile robot 12 at the test position 13 in a preset direction, the ranging module 121 can emit a laser and, by detecting the ranging baffle 14, obtain rotation data of the mobile robot 12 during its rotation at the test position 13 in the preset direction. Using a laser sensor improves the accuracy of the obtained rotation data, thereby enhancing the accuracy of testing the rotational performance of the mobile robot 12 using this rotation data.

[0050] The direction of the laser emitted by the laser sensor is consistent with the moving direction of the mobile robot 12. During the rotation of the mobile robot 12 at the test position point 13 in the preset direction, the laser direction also rotates, thereby measuring the distance between the mobile robot 12 and the ranging baffle 14.

[0051] In an embodiment, the line connecting the center of the ranging baffle 14 and the test position point 13 is perpendicular to the moving direction of the mobile robot 12, thereby reducing the interference of the displacement of the mobile robot 12 in the moving direction on the test of the rotation performance of the mobile robot 12, and improving the accuracy of the test of the rotation performance of the mobile robot 12.

[0052] Preferably, since the angle of rotation of the mobile robot 12 can be small, and the mobile robot 12 has two rotation directions (counterclockwise rotation direction and clockwise rotation direction), in order to cover the case of testing the rotation of the mobile robot 12 in both rotation directions, the number of ranging baffles 14 can be set to two, and the two ranging baffles 14 are arranged on opposite sides of the test position point 13, so that the rotation data of the mobile robot 12 in the two rotation directions can be obtained by using one ranging module 121 and two ranging baffles 14, thereby improving the accuracy of the test of the rotation performance of the mobile robot 12, and reducing the cost of the test of the rotation performance of the mobile robot 12.

[0053] Optionally, the number of ranging baffles 14 can also be one, which can be arranged on one side of the test position point 13. In order to cover the case of testing the rotation of the mobile robot 12 in both rotation directions, two ranging modules 121 can be arranged on the central axis in the moving direction of the mobile robot 12, so that the rotation data of the mobile robot 12 in the two rotation directions can be obtained by using one ranging baffle 14 and two ranging modules 121, thereby improving the accuracy of the test of the rotation performance of the mobile robot 12. This way is slightly more expensive than the way of one ranging module 121 and two ranging baffles 14, but the complexity of the test scene is lower.

[0054] Optionally, the number of ranging baffles 14 and the number of ranging modules 121 can also be one, and the moving direction of the mobile robot 12 is adjusted, so that the rotation data of the mobile robot 12 in the two rotation directions can be obtained by using one ranging baffle 14 and one ranging module 121. In addition, the number of ranging baffles 14 and the number of ranging modules 121 can also be two, so that the rotation data of the mobile robot 12 in the two rotation directions can be obtained by using two ranging baffles 14 and two ranging modules 121.

[0055] The number of the ranging baffle 14 and the ranging module 121 is not limited in the present application, and can be determined according to the requirement in actual application.

[0056] In an embodiment, the number of the test position points 13 can be one or multiple. When the number of the test position points 13 is multiple, the multiple test position points 13 are sequentially arranged according to the moving direction of the mobile robot 12, and the distance between the multiple test position points 13 can meet the requirement of arranging the ranging baffle 14, so as to ensure that the rotation angle range of the mobile robot 12 at the multiple test position points 13 is as large as possible. After receiving the task execution instruction, the mobile robot 12 executes the test task, that is, the mobile robot 12 executes the test task of sequentially moving to the multiple test position points 13 and rotating at each test position point 13 according to the preset direction.

[0057] It should be noted that, Figure 1 the transfer server 11, the mobile robot 12 and the ranging module 121 shown in Figure 2 the test position point 13 and the ranging baffle 14 shown in, and

[0058] Next, reference is made to Figure 3 The rotation test method of the mobile robot of the present application is introduced. Figure 3 The flowchart of the rotation test method of the mobile robot provided in the embodiment of the present application, which can be executed by Figure 1 the transfer server 11 in, and applied to the test scene containing the test position point and the corresponding ranging baffle, the ranging baffle is spaced apart from the corresponding test position point by a preset distance, and the mobile robot is provided with the ranging module. As shown in Figure 3 the method can include the following steps:

[0059] Step 310: sending a task execution instruction to the mobile robot, the task execution instruction being used to instruct the mobile robot to execute a test task, the test task including rotating at a test position point according to a preset direction.

[0060] Step 320: obtaining rotation data collected by the ranging module during the rotation of the mobile robot at the test position point according to the preset direction.

[0061] Step 330: obtaining a rotation performance index of the mobile robot based on the rotation data.

