Chassis precision test method and device, robot equipment and readable storage medium

Abstract

The embodiment of the application discloses a chassis precision test method and device, a robot device and a readable storage medium, which are applied to a processor of a mobile robot, the mobile robot comprises a chassis, and the method comprises the following steps: initializing a to-be-tested movement parameter of the chassis; acquiring a preset movement control instruction, the preset movement control instruction is a control instruction generated according to a first movement parameter; controlling the mobile robot to perform a target action according to the movement control instruction; calculating a second movement parameter through a preset identification algorithm; and calculating a test feedback result according to the first movement parameter and the second movement parameter. Through the automatic identification algorithm, the precision test of the chassis of the mobile robot is completed before the deployment of the navigation algorithm, and the execution effect and the test efficiency of the navigation algorithm can be effectively improved.

Description

Technical Field

[0001] This invention relates to the field of mobile robot technology, and in particular to a chassis accuracy testing method, apparatus, robot equipment, and readable storage medium. Background Technology

[0002] Currently, when testing the chassis accuracy of mobile robots on the market, it is necessary to first configure the navigation algorithm and then verify whether the mobile robot meets the navigation requirements through on-site landing testing of the navigation algorithm. This approach has two drawbacks: first, the testing cycle of the navigation algorithm is long and time-consuming; second, when the navigation algorithm has problems, it is impossible to rule out whether it is an algorithm problem or a hardware problem, making analysis difficult.

[0003] Therefore, there is an urgent need for a chassis accuracy testing solution that can accelerate the navigation testing cycle. Summary of the Invention

[0004] To address the aforementioned technical problems, this application provides a chassis accuracy testing method, apparatus, robotic device, and readable storage medium, with the specific solutions as follows:

[0005] In a first aspect, embodiments of this application provide a chassis accuracy testing method, applied to the processor of a mobile robot, the mobile robot including a chassis, the method comprising:

[0006] Initialize the measured movement parameters of the chassis;

[0007] Obtain a preset movement control command, wherein the preset movement control command is a control command generated based on the first movement parameter;

[0008] The mobile robot is controlled to perform the target action according to the mobile control command;

[0009] The second movement parameter is calculated using a preset recognition algorithm;

[0010] The test feedback result is calculated based on the first movement parameter and the second movement parameter.

[0011] According to a specific embodiment of this application, the movement parameters to be measured include rotation angle, rotation angular velocity, linear velocity, and movement trajectory.

[0012] According to a specific embodiment of this application, if the movement parameter to be measured is a rotation angle, the method includes:

[0013] Control the mobile robot to rotate 180°, and determine the rotation radius of the chassis based on the position change trajectory of the mobile robot;

[0014] The mobile robot is controlled to start from a first position according to the movement control command, rotate a preset number of times, and then stop moving at a second position. The movement control command includes a first rotation angle, which is calculated based on the rotation radius, the first position, the second position, and the preset number of rotations.

[0015] The second rotation angle is calculated using a preset angle recognition algorithm;

[0016] The rotation angle offset accuracy is calculated based on the first rotation angle and the second rotation angle.

[0017] According to a specific embodiment of this application, the mobile robot further includes a laser generator, which is disposed at the rear of the chassis. The step of "controlling the mobile robot to rotate 180° and determining the rotation radius of the chassis based on the position change trajectory of the mobile robot" includes:

[0018] The rotation start position of the mobile robot is obtained through the laser generator;

[0019] Control the mobile robot to rotate 180°;

[0020] The stopping position of the mobile robot's rotation is obtained through the laser generator;

[0021] The rotation radius of the chassis is calculated based on the rotation start position and the rotation stop position.

[0022] According to a specific embodiment of this application, if the movement parameter to be measured is a rotational angular velocity, the method includes:

[0023] The mobile robot is controlled to rotate n revolutions according to a first rotational angular velocity, where n is greater than or equal to 2;

[0024] The second rotational angular velocity of the mobile robot when it rotates for the nth time is calculated according to a preset angular velocity recognition algorithm;

[0025] The rotational angular velocity offset accuracy is calculated based on the first rotational angular velocity and the second rotational angular velocity.

