Testing method, system and related device of sweeping robot

Abstract

The invention discloses a test method, system and related device of a sweeping robot, the test method of the sweeping robot is applied to a target test system, and the target test system comprises a target acquisition device arranged in a test scene. The method comprises the following steps: acquiring an actual moving track of the sweeping robot in the test scene by using the target acquisition device; obtaining index information of the sweeping robot in the running process based on the actual running track; wherein the index information is determined on the basis of the cleaning area of the sweeping robot, the actual position information of an obstacle in the test scene and the position deviation, and the position deviation is determined on the basis of the actual moving track and a target moving track under the view angle of the sweeping robot; and obtaining a test result corresponding to the sweeping robot based on the index information. In this way, the efficiency of testing the sweeping robot can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of sweeping robots, and in particular to a testing method, system and related devices for sweeping robots. Background Art

[0002] With the continuous development of the sweeping robot industry, sweeping robots are now widely used in family life. As sweeping robots are used more and more widely, their performance in all aspects has also attracted wide attention. At present, the testing method for sweeping robots is mainly to observe the working status of sweeping robots by relevant technicians, so as to systematically evaluate the performance of sweeping robots. This testing method consumes a lot of labor costs, and the test results are easily affected by subjectivity.

[0003] In view of this, how to propose an efficient and accurate testing method for sweeping robots has become an urgent problem to be solved. Summary of the invention

[0004] The main technical problem solved by the present application is to provide a testing method, system and related devices for a sweeping robot, which can improve the efficiency of testing the sweeping robot.

[0005] In order to solve the above-mentioned technical problems, a technical solution adopted in the present application is: to provide a testing method for a sweeping robot, the testing method for the sweeping robot is applied to a target testing system, the target testing system includes a target acquisition device arranged in a test scene, and the method includes: using the target acquisition device to obtain the actual operation trajectory of the sweeping robot in the test scene; based on the actual operation trajectory, obtaining index information of the sweeping robot during the operation; wherein, the index information is determined based on the cleaning area of ​​the sweeping robot, the actual position information of obstacles in the test scene, and the position deviation, and the position deviation is determined based on the actual operation trajectory and the target operation trajectory from the perspective of the sweeping robot; based on the index information, obtaining the corresponding test result of the sweeping robot.

[0006] To solve the above-mentioned technical problems, another technical solution adopted in the present application is: to provide a testing device for a sweeping robot, comprising: an acquisition module, used to use a target acquisition device to acquire the actual operation trajectory of the sweeping robot in a test scene; a first processing module, used to acquire index information of the sweeping robot during operation based on the actual operation trajectory; wherein the index information is determined based on the cleaning area of ​​the sweeping robot, the actual position information of obstacles in the test scene, and the position deviation, and the position deviation is determined based on the actual operation trajectory and the target operation trajectory from the perspective of the sweeping robot; a second processing module, used to acquire the corresponding test results of the sweeping robot based on the index information.

[0007] To solve the above technical problems, another technical solution adopted in the present application is: to provide an electronic device, comprising: a memory and a processor coupled to each other, the memory storing program instructions, and the processor being used to execute the program instructions to implement the method mentioned in the above technical solution.

[0008] In order to solve the above technical problems, another technical solution adopted in the present application is: providing a computer-readable storage medium on which program instructions are stored, and when the program instructions are executed by a processor, the method mentioned in the above technical solution is implemented.

[0009] The beneficial effect of the present application is as follows: Different from the prior art, the test method of the sweeping robot proposed in the present application constructs a target test system including a test scene and a target acquisition device. The actual running trajectory of the sweeping robot in the test scene is obtained by using the target acquisition device in the target test system, and the index information of the sweeping robot during operation is determined according to the actual running trajectory. The index information is used to realize automatic testing of the sweeping robot in the test scene, which improves the efficiency of the test and enhances the objectivity of the test results. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them: Figure 1 It is a flowchart of an implementation method of a cleaning robot test method of the present application; Figure 2 yes Figure 1 Step S102 corresponds to a flow chart of another implementation method; Figure 3 yes Figure 1Step S102 corresponds to a flowchart of another implementation method; Figure 4 yes Figure 1 Step S103 corresponds to a flowchart of another implementation method; Figure 5 It is a structural schematic diagram of an implementation method of a testing device for a sweeping robot of the present application; Figure 6 It is a structural schematic diagram of an embodiment of the electronic device of the present application; Figure 7 It is a structural schematic diagram of an implementation method of a computer-readable storage medium of the present application. DETAILED DESCRIPTION

[0011] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments, and different embodiments can be adaptively combined. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0012] See also Figure 1 , Figure 1 The figure is a flow chart of an embodiment of a test method for a sweeping robot of the present application. The test method for a sweeping robot is applied to a target test system, the target test system includes a target acquisition device arranged in a test scene, and the method specifically includes: S101: Using a target acquisition device to obtain the actual running trajectory of the sweeping robot in the test scene.