[0062] It can be seen from the above process that, by setting the test position point and setting the ranging baffle corresponding to the test position point at a position spaced apart from the test position point by a preset distance, the transfer server can send a task execution instruction to the mobile robot, the mobile robot executes a test task of rotating at the test position point in a preset direction according to the task execution instruction, and the ranging module arranged on the mobile robot collects rotation data of the mobile robot in real time in the process of rotating at the test position point in the preset direction, so as to obtain the rotation performance index of the mobile robot by using the rotation data, and the rotation performance of the mobile robot is evaluated. By using the rotation data of the mobile robot in the rotation process to evaluate the rotation performance of the mobile robot, the accuracy of testing the rotation performance of the mobile robot can be improved.

[0063] The steps in the above process will be described in detail below in combination with embodiments.

[0064] First, the step 310, i.e., “sending a task execution instruction to the mobile robot, the task execution instruction being used to instruct the mobile robot to execute a test task, the test task including rotating at a test position point in a preset direction”, will be described in detail in combination with embodiments.

[0065] The preset direction can be a clockwise rotation direction or a counterclockwise rotation direction. In actual application, the mobile robot can rotate in the clockwise direction and the counterclockwise direction, and therefore, the rotation performance of the mobile robot in the clockwise direction and the counterclockwise direction can be tested respectively in the test process, so as to ensure the comprehensiveness of the rotation test of the mobile robot and meet the diversified needs of the mobile robot in actual application.

[0066] In the embodiments of the present application, the initial position of the mobile robot can be the test position point, and then the mobile robot executes the test task by directly rotating at the test position point in the preset direction. The initial position of the mobile robot can also not be the test position point, and then the mobile robot executes the test task by first moving from the position to the test position point and then rotating at the test position point in the preset direction.

[0067] Next, the step 320, i.e., “obtaining rotation data collected by the ranging module in the process of the mobile robot rotating at the test position point in the preset direction”, will be described in detail in combination with embodiments.

[0068] In the process of the mobile robot rotating at the test position point in the preset direction, the ranging module collects rotation data of the mobile robot in real time, and the rotation data includes real-time distances between the mobile robot and the ranging baffle measured by the ranging module and time points corresponding to each distance.

[0069] In an embodiment, after the rotating test method obtains the rotating data collected by the distance measuring module during the rotation of the mobile robot at the test position point in the preset direction, the rotating test method further comprises: analyzing the rotating data to obtain a time point at which a distance jump occurs; obtaining an initial time point and an end time point corresponding to the detection of the distance measuring module to the distance measuring baffle according to the time point at which the distance jump occurs; and obtaining distances corresponding to the initial time point and the end time point respectively according to the rotating data.

[0070] During the rotation of the mobile robot at the test position point in the preset direction, the distance measuring module also rotates in the preset direction following the mobile robot. Since the connecting line between the distance measuring baffle and the center of the test position point is perpendicular to the moving direction of the mobile robot, when the mobile robot starts to rotate, the distance measuring module cannot detect the distance measuring baffle; as the mobile robot continues to rotate, the distance measuring module starts to detect the distance measuring baffle and measures the real-time distance between the mobile robot and the distance measuring baffle; as the mobile robot continues to rotate, the distance measuring module cannot detect the distance measuring baffle again. In this process, the rotating data collected by the distance measuring module includes two time points at which distance jumps occur and distances between the mobile robot and the distance measuring baffle corresponding to the two time points at which distance jumps occur respectively.

[0071] During the detection of the distance measuring baffle by the distance measuring module, the two time points at which distance jumps occur correspond to an initial time point and an end time point at which the distance measuring module detects the distance measuring baffle, and the rotation angle of the mobile robot rotating in the preset direction between the initial time point and the end time point is a fixed geometric quantity that can be accurately calculated using geometric relationships. Therefore, testing the rotation performance of the mobile robot using the rotation angle of the mobile robot can improve the accuracy of testing the rotation performance of the mobile robot (how to test the rotation performance of the mobile robot using the rotation angle of the mobile robot will be described in detail below). Thus, after the rotating test method obtains the rotating data collected by the distance measuring module during the rotation of the mobile robot at the test position point in the preset direction, the rotating test method can analyze the rotating data to obtain the time point at which the distance jump occurs, determine the initial time point and the end time point corresponding to the detection of the distance measuring module to the distance measuring baffle, and obtain the distances corresponding to the initial time point and the end time point respectively.

[0072] In the method, obtaining the initial time point and the end time point corresponding to the detection of the distance measuring module to the distance measuring baffle according to the time point at which the distance jump occurs comprises: obtaining a time at which the distance jump occurs for the first time and a time at which the distance jump occurs for the second time; determining the time at which the distance jump occurs for the first time as the initial time point; and determining the time at which the distance jump occurs for the second time as the end time point.