[0026] According to a specific embodiment of this application, if the movement parameter to be measured is linear velocity or movement trajectory, the method includes:

[0027] The mobile robot is controlled to move from the third position to the fourth position based on the first linear velocity and the first movement trajectory;

[0028] The movement time and second movement trajectory of the mobile robot from the third position to the fourth position are calculated according to the preset movement recognition algorithm.

[0029] The second linear velocity is calculated based on the third position, the fourth position, and the movement time.

[0030] The trajectory offset accuracy is calculated based on the first and second movement trajectories, and the linear velocity offset accuracy is calculated based on the first and second linear velocities.

[0031] Secondly, embodiments of this application provide a chassis accuracy testing device applied to the processor of a mobile robot, the mobile robot including a chassis, the device comprising:

[0032] The initialization module is used to initialize the movement parameters to be tested.

[0033] The instruction acquisition module is used to acquire a preset movement control instruction, wherein the preset movement control instruction is a control instruction generated based on the first movement parameter;

[0034] The motion control module is used to control the mobile robot to perform target actions according to the motion control instructions;

[0035] The parameter calculation module is used to calculate the second movement parameter through a preset recognition algorithm;

[0036] The accuracy calculation module is used to calculate the test feedback result based on the first movement parameter and the second movement parameter.

[0037] According to a specific embodiment of this application, the movement parameters to be measured include rotation angle, rotation angular velocity, linear velocity, and movement trajectory.

[0038] Thirdly, embodiments of this application provide a robot device, which includes a processor and a memory. The memory stores a computer program, and the computer program executes the chassis accuracy testing method described in the first aspect and any embodiment of the first aspect when it is run on the processor.

[0039] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when run on a processor, executes the chassis accuracy testing method described in the first aspect and any embodiment of the first aspect.

[0040] This application provides a chassis accuracy testing method, apparatus, robot device, and readable storage medium, applied to a processor of a mobile robot. The mobile robot includes a chassis. The method includes: initializing the chassis's movement parameters to be tested; acquiring a preset movement control command, the preset movement control command being a control command generated based on the first movement parameters; controlling the mobile robot to perform a target action according to the movement control command; calculating a second movement parameter using a preset recognition algorithm; and calculating a test feedback result based on the first and second movement parameters. This invention, through an automatic recognition algorithm, completes the accuracy test of the mobile robot chassis before deploying the navigation algorithm, effectively improving the execution effect and testing efficiency of the navigation algorithm. Attached Figure Description

[0041] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope of protection of the present invention. In the various drawings, similar components are numbered similarly.

[0042] Figure 1 This illustration shows a flowchart of a chassis accuracy testing method provided in an embodiment of this application.

[0043] Figure 2 This illustration shows one of the application scenarios of a chassis accuracy testing method provided in this application embodiment;

[0044] Figure 3 This illustration shows a second application scenario diagram of a chassis accuracy testing method provided in an embodiment of this application;

[0045] Figure 4 This illustration shows a third application scenario diagram of a chassis accuracy testing method provided in this application embodiment;

[0046] Figure 5 This illustration shows the fourth application scenario diagram of a chassis accuracy testing method provided in this application embodiment;

[0047] Figure 6 A schematic diagram of the device modules of a chassis accuracy testing device provided in an embodiment of this application is shown. Detailed Implementation

[0048] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0049] The components of the embodiments of the invention described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0050] In the following, the terms “comprising,” “having,” and their cognates, which may be used in various embodiments of the invention, are intended only to indicate a particular feature, number, step, operation, element, component, or combination thereof, and should not be construed as excluding, firstly, the presence of one or more other features, numbers, steps, operations, elements, components, or combinations thereof, or adding the possibility of one or more features, numbers, steps, operations, elements, components, or combinations thereof.

[0051] Furthermore, the terms "first," "second," and "third" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0052] Unless otherwise specified, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of the invention pertain. Terms (such as those defined in commonly used dictionaries) shall be interpreted as having the same meaning as in their contextual meaning in the relevant technical field and shall not be interpreted as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of the invention.