[0013] In one embodiment, a sweeping robot is set in a test scene, and the sweeping robot is used to clean the passable ground in the test scene. The test scene is continuously imaged using a target acquisition device, and the driving path of the sweeping robot in the test scene is extracted by analyzing the acquired images. The driving path of the sweeping robot is mapped to a ground coordinate system matching the test scene to obtain the actual running trajectory of the sweeping robot in the ground coordinate system.

[0014] In one implementation scenario, the target acquisition device is a camera, and the target acquisition device is disposed above the test scene to acquire an image of the complete test scene.

[0015] S102: Based on the actual operation trajectory, obtain index information of the sweeping robot during operation; wherein the index information is determined based on the cleaning area of ​​the sweeping robot, the actual position information of obstacles in the test scene, and the position deviation, and the position deviation is determined based on the actual operation trajectory and the target operation trajectory from the perspective of the sweeping robot.

[0016] In one embodiment, the image collected by the target acquisition device is analyzed to determine the obstacles in the test scene. The obstacles are mapped to a ground coordinate system that matches the test scene, so that the coordinates of the obstacles in the ground coordinate system are used as actual position information. And, according to the actual running trajectory of the sweeping robot in the ground coordinate system, the cleaning area corresponding to the cleanable area is determined. Among them, the obstacles can be determined by target recognition, and the specific implementation process can refer to the existing open source algorithm, which will not be elaborated in detail here.

[0017] Furthermore, the index information of the sweeping robot during operation is determined at least based on the sweeping area of ​​the sweeping robot, the actual position information of obstacles in the test scene, and the position deviation of the sweeping robot, wherein the index information includes test data matching the sweeping robot with different test items.

[0018] S103: Based on the indicator information, obtain the test result corresponding to the sweeping robot.

[0019] In one embodiment, a test result corresponding to the sweeping robot is determined based on the acquired indicator information, wherein the test result is used to characterize at least one of the sweeping coverage, sweeping efficiency, obstacle avoidance rate, and self-positioning accuracy of the sweeping robot during operation.

[0020] Specifically, the acquired index information is compared with the preset reference information, and the comparison result is used as the test result of the sweeping robot.

[0021] In another embodiment, the acquired index information is input into the intelligent analysis model, so as to analyze the index information using the intelligent analysis model, thereby outputting the test result corresponding to the sweeping robot. The test result includes an interpretation text for interpreting each test item.

[0022] In one implementation scenario, the intelligent analysis model is a large language model with better data analysis capabilities. The indicator information and the description information of the corresponding test items are input into the intelligent analysis model, and the intelligent analysis model is prompted to analyze and interpret the indicator information, thereby generating the test results of the sweeping robot. The above description information is used to explain the corresponding test items. For example, the above description information is "the test item corresponding to the data is used to test the coverage of the area to be cleaned when the sweeping robot is cleaning."

[0023] In a specific application scenario, the above-mentioned large language model may include but is not limited to deep neural networks (DNNs), convolutional neural networks (CNNs), recurrent neural networks (RNNs), long short-term memory networks (LSTM) and generative pre-trained Transformer models, etc. No specific restrictions are made on the specific construction and deployment of the large language model.

[0024] The test method of the sweeping robot proposed in the present application constructs a target test system including a test scene and a target acquisition device. The actual running trajectory of the sweeping robot in the test scene is obtained by using the target acquisition device in the target test system, and the index information of the sweeping robot during operation is determined according to the actual running trajectory. The index information is used to realize automatic testing of the sweeping robot in the test scene, thereby improving the efficiency of the test and enhancing the objectivity of the test results.

[0025] In one embodiment, in order to realize automatic testing of the sweeping robot, the target testing system further includes a conversion matrix between the target acquisition device and the test scene, and the conversion matrix is ​​determined based on the calibration mark set in the test scene. The process of determining the conversion matrix matching the target acquisition device and the test scene includes: A calibration image is obtained by acquiring the calibration mark by the target acquisition device, and based on the calibration image, a conversion matrix between the camera coordinate system of the target acquisition device and the ground coordinate system of the test scene is obtained.