[0073] In the process of detecting the ranging baffle, the ranging module is from not detecting the ranging baffle to detecting the ranging baffle, and then to not detecting the ranging baffle. In this process, distance jumps occur twice:

[0074] The first distance jump occurs from the moment when the ranging module is from not detecting the ranging baffle to detecting the ranging baffle. In this case, the distance measured by the ranging module jumps from 0 (since the ranging module determines the distance between the mobile robot and the ranging baffle by detecting the ranging baffle, and the ranging module does not detect the ranging baffle, the distance between the mobile robot and the ranging baffle is considered to be 0) to a non-0 value (or the distance measured by the ranging module can jump from an invalid value to a valid value, or the distance measured by the ranging module can jump from infinity to a value within a certain range, or the distance measured by the ranging module can jump from a larger value exceeding a first threshold to a smaller value less than a second threshold, and the difference between the first threshold and the second threshold is large, etc.).

[0075] The second distance jump occurs from the moment when the ranging module is from detecting the ranging baffle to not detecting the ranging baffle. In this case, the distance measured by the ranging module jumps from a non-0 value to 0 (or the distance measured by the ranging module can jump from a valid value to an invalid value, or the distance measured by the ranging module can jump from a value within a certain range to infinity, or the distance measured by the ranging module can jump from a smaller value less than a second threshold to a larger value exceeding a first threshold, etc.).

[0076] Therefore, the time when the first distance jump occurs can be determined as the initial time point when the ranging module detects the ranging baffle, and the time when the second distance jump occurs can be determined as the end time point when the ranging module detects the ranging baffle. Through this very distinctive distance jump signal, the complexity of filtering other interference signals can be greatly reduced, thereby improving the efficiency of determining the initial time point and the end time point when the ranging module detects the ranging baffle, as well as the distance corresponding to the initial time point and the end time point, respectively, using rotation data, and further improving the efficiency of testing the rotation performance of the mobile robot.

[0077] In a preferred embodiment, since there can be a slight difference between the rotation performance of the mobile robot when rotating clockwise and when rotating counterclockwise, in order to further improve the accuracy of the rotation test of the mobile robot, rotation data can be collected respectively during the clockwise rotation process and the counterclockwise rotation process, so that the rotation data collected during the clockwise rotation process and the rotation data collected during the counterclockwise rotation process are used respectively to perform the rotation test of the mobile robot. Therefore, in the embodiment of the present application, the rotation data is a set of data corresponding to two distance jumps collected by the ranging module during the rotation of the mobile robot in the same rotation direction.

[0078] Next, the step 330, i.e., obtaining the rotation performance index of the mobile robot based on the rotation data, will be described in detail in combination with an embodiment.

[0079] In an embodiment, obtaining the rotation performance index of the mobile robot based on the rotation data includes: determining a test rotation speed of the mobile robot at the test position point based on the distances corresponding to the initial time point and the end time point respectively and the time interval between the initial time point and the end time point; and determining the rotation performance index of the mobile robot based on the test rotation speed.

[0080] In the embodiment of the present application, the rotation angle of the mobile robot can be determined based on the distances corresponding to the initial time point and the end time point respectively at which the ranging module detects the ranging baffle, the time interval can be determined based on the initial time point and the end time point, and thus the test rotation speed (which can also be referred to as a test rotation angular velocity) of the mobile robot at the test position point can be determined based on the rotation angle of the mobile robot and the time interval, so that the rotation performance index of the mobile robot can be determined based on the test rotation speed, and the rotation performance of the mobile robot can be evaluated. That is, by using the rotation data of the mobile robot during the rotation process to evaluate the rotation performance of the mobile robot, the accuracy of evaluating the rotation performance of the mobile robot can be greatly improved.

[0081] In the embodiment of the present application, when the rotation angle of the mobile robot is determined based on the distances corresponding to the initial time point and the end time point respectively at which the ranging module detects the ranging baffle, in addition to the distances corresponding to the initial time point and the end time point respectively, the offset of the position of the ranging module relative to the rotation axis of the mobile robot and the width of the ranging baffle also need to be obtained.

[0082] The ranging module is located on the central axis of the mobile robot in the moving direction, and the front and back length of the mobile robot in the moving direction is l. Therefore, the offset of the position of the ranging module relative to the rotation axis of the mobile robot can be determined based on the position of the ranging module on the mobile robot and the front and back length l of the mobile robot in the moving direction. For example, if the ranging module is located at the front end position of the mobile robot in the moving direction, the offset of the position of the ranging module relative to the rotation axis of the mobile robot is l / 2; if the ranging module is located at the middle position of the mobile robot in the moving direction, the offset of the position of the ranging module relative to the rotation axis of the mobile robot is 0; and so on.