[0053] refer to Figure 1 This is a schematic flowchart of a chassis accuracy testing method provided in an embodiment of this application. The chassis accuracy testing method provided in this embodiment is applied to the processor of a mobile robot, which includes a chassis. Figure 1 As shown, the method includes:

[0054] Step S101: Initialize the measured movement parameters of the chassis;

[0055] Specifically, in this embodiment, the mobile robot is a wheeled robot including a chassis. The mobile robot is equipped with a processor, which controls the movement of the mobile robot through built-in programs and algorithms.

[0056] In a specific embodiment, any type of navigation algorithm can be configured for the mobile robot in this embodiment to enable the mobile robot to have navigation capabilities. The chassis accuracy testing method proposed in this embodiment can be applied to the processor of the mobile robot with navigation capabilities, such as the processor of an Automated Guided Vehicle (AGV).

[0057] The navigation algorithm can be any one of the following navigation methods: magnetic point navigation, electromagnetic navigation, magnetic tape navigation, visual navigation, laser navigation, natural contour navigation, QR code navigation, etc. This embodiment does not limit this, and the navigation algorithm can be configured for the mobile robot according to the actual application scenario.

[0058] Before configuring the navigation algorithm, the chassis accuracy test algorithm proposed in this embodiment is used to test whether the mobile robot hardware meets the navigation accuracy requirements, so as to improve the accuracy of the navigation algorithm.

[0059] In the specific implementation process, before testing the accuracy of each movement parameter to be measured of the chassis, it is necessary to initialize each movement parameter to be measured.

[0060] Specifically, the initialization process includes setting the chassis to the starting position and clearing the chassis running distance collected by the recognition algorithm. This embodiment does not limit the specific steps of the initialization process, and the various movement parameters to be measured can be initialized according to the actual scenario.

[0061] According to a specific embodiment of this application, the movement parameters to be measured include rotation angle, rotation angular velocity, linear velocity, and movement trajectory.

[0062] In the specific implementation process, the measured movement parameters include at least the rotation angle, rotational angular velocity, linear velocity, and movement trajectory of the chassis from start to stop during the chassis operation.

[0063] The measured movement parameters can be adaptively extended according to the actual application scenario, but this embodiment does not limit this.

[0064] Specifically, the movement trajectory includes the changes in the position of the mobile robot during operation and the total distance traveled.

[0065] Step S102: Obtain a preset movement control command, wherein the preset movement control command is a control command generated based on the first movement parameter;

[0066] Step S103: Control the mobile robot to perform the target action according to the movement control command;

[0067] Step S104: Calculate the second movement parameter using a preset recognition algorithm;

[0068] Step S105: Calculate the test feedback result based on the first movement parameter and the second movement parameter.

[0069] In a specific embodiment, the first movement parameter is a standard movement parameter used to control the movement of the mobile robot. The user can obtain the first movement parameter through application calculation or direct measurement.

[0070] The second movement parameter is the movement parameter calculated by the mobile robot through a preset recognition algorithm in the processor during the entire operation process. It is the processing result of various real-time parameters collected by the processor through a preset detection device. The preset detection device includes a laser generator, a gyroscope sensor, a speed sensor, and a timer, etc.

[0071] The test feedback results correspond to each of the movement parameters to be tested. In this embodiment, the test feedback results include at least the rotation angle offset accuracy, rotation angular velocity offset accuracy, linear velocity offset accuracy, and movement trajectory offset accuracy.

[0072] The preset recognition algorithms in this embodiment include angle recognition algorithm, angular velocity recognition algorithm and motion recognition algorithm. Specifically, each software recognition algorithm can be adaptively configured according to the detection device configured on the mobile robot in the actual application scenario. This embodiment does not make specific limitations.

[0073] refer to Figure 2 and Figure 3 According to a specific embodiment of this application, if the movement parameter to be measured is a rotation angle, the method includes:

[0074] Control the mobile robot to rotate 180°, and determine the rotation radius of the chassis based on the position change trajectory of the mobile robot;

[0075] The mobile robot is controlled to start from a first position according to the movement control command, rotate a preset number of times, and then stop moving at a second position. The movement control command includes a first rotation angle, which is calculated based on the rotation radius, the first position, the second position, and the preset number of rotations.

[0076] The second rotation angle is calculated using a preset angle recognition algorithm;

[0077] The rotation angle offset accuracy is calculated based on the first rotation angle and the second rotation angle.