[0026] Specifically, the target acquisition device is internally calibrated. A ground coordinate system matching the ground of the test scene is constructed, and the first reference coordinate of the calibration marker in the ground coordinate system is determined according to the position of the calibration marker in the test scene. A calibration image is obtained by the target acquisition device acquiring the calibration marker, and the second reference coordinate of the calibration marker in the camera coordinate system of the target acquisition device is determined according to the calibration image. Based on the second reference coordinate and the first reference coordinate, a transformation matrix for realizing the transformation between the above-mentioned camera coordinate system and the above-mentioned ground coordinate system is determined.

[0027] In one implementation scenario, the process of calibrating the internal parameters of the target acquisition device includes: using the target acquisition device to acquire a calibration image, and determining the internal parameters of the target acquisition device based on the acquired image. Based on the above internal parameters, a relationship matrix between the camera coordinate system and the pixel coordinate system of the target acquisition device is determined, and the relationship matrix is ​​used to map the three-dimensional coordinates acquired by the target acquisition device to two-dimensional pixel coordinates for image display.

[0028] Furthermore, the process of constructing the above-mentioned ground coordinate system includes: determining a target point in the ground of the test scene, and using the target point as the coordinate origin of the ground coordinate system, and establishing the ground coordinate system according to the coordinate origin.

[0029] In addition, it should be noted that the above-mentioned conversion matrix determination process is performed before the cleaning robot is tested. And, in order to improve the efficiency of the test, after the conversion matrix is ​​determined, different cleaning robots are set in the test scene to automatically test the different cleaning robots using the target test system, thereby improving the test efficiency of the different cleaning robots.

[0030] In another embodiment, in response to determining the conversion matrix between the camera coordinate system and the ground coordinate system through the above corresponding embodiments, and the sweeping robot is provided with a positioning mark that can be collected by the target collection device, then Figure 1 The implementation process of step S101 includes: obtaining the video frame collected by the target collection device, and determining the actual running trajectory of the sweeping robot in the ground coordinate system based on the positioning mark and the transformation matrix in the video frame.

[0031] Specifically, the video frame collected by the target acquisition device is obtained, the positioning mark in the video frame is identified, and the position and first position coordinates of the sweeping robot in the camera coordinate system at the corresponding moment are determined according to the positioning mark. The first position coordinates are converted to the ground coordinate system using a conversion matrix to obtain the corresponding position and second position coordinates of the sweeping robot.

[0032] Furthermore, according to the second position coordinates of the cleaning robot determined from the plurality of continuous video frames, the actual running track of the cleaning robot in the ground coordinate system is determined.

[0033] See also Figure 2 , Figure 2 yes Figure 1 Step S102 in the flowchart corresponds to another embodiment. Specifically, the implementation process of step S102 includes: S201: Determine the cleaning area of ​​the sweeping robot based on the actual running trajectory.

[0034] In one implementation scenario, after obtaining the actual running trajectory corresponding to the sweeping robot, the cleaning area of ​​the sweeping robot in the test scenario is determined according to the actual running trajectory.

[0035] Specifically, the unit area cleaned by the mop at the bottom of the sweeping robot when the sweeping robot travels a unit distance is determined according to the area of ​​the mop at the bottom of the sweeping robot. The sweeping area corresponding to the actual running track is determined according to the unit area.

[0036] S202: Determine a first reference index based on the cleaning area.

[0037] In one embodiment, the area to be cleaned in the test scene is obtained, a reference area of ​​the area to be cleaned is determined, a first ratio of the cleaned area to the reference area is obtained, and the first ratio is used as a first reference indicator.

[0038] Specifically, the area in the test scene where obstacles are removed is used as the area to be cleaned. According to the image collected by the target acquisition device, a reference area of ​​the area to be cleaned is calculated. The first ratio of the cleaned area calculated in step S201 to the reference area is used as a first reference index. The first reference index is used to intuitively characterize the cleaning coverage rate of the sweeping robot during the cleaning process.

[0039] In another embodiment, a first ratio of the cleaning area to the reference area is obtained. And, based on the actual operation trajectory, the repeated cleaning area of ​​the sweeping robot during operation is determined, and a second ratio of the repeated cleaning area to the reference area is obtained. The first ratio and the second ratio are used as the first reference index.

[0040] Specifically, according to the actual running track corresponding to the sweeping robot, the area of ​​the area that is repeatedly cleaned is used as the repeated cleaning area. A second ratio between the repeated cleaning area and the reference area is calculated, and the second ratio is used to intuitively characterize the repeated cleaning rate of the sweeping robot during the cleaning process. The first ratio and the second ratio obtained are both used as the first reference index.

[0041] In another embodiment, in response to obtaining the first ratio and the second ratio through the above corresponding embodiments, the first ratio is converted into a first value, and the second ratio is converted into a second value. The larger the first value, the higher the cleaning coverage rate of the sweeping robot during the cleaning process; the larger the second value, the lower the repeated cleaning rate.