[0083] Taking the case where the ranging module is located at the front end position of the mobile robot in the moving direction and the offset of the position of the ranging module relative to the rotation axis of the mobile robot is l / 2, the distances corresponding to the initial time point and the end time point at which the ranging module detects the ranging baffle, the offset of the position of the ranging module relative to the rotation axis of the mobile robot, and the width of the ranging baffle are used to determine the rotation angle of the mobile robot, which can be determined by the following formula:

[0084] Δθ=cos -1 (((L1+l / 2) 2 +(L2+l / 2) 2 -L 2 ) / (2(L1+l / 2)(L2+l / 2)))

[0085] wherein, Δθ is the rotation angle of the mobile robot, L1 is the distance corresponding to the initial time point at which the ranging module detects the ranging baffle, L2 is the distance corresponding to the end time point at which the ranging module detects the ranging baffle, and L is the width of the ranging baffle. By using the geometric relationship, the rotation angle of the mobile robot can be accurately calculated, so that the accuracy of determining the test rotation speed of the mobile robot at the test position point can be improved by using the rotation angle and the time interval between the initial time point and the end time point, and the accuracy of testing the rotation performance of the mobile robot can be further improved by using the test rotation speed to test the rotation performance of the mobile robot.

[0086] That is, based on the distances corresponding to the initial time point and the end time point, and the time interval between the initial time point and the end time point, the test rotation speed of the mobile robot at the test position point is determined, which includes: obtaining the offset of the position of the ranging module relative to the rotation axis of the mobile robot, and obtaining the width of the ranging baffle; based on the distances corresponding to the initial time point and the end time point, the time interval, the offset and the width, the test rotation speed of the mobile robot at the test position point is determined. The following formula can be used:

[0087]

[0088] wherein ω is the test rotation speed of the mobile robot at the test position point, Δt is the time interval between the initial time point and the end time point, t1 is the initial time point at which the ranging module detects the ranging baffle, and t2 is the end time point at which the ranging module detects the ranging baffle.

[0089] In an embodiment, based on the test rotation speed, the rotation performance index of the mobile robot is determined, including: determining the rotation performance index of the mobile robot by using the test rotation speed and a preset rotation speed of the mobile robot.

[0090] wherein the preset rotation speed of the mobile robot is a rotation speed preset for the mobile robot by a control system (such as a software program, an algorithm instruction, etc.) of the mobile robot, and the preset rotation speed is a rotation speed that the mobile robot should theoretically reach. Therefore, the difference between the test rotation speed and the preset rotation speed can be used as the rotation performance index of the mobile robot, and the smaller the difference is, the closer the test rotation speed of the mobile robot is to the preset rotation speed, which means that the rotation performance of the mobile robot is better; on the contrary, the larger the difference is, the more the test rotation speed of the mobile robot deviates from the preset rotation speed, which means that the rotation performance of the mobile robot is worse.

[0091] The relay server automatically determines the test rotation speed of the mobile robot by receiving the rotation data transmitted by the ranging module in real time, so as to further automatically test the rotation performance of the mobile robot and output the test result.

[0092] In order to further reduce the error caused by a single test process, at least two groups of rotation data can be obtained by using the ranging module, so as to determine a test rotation speed by using each group of rotation data according to the process of determining the test rotation speed of the mobile robot described above, thereby obtaining at least two test rotation speeds. For example, the number of rotation data is m groups, and the number of test rotation speeds is m (wherein m is an integer greater than or equal to 1), so that:

[0093]

[0094] wherein ω x is the test rotation speed corresponding to the xth group of rotation data, L 1x is the distance corresponding to the initial time point in the xth group of rotation data, L 2x is the distance corresponding to the end time point in the xth group of rotation data, t 1x is the initial time point in the xth group of rotation data, t 2x is the end time point in the xth group of rotation data.

[0095] In one embodiment, the transit server can send at least two task execution instructions to the mobile robot to determine at least two test rotation speeds of the mobile robot at the test location point. For example, the transit server sends m task execution instructions to the mobile robot, and the mobile robot rotates at the test location point once in the preset direction each time it receives a task execution instruction, thereby obtaining a set of rotation data, and finally obtaining m test rotation speeds corresponding to the m sets of rotation data.

[0096] In another embodiment, the number of test location points can also be at least two, and the transit server sends a task execution instruction to the mobile robot, which then moves between the at least two test location points and rotates at each test location point in the preset direction, thereby determining at least two test rotation speeds of the mobile robot at the at least two test location points. For example, the number of test location points is m, the transit server sends a task execution instruction to the mobile robot, which then moves to the m test location points in turn and rotates at each test location point in the preset direction, thereby obtaining m sets of rotation data, and finally obtaining m test rotation speeds corresponding to the m sets of rotation data.

[0097] In yet another embodiment, the test task can also include rotating at the test location point at least twice in the preset direction, and the transit server sends a task execution instruction to the mobile robot, which then rotates at the test location point at least twice in the preset direction, thereby determining at least two test rotation speeds of the mobile robot at the test location point. For example, the test task includes rotating m times at the test location point in the preset direction, and after the transit server sends a task execution instruction to the mobile robot, the mobile robot rotates at the test location point once in the preset direction to obtain a set of rotation data, and finally obtains m test rotation speeds corresponding to the m sets of rotation data.