[0078] In a specific embodiment, when testing the offset accuracy of the mobile robot's rotation angle, such as... Figure 2 As shown, it is necessary to control the mobile robot to rotate at least 180° around the center point O to obtain a semi-circular trajectory, and then determine the radius of the mobile robot chassis based on the position change trajectory collected by the mobile robot.

[0079] In a specific embodiment, the position change trajectory can be determined by installing a position sensor on the periphery of the chassis to determine the position information. This embodiment does not limit the type of position sensor; a suitable position sensor can be selected for assembly based on the actual application scenario.

[0080] According to a specific embodiment of this application, the mobile robot further includes a laser generator, which is disposed at the rear of the chassis. The step of "controlling the mobile robot to rotate 180° and determining the rotation radius of the chassis based on the position change trajectory of the mobile robot" includes:

[0081] The rotation start position of the mobile robot is obtained through the laser generator;

[0082] Control the mobile robot to rotate 180°;

[0083] The stopping position of the mobile robot's rotation is obtained through the laser generator;

[0084] The rotation radius of the chassis is calculated based on the rotation start position and the rotation stop position.

[0085] In a specific embodiment, a laser generator is installed at the rear of the chassis of the mobile robot to determine the real-time position of the chassis.

[0086] It should be noted that the laser generator can also be located at any edge of the mobile robot chassis. In this embodiment, the laser generator used to determine the real-time position of the mobile robot is located at the rear of the chassis.

[0087] In a specific embodiment, such as Figure 2 As shown, by obtaining the rotation start position A and rotation stop position B of the mobile robot through the laser generator, the center radius R of the robot's center distance from the laser generator can be obtained based on laser ranging.

[0088] After determining the rotation radius of the mobile robot's chassis, such as Figure 3 As shown, the chassis of the mobile robot starts from the first position C and performs a preset number of circular motions at a fixed angular velocity, and then stops at the second position D.

[0089] The specific number of preset laps can be adaptively set according to the actual application scenario. In one embodiment, the preset number of laps is at least 10 laps.

[0090] The positions of the first position C and the second position D can both be confirmed by the laser generator. The confirmation method can be referred to the description in the foregoing embodiments, and will not be repeated here.

[0091] In a specific embodiment, such as Figure 3 As shown, connecting points C and D, we can obtain the distance 2L between the first position C and the second position D. Based on the rotation radius R of the mobile robot and trigonometric functions, the first rotation angle θ can be calculated. The formula for calculating the first rotation angle is:

[0092]

[0093] If the first rotation angle is in radians, the angle is replaced according to the conversion relationship 1 degree = π / 180 ≈ 0.01745 radians, and the calculation formula for the first rotation angle is replaced as follows:

[0094] The second rotation angle is calculated by the processor based on a preset angle recognition algorithm. Let's assume the second rotation angle is angle α.

[0095] Then it can be done through the formula The rotation angle offset accuracy is obtained.

[0096] refer to Figure 4 According to a specific embodiment of this application, if the movement parameter to be measured is a rotational angular velocity, the method includes:

[0097] The mobile robot is controlled to rotate n revolutions according to a first rotational angular velocity, where n is greater than or equal to 2;

[0098] The second rotational angular velocity of the mobile robot when it rotates for the nth time is calculated according to a preset angular velocity recognition algorithm;

[0099] The rotational angular velocity offset accuracy is calculated based on the first rotational angular velocity and the second rotational angular velocity.

[0100] In a specific embodiment, such as Figure 4 As shown, the first rotational angular velocity is the initial angular velocity of the mobile robot's rotational motion configured in the preset control command.

[0101] In one embodiment, the mobile robot starts rotating from position point A, and after rotating one revolution, it will return to position point A1. After rotating a second revolution, it will return to position point A2. Position points A, A1, and A2 are the same position.

[0102] In this embodiment, the processor records the time it takes for the chassis to rotate from position point A1 to A2, which can be calculated using the formula... The second rotational angular velocity is calculated, where the second rotational angular velocity is V2, and the time it takes for the chassis to rotate from position point A1 to A2 is ΔT.

[0103] Assuming the first rotational angular velocity is V1, then it can be determined using the formula... The rotational angular velocity offset accuracy is calculated.

[0104] refer to Figure 5 According to a specific embodiment of this application, if the movement parameter to be measured is linear velocity or movement trajectory, the method includes:

[0105] The mobile robot is controlled to move from the third position to the fourth position based on the first linear velocity and the first movement trajectory;

[0106] The movement time and second movement trajectory of the mobile robot from the third position to the fourth position are calculated according to the preset movement recognition algorithm.

[0107] The second linear velocity is calculated based on the third position, the fourth position, and the movement time.

[0108] The trajectory offset accuracy is calculated based on the first and second movement trajectories, and the linear velocity offset accuracy is calculated based on the first and second linear velocities.

[0109] In a specific embodiment, such as Figure 5 As shown, the mobile robot is controlled to run on a two-dimensional XY plane, and the recorded movement trajectory data of the mobile robot is cleared. The mobile robot is controlled to move along a straight line trajectory in the X-axis direction from the third position E with a first linear velocity V3 until it stops at the fourth position F. Here, the first movement trajectory is a straight line trajectory in the X-axis direction.

[0110] It should be noted that the straight-line distance traveled by the mobile robot must be greater than a preset distance threshold, which can be set according to the actual application scenario. In one embodiment, the preset distance threshold is at least 100m.

[0111] In this embodiment, the processor collects the actual running speed and actual running trajectory from the first position E to the fourth position F through a preset movement algorithm, namely the second linear velocity V4 and the second movement trajectory.

[0112] By formula | The trajectory offset accuracy of the mobile robot in the X-axis direction can be calculated using the formula. The accuracy of the mobile robot's trajectory offset in the Y-axis direction is calculated, and finally, the formula is used... The accuracy of the linear velocity offset can be calculated.

[0113] In summary, the chassis accuracy testing method proposed in this embodiment can test the accuracy data of various movement parameters of the mobile robot chassis. Based on the accuracy data obtained from the test, the structure or control algorithm of the mobile robot can be adjusted accordingly to ensure that the accuracy of various movement parameters of the mobile robot is within the preset accuracy value range, thereby ensuring the positioning accuracy of the mobile robot navigation algorithm.

[0114] The chassis accuracy testing method proposed in this embodiment removes obstacles to the deployment of navigation algorithms and effectively improves the detection speed of navigation algorithms. Furthermore, the chassis accuracy testing method in this embodiment has already performed hardware testing on the mobile robot in advance. If navigation accuracy problems occur later, software issues can be directly investigated, effectively improving the detection speed for troubleshooting mobile robots.

[0115] refer to Figure 6 This is a schematic diagram of a chassis accuracy testing device 600 provided in an embodiment of this application. The chassis accuracy testing device 600 provided in this embodiment is applied to the processor of a mobile robot, which includes a chassis, such as... Figure 6 As shown, the device includes:

[0116] Initialization module 601 is used to initialize the movement parameters to be tested;

[0117] The instruction acquisition module 602 is used to acquire a preset movement control instruction, wherein the preset movement control instruction is a control instruction generated based on the first movement parameter;

[0118] The motion control module 603 is used to control the mobile robot to perform target actions according to the motion control command;

[0119] The parameter calculation module 604 is used to calculate the second movement parameter through a preset recognition algorithm;

[0120] The accuracy calculation module 605 is used to calculate the test feedback result based on the first movement parameter and the second movement parameter.

[0121] According to a specific embodiment of this application, the movement parameters to be measured include rotation angle, rotation angular velocity, linear velocity, and movement trajectory.

[0122] In addition, this application embodiment also provides a robot device, which includes a processor and a memory. The memory stores a computer program, and the computer program executes the chassis accuracy testing method in the foregoing method embodiment when it is run on the processor.

[0123] This application provides a computer-readable storage medium storing a computer program, which executes the chassis accuracy testing method described in the foregoing method embodiments when run on a processor.

[0124] Furthermore, the specific implementation process of the chassis accuracy testing device, robot equipment, and computer-readable storage medium mentioned in the above embodiments can be found in the specific implementation process of the above method embodiments, and will not be repeated here.