[0098] In still another embodiment, the above three embodiments can be combined in any way to obtain m sets of rotation data, and finally obtain m test rotation speeds corresponding to the m sets of rotation data. For example, the number of test location points is at least two, and the transit server sends at least two task execution instructions to the mobile robot; or the number of test location points is at least two, and the test task corresponding to the task execution instruction sent by the transit server includes rotating at the test location point at least twice in the preset direction; or the transit server sends at least two task execution instructions to the mobile robot, and the test task corresponding to each task execution instruction includes rotating at the test location point at least twice in the preset direction; and so on.

[0099] By using the ranging module to obtain at least two groups of rotation data, at least two test rotation speeds are obtained, and the rotation performance index of the mobile robot can be determined in multiple ways by using the maximum value, the mean value, the root mean square error and the like, so as to further improve the accuracy of testing the rotation performance of the mobile robot.

[0100] Correspondingly, the rotation performance index of the mobile robot is determined, including: based on the at least two test rotation speeds, at least one of the maximum rotation speed, the minimum rotation speed, the average rotation speed and the root mean square error is determined; and the rotation performance index of the mobile robot is determined by using the preset rotation speed and at least one of the maximum rotation speed, the minimum rotation speed, the average rotation speed and the root mean square error.

[0101] When the number of test rotation speeds is m, the maximum rotation speed ω max =(ω1,ω2,……,ω m ) max in the m test rotation speeds can be obtained. Thus, the difference Δω1=ω max -ω0 between the maximum rotation speed ω max and the preset rotation speed ω0 is taken as the rotation performance index of the mobile robot, and the smaller the difference Δω1, the closer the test rotation speed of the mobile robot to the preset rotation speed ω0, which means that the rotation performance of the mobile robot is better; otherwise, the larger the difference Δω1, the farther the test rotation speed of the mobile robot from the preset rotation speed ω0, which means that the rotation performance of the mobile robot is worse.

[0102] The minimum rotation speed ω min =(ω1,ω2,……,ω m ) min in the m test rotation speeds can also be obtained. Thus, the difference Δω2=ω0-ω min between the minimum rotation speed ω min and the preset rotation speed ω0 is taken as the rotation performance index of the mobile robot, and the smaller the difference Δω2, the closer the test rotation speed of the mobile robot to the preset rotation speed ω0, which means that the rotation performance of the mobile robot is better; otherwise, the larger the difference Δω2, the farther the test rotation speed of the mobile robot from the preset rotation speed ω0, which means that the rotation performance of the mobile robot is worse.

[0103] The average rotation speed ω mean =(ω1+ω2+……+ω m ) / m of the m test rotation speeds can also be obtained. Thus, the difference Δω3=|ω0-ω mean | between the average rotation speed ω meanAs the rotation performance index of the mobile robot, the smaller the difference Δω3 is, the closer the test rotation speed of the mobile robot is to the preset rotation speed ω0, which means that the rotation performance of the mobile robot is better; on the contrary, the larger the difference Δω3 is, the farther the test rotation speed of the mobile robot deviates from the preset rotation speed ω0, which means that the rotation performance of the mobile robot is worse. Wherein, the larger m is, the more the distribution of the average rotation speed approaches the normal distribution.

[0104] The root mean square error RMSE of the m test rotation speeds can also be obtained:

[0105]

[0106] Thus, the root mean square error RMSE is used as the rotation performance index of the mobile robot, the smaller the root mean square error RMSE is, the closer the test rotation speed of the mobile robot is to the preset rotation speed ω0, which means that the rotation performance of the mobile robot is better; on the contrary, the larger the root mean square error RMSE is, the farther the test rotation speed of the mobile robot deviates from the preset rotation speed ω0, which means that the rotation performance of the mobile robot is worse.

[0107] Next, reference will be made to Figure 4 The rotation test device of the mobile robot of the present application is introduced. Figure 4 The structure schematic diagram of the rotation test device of the mobile robot provided by the embodiments of the present application, which can be arranged on the relay server 11 in Figure 1 , and can be applied to a test scene containing test position points and corresponding ranging barriers, the ranging barriers are spaced apart from the corresponding test position points by a preset distance, and the mobile robot is provided with a ranging module. As shown in Figure 4 , the rotation test device 400 of the mobile robot comprises an instruction sending unit 410, a data acquisition unit 420 and a rotation test unit 430. The main functions of each component unit are as follows:

[0108] The instruction sending unit 410 is configured to send a task execution instruction to the mobile robot, the task execution instruction being used to instruct the mobile robot to execute a test task, the test task comprising rotating in a preset direction at a test position point.

[0109] The data acquisition unit 420 is configured to acquire rotation data collected by the ranging module during the rotation of the mobile robot in the preset direction at the test position point.