[0125] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that, as an alternative implementation, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0126] In addition, the functional modules or units in the various embodiments of the present invention can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0127] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a smartphone, personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0128] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for testing chassis accuracy, characterized in that, A processor for use in a mobile robot, the mobile robot including a chassis and a laser generator, the laser generator being disposed at the rear of the chassis, the method comprising: Initialize the measured movement parameters of the chassis; Obtain a preset movement control command, wherein the preset movement control command is a control command generated based on the first movement parameter; The mobile robot is controlled to perform the target action according to the mobile control command; The second movement parameter is calculated using a preset recognition algorithm; The test feedback result is calculated based on the first movement parameter and the second movement parameter; The movement parameters to be measured include rotation angle, rotational angular velocity, linear velocity, and movement trajectory; if the movement parameter to be measured is rotation angle, the method includes: The laser generator is used to obtain the starting position of the mobile robot's rotation; the mobile robot is controlled to rotate 180°; the laser generator is used to obtain the stopping position of the mobile robot's rotation; and the rotation radius of the chassis is calculated based on the starting position and the stopping position. The mobile robot is controlled to start from a first position according to the movement control command, rotate a preset number of times, and then stop moving at a second position. The movement control command includes a first rotation angle, which is calculated based on the rotation radius, the first position, the second position, and the preset number of rotations. The second rotation angle is calculated using a preset angle recognition algorithm; The rotation angle offset accuracy is calculated based on the first rotation angle and the second rotation angle.

2. The method according to claim 1, characterized in that, If the movement parameter to be measured is a rotational angular velocity, the method includes: The mobile robot is controlled to rotate n revolutions according to a first rotational angular velocity, where n is greater than or equal to 2; The second rotational angular velocity of the mobile robot when it rotates for the nth time is calculated according to a preset angular velocity recognition algorithm; The rotational angular velocity offset accuracy is calculated based on the first rotational angular velocity and the second rotational angular velocity.

3. The method according to claim 1, characterized in that, If the movement parameter to be measured is linear velocity or movement trajectory, the method includes: The mobile robot is controlled to move from the third position to the fourth position based on the first linear velocity and the first movement trajectory; The movement time and second movement trajectory of the mobile robot from the third position to the fourth position are calculated according to the preset movement recognition algorithm. The second linear velocity is calculated based on the third position, the fourth position, and the movement time. The trajectory offset accuracy is calculated based on the first and second movement trajectories, and the linear velocity offset accuracy is calculated based on the first and second linear velocities.

4. A chassis accuracy testing device, characterized in that, A processor for use in a mobile robot, the mobile robot including a chassis and a laser generator, the laser generator being disposed at the rear of the chassis, the device comprising: The initialization module is used to initialize the movement parameters to be tested. The instruction acquisition module is used to acquire a preset movement control instruction, wherein the preset movement control instruction is a control instruction generated based on the first movement parameter; The motion control module is used to control the mobile robot to perform target actions according to the motion control instructions; The parameter calculation module is used to calculate the second movement parameter through a preset recognition algorithm; The accuracy calculation module is used to calculate the test feedback result based on the first movement parameter and the second movement parameter; If the movement parameter to be measured is a rotation angle, the device is used for: The laser generator is used to obtain the starting position of the mobile robot's rotation; the mobile robot is controlled to rotate 180°; the laser generator is used to obtain the stopping position of the mobile robot's rotation; and the rotation radius of the chassis is calculated based on the starting position and the stopping position. The mobile robot is controlled to start from a first position according to the movement control command, rotate a preset number of times, and then stop moving at a second position. The movement control command includes a first rotation angle, which is calculated based on the rotation radius, the first position, the second position, and the preset number of rotations. The second rotation angle is calculated using a preset angle recognition algorithm; The rotation angle offset accuracy is calculated based on the first rotation angle and the second rotation angle.

5. The apparatus according to claim 4, characterized in that, The measured motion parameters also include rotational angular velocity, linear velocity, and motion trajectory.

6. A robotic device, characterized in that, The robot device includes a processor and a memory, the memory storing a computer program, which, when run on the processor, executes the chassis accuracy testing method according to any one of claims 1 to 3.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when run on a processor, executes the chassis accuracy testing method according to any one of claims 1 to 3.

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