[0110] The rotation test unit 430 is configured to obtain a rotation performance index of the mobile robot based on the rotation data.

[0111] Further, after obtaining the rotation data collected by the distance measuring module during the rotation of the mobile robot in the test position point in the preset direction, the rotation test device 400 of the mobile robot further comprises a data analysis unit (not shown in the figure) configured to analyze the rotation data to obtain a time point at which the distance jump occurs; obtain an initial time point and an end time point corresponding to the distance measuring baffle detected by the distance measuring module according to the time point at which the distance jump occurs; and obtain the distances corresponding to the initial time point and the end time point respectively according to the rotation data.

[0112] As one of the implementable manners, when the data analysis unit obtains the initial time point and the end time point corresponding to the distance measuring baffle detected by the distance measuring module according to the time point at which the distance jump occurs, the data analysis unit can be specifically configured to: obtain a time at which the distance jump occurs for the first time and a time at which the distance jump occurs for the second time; determine the time at which the distance jump occurs for the first time as the initial time point; and determine the time at which the distance jump occurs for the second time as the end time point.

[0113] As one of the implementable manners, the rotation test unit 430 is further configured to: determine a test rotation speed of the mobile robot in the test position point based on the distances corresponding to the initial time point and the end time point respectively and a time interval between the initial time point and the end time point; and determine the rotation performance index of the mobile robot based on the test rotation speed.

[0114] As one of the implementable manners, when the rotation test unit 430 determines the test rotation speed of the mobile robot in the test position point based on the distances corresponding to the initial time point and the end time point respectively and the time interval between the initial time point and the end time point, the rotation test unit 430 can be specifically configured to: obtain an offset of the position of the distance measuring module relative to the rotation axis of the mobile robot and obtain the width of the distance measuring baffle; and determine the test rotation speed of the mobile robot in the test position point based on the distances corresponding to the initial time point and the end time point respectively, the time interval, the offset, and the width.

[0115] As one of the implementable manners, when the rotation test unit 430 determines the rotation performance index of the mobile robot based on the test rotation speed, the rotation test unit 430 can be specifically configured to: determine the rotation performance index of the mobile robot by using the test rotation speed and a preset rotation speed of the mobile robot.

[0116] As one of the implementable manners, the number of the test rotation speeds is at least two; the rotation test unit 430 can be specifically configured to determine at least one of the maximum rotation speed, the minimum rotation speed, the average rotation speed and the root mean square error based on the at least two test rotation speeds when determining the rotation performance index of the mobile robot; and determine the rotation performance index of the mobile robot by using the preset rotation speed and at least one of the maximum rotation speed, the minimum rotation speed, the average rotation speed and the root mean square error.

[0117] As one of the implementable manners, the at least two test rotation speeds are obtained based on at least one of the following: sending at least two task execution instructions to the mobile robot to determine the at least two test rotation speeds of the mobile robot at the test position points; the number of the test position points is at least two, and the test task includes sequentially moving between the at least two test position points and rotating in the preset direction at each test position point; sending the task execution instruction to the mobile robot to determine the at least two test rotation speeds of the mobile robot at the at least two test position points; the test task includes rotating in the preset direction at the test position point at least twice; and sending the task execution instruction to the mobile robot to determine the at least two test rotation speeds of the mobile robot at the test position point.

[0118] Each of the embodiments in the specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the difference from other embodiments. In particular, for the device embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the part of the method embodiments.

[0119] It should be noted that the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties, and the collection, use and processing of related data need to comply with relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation portal for user to choose authorization or refusal.

[0120] In addition, the present application embodiment further provides a relay server, comprising: one or more processors; and a memory associated with the one or more processors, the memory being configured to store program instructions, the program instructions being configured to perform the steps of the rotation test method of the mobile robot of any one of the preceding method embodiments when being read and executed by the one or more processors.

[0121] wherein, Figure 5 A schematic block diagram of the relay server provided by the present application embodiment. Figure 5The illustrated relay server 11 (which can be a computer device in particular) comprises a memory 501, a processor 502, a communication interface 503 and a bus 504. The memory 501, the processor 502 and the communication interface 503 are in communication connection with each other through the bus 504.

[0122] The memory 501 can be a read-only memory (ROM), a static storage device, a dynamic storage device or a random access memory (RAM). The memory 501 can store a program, and when the program stored in the memory 501 is executed by the processor 502, the processor 502 and the communication interface 503 are used to execute each step of the rotating test method of the mobile robot of the present application.

[0123] The processor 502 can adopt a general central processing unit (CPU), a microprocessor, an application specific integrated circuit (ASIC), a graphics processing unit (GPU) or one or more integrated circuits, and is used to execute a related program to realize the functions required by the units in the rotating test device of the relay server or the mobile robot of the present application.

[0124] The processor 502 can also be an integrated circuit chip having a processing capability for signals. In implementation, each step of the rotating test method of the mobile robot in the present application can be completed by integrated logic circuits of hardware or instructions in the form of software in the processor 502. The processor 502 described above can also be a general processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component. Each method, step and logic block disclosed in the embodiments of the present application can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in combination with the embodiments of the present application can be directly embodied as a hardware coding processor for execution, or a combination of hardware and software modules in the coding processor for execution. The software module can be located in a random access memory, a flash memory, a read only memory, a programmable read only memory or an electrically erasable programmable memory, a register or other mature storage medium in the art. The storage medium is located in the memory 501, and the processor 502 reads the information in the memory 501, and combines the hardware to complete the functions required by the units included in the rotating test device of the mobile robot in the embodiments of the present application, or executes the rotating test method of the mobile robot in the method embodiments of the present application.

[0125] The communication interface 503 uses a transceiving device such as but not limited to a transceiver to realize the communication between the relay server 11 and other devices or communication networks. For example, the rotating data collected by the ranging module arranged on the mobile robot can be obtained through the communication interface 503.

[0126] The bus 504 can include a path for transmitting information between various components (for example, the memory 501, the processor 502, the communication interface 503) of the relay server 11.

[0127] It should be noted that although Figure 5 The relay server 11 shown only shows the memory, the processor, the communication interface, but in the specific implementation process, those skilled in the art should understand that the relay server 11 also includes other devices necessary for normal operation. At the same time, according to the specific needs, those skilled in the art should understand that the relay server 11 can also include hardware devices for realizing other additional functions. In addition, those skilled in the art should understand that the relay server 11 can also only include devices necessary for realizing the embodiments of the present application, and does not have to include all the devices shown in the above. Figure 5 The relay server 11 shown only shows the memory, the processor, the communication interface, but in the specific implementation process, those skilled in the art should understand that the relay server 11 also includes other devices necessary for normal operation. At the same time, according to the specific needs, those skilled in the art should understand that the relay server 11 can also include hardware devices for realizing other additional functions. In addition, those skilled in the art should understand that the relay server 11 can also only include devices necessary for realizing the embodiments of the present application, and does not have to include all the devices shown in the above.

[0128] The application also provides a computer program product comprising a computer program which, when executed, implements the steps of the rotation test method of the mobile robot of any of the preceding method embodiments.

[0129] The computer program product can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++, etc., and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device or entirely on the remote computing device or server.

[0130] The application also provides a computer readable storage medium having computer program instructions stored thereon, which, when executed, implement the steps of the rotation test method of the mobile robot provided by each of the embodiments.

[0131] The computer readable storage medium can take the form of one or more combinations of any of the following: a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or apparatus, or any combination thereof. More specific examples (a non-exhaustive list) of the readable storage medium include an electrical connection having one or more wires, a portable disc, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0132] Those skilled in the art can clearly understand that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the application.

[0133] Those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working processes of the above-described system, device and unit can refer to the corresponding processes in the preceding method embodiments, which will not be described here.

[0134] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other manners. For example, the described device embodiments are merely schematic. For example, the division of the units is only a logical function division. There can be another division manner for the actual implementation, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between the units can be indirect couplings or communication connections through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0135] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0136] In addition, each functional unit in the various embodiments of the present application can be integrated into a similar area division unit, or each unit can be physically present alone, or two or more units can be integrated into one unit.

[0137] The functions, if implemented in the form of software functional units and sold or used as independent products, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part of the prior art that contributes to the technical solutions or the part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory, a random access memory, a magnetic disk or an optical disk, and various media that can store program codes.

[0138] The technical solutions provided by the present application are described in detail above, and the principles and implementation manners of the present application are described by using specific examples. The above embodiment descriptions are only used to help understand the method of the present application and its core idea; at the same time, for those skilled in the art, according to the idea of the present application, the specific implementation manner and application range can be changed. In conclusion, the content of the present description should not be understood as a limitation of the present application.

Claims

1. A method of spin testing a mobile robot, the method comprising: The application is applied to a test scene including test position points and corresponding ranging barriers of the test position points, the ranging barriers are spaced apart from the corresponding test position points by a preset distance, a ranging module is arranged on the mobile robot, and the rotating test method comprises the following steps: sending a task execution instruction to the mobile robot, the task execution instruction being used to instruct the mobile robot to execute a test task, the test task including rotating in a preset direction at the test position points; acquiring rotating data collected by the ranging module during the rotating of the mobile robot in the preset direction at the test position points; obtaining a rotating performance index of the mobile robot based on the rotating data.

2. The rotational testing method of claim 1, wherein, After the step of acquiring the rotating data collected by the ranging module during the rotating of the mobile robot in the preset direction at the test position points, the rotating test method further comprises the following steps: analyzing the rotating data to obtain a time point at which distance jump occurs; acquiring an initial time point and an end time point corresponding to the ranging barrier detected by the ranging module according to the time point at which distance jump occurs; acquiring distances corresponding to the initial time point and the end time point respectively according to the rotating data.

3. The rotational testing method of claim 2, wherein, The step of acquiring the initial time point and the end time point corresponding to the ranging barrier detected by the ranging module according to the time point at which distance jump occurs comprises the following steps: acquiring a time at which distance jump occurs for the first time and a time at which distance jump occurs for the second time; determining the time at which distance jump occurs for the first time as the initial time point; determining the time at which distance jump occurs for the second time as the end time point.

4. The rotational testing method of claim 2, wherein, The step of obtaining the rotating performance index of the mobile robot based on the rotating data comprises the following steps: determining a test rotating speed of the mobile robot at the test position point based on the distances corresponding to the initial time point and the end time point respectively and a time interval between the initial time point and the end time point; determining the rotating performance index of the mobile robot based on the test rotating speed.

5. The rotational testing method of claim 4, wherein, The step of determining the test rotating speed of the mobile robot at the test position point based on the distances corresponding to the initial time point and the end time point respectively and the time interval between the initial time point and the end time point comprises the following steps: acquiring an offset of a position of the ranging module relative to a rotating shaft of the mobile robot and acquiring a width of the ranging barrier; determining the test rotating speed of the mobile robot at the test position point based on the distances corresponding to the initial time point and the end time point respectively, the time interval, the offset and the width.

6. The rotary test method of claim 4, wherein, The step of determining the rotating performance index of the mobile robot based on the test rotating speed comprises the following steps: determining the rotating performance index of the mobile robot by using the test rotating speed and a preset rotating speed of the mobile robot.

7. The rotational testing method of claim 6, wherein, The number of the test rotating speeds is at least two, and the step of determining the rotating performance index of the mobile robot comprises the following steps: determining at least one of a maximum rotating speed, a minimum rotating speed, an average rotating speed and a root mean square error based on at least two test rotating speeds; The preset rotation speed, and at least one of the maximum rotation speed, the minimum rotation speed, the average rotation speed, and the root mean square error, are used to determine a rotation performance index of the mobile robot.

8. The rotational testing method of claim 7, wherein, The at least two test rotation speeds are obtained based on at least one of the following: The task execution instruction is sent to the mobile robot at least twice to determine at least two test rotation speeds of the mobile robot at the test position point; The number of test position points is at least two, and the test task includes sequentially moving between at least two test position points and rotating in a preset direction at each test position point; the task execution instruction is sent to the mobile robot to determine at least two test rotation speeds of the mobile robot at the at least two test position points; The test task includes rotating in a preset direction at least twice at the test position point; the task execution instruction is sent to the mobile robot to determine at least two test rotation speeds of the mobile robot at the test position point.

9. A rotating test system for a mobile robot, characterized by The rotation test system is applied to a test scene including test position points and corresponding ranging barriers, the ranging barriers are spaced apart from the corresponding test position points by a preset distance, and the rotation test system includes: A relay server configured to send a task execution instruction to the mobile robot, the task execution instruction being used to instruct the mobile robot to perform a test task; A mobile robot provided with a ranging module, configured to perform a test task in response to the task execution instruction, the test task including rotating in a preset direction at the test position point, and sending rotation data collected by the ranging module during the rotating in a preset direction at the test position point to the relay server; The relay server is further configured to obtain a rotation performance index of the mobile robot based on the rotation data.

10. The rotary test system of claim 9, wherein, The ranging module is located on a central axis of the mobile robot in a moving direction, and the ranging module is located at a front end position of the mobile robot in the moving direction.

11. The rotary test system of claim 10, wherein, The ranging module is a laser sensor.

12. The rotary test system of claim 9, wherein, The ranging barrier is provided on one side or opposite sides of the test position point, and a connecting line between the ranging barrier and the center of the test position point is perpendicular to the moving direction of the mobile robot.

13. A rotating test device for a mobile robot, characterized by The rotation test device is applied to a test scene including test position points and corresponding ranging barriers, the ranging barriers are spaced apart from the corresponding test position points by a preset distance, and the mobile robot is provided with a ranging module, and the rotation test device includes: An instruction sending unit configured to send a task execution instruction to the mobile robot, the task execution instruction being used to instruct the mobile robot to perform a test task, the test task including rotating in a preset direction at the test position point; A data acquisition unit configured to acquire rotation data collected by the ranging module during the rotating in a preset direction at the test position point by the mobile robot; A rotation test unit configured to obtain a rotation performance index of the mobile robot based on the rotation data.

14. A transit server, characterized by comprise: one or more processors; and ​ a memory associated with the one or more processors, the memory to store program instructions that, when read and executed by the one or more processors, perform the method of claim 1-8.

15. A computer program product comprising a computer program, characterized in that, The computer program, when executed, implements the method of claim 1-8.

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