[0042] Furthermore, the first value and the second value are weighted and summed to obtain a result as a first reference index. The higher the value corresponding to the first reference index, the higher the efficiency of the sweeping robot in cleaning.

[0043]

[0044] in, represents the first reference index, represents the first value, Indicates the first value The corresponding weight, represents the second value, Indicates the second value The corresponding weights. Among them, the above weights and weight The specific value of can be obtained by relevant technical personnel through estimation, or can be obtained by reverse deduction after multiple experiments.

[0045] S203: Acquire actual position information of obstacles in the test scene, and divide the actual running trajectory into trajectory segments matching different trajectory categories based on the actual position information and the actual running trajectory.

[0046] In one embodiment, the actual position information of the obstacle in the test scene in the ground coordinate system is obtained, and the actual running track is divided according to the actual position information of the obstacle and the actual running track of the sweeping robot to obtain a plurality of corresponding track segments, wherein each track segment is matched with a corresponding track category.

[0047] In one implementation scenario, the trajectory categories include a straight-moving category, a turning category, and an obstacle-avoiding category. The straight-moving portion of the actual running trajectory is used as a trajectory segment corresponding to the straight-moving category; the turning portion of the actual running trajectory is used as a trajectory segment corresponding to the turning category; and the portion of the actual running trajectory that is close to an obstacle and runs along the edge contour of the obstacle is used as a trajectory segment corresponding to the obstacle-avoiding category. By dividing the actual running trajectory into a plurality of trajectory segments, it is helpful to separately count the efficiency of the sweeping robot when running along the corresponding trajectory segment according to the corresponding trajectory category.

[0048] S204: For each trajectory category, determine second reference data based on the running distance and running time of the matched trajectory segment.

[0049] In one embodiment, for each trajectory category, the running distance and running time of the matching trajectory segment are determined, and second reference data is determined based on the running distance and running time. The second reference data is used to intuitively characterize the cleaning efficiency of the sweeping robot during operation.

[0050] In one implementation scenario, for the trajectory segment corresponding to the straight-line category, a third ratio between the corresponding running distance and the running time is obtained; for the trajectory segment corresponding to the turning category, a fourth ratio between the corresponding running distance and the running time is obtained; and for the trajectory segment corresponding to the obstacle avoidance category, the obstacle avoidance area of ​​the ground covered by the sweeping robot when it travels around the obstacle and the corresponding obstacle avoidance time are obtained, and a fifth ratio between the obstacle avoidance area and the obstacle avoidance time is obtained. The third ratio, the fourth ratio, and the fifth ratio are all used as the second reference data.

[0051] Alternatively, the process of determining the fifth ratio may be as follows: for the trajectory segment corresponding to the obstacle avoidance category, the obstacle avoidance distance and the corresponding obstacle avoidance time of the sweeping robot around the obstacle are obtained, and the ratio between the obstacle avoidance distance and the obstacle avoidance time is used as the fifth ratio.

[0052] In another embodiment, after the third ratio, the fourth ratio and the fifth ratio are obtained, a weighted sum of the three ratios is performed to obtain the second reference data.

[0053] S205: Obtain a target running trajectory from the perspective of the sweeping robot, and determine a third reference indicator based on the target running trajectory and the actual running trajectory.

[0054] In one embodiment, a target running track from the perspective of the sweeping robot is obtained. Based on the target running track and the actual running track, the position deviation of the sweeping robot at each position in the test scene is determined. Based on the position deviation, a third reference index is obtained.

[0055] Specifically, the positioning technology of the sweeping robot is used to record its target running trajectory in the ground coordinate system according to its driving process in the test scene. The target running trajectory is compared with the actual running trajectory to determine the position deviation of the sweeping robot at various positions during the driving process. Based on the position deviation, the third reference index is determined. Among them, the positioning technology of the above-mentioned sweeping robot is SLAM (Simultaneous Localization and Mapping) technology.

[0056] In one implementation scenario, the position deviation between the target running track and the actual running track is calculated using the existing Evo evaluation tool. According to the position deviation, a deviation parameter is calculated, and the deviation parameter includes at least part of the position deviation mean, the maximum deviation, the root mean square error, and the standard deviation. Further, in response to obtaining multiple different types of deviation parameters, all deviation parameters are used as the third reference indicator; or, all deviation parameters are weighted and summed, and the result obtained is used as the third reference indicator.

[0057] In another embodiment, the corresponding position deviations are calculated respectively according to the trajectory categories, and the position deviations corresponding to different trajectory categories are used as the third reference index.

[0058] Specifically, the straight-ahead category is taken as the first category, and the turning category and the obstacle avoidance category are taken as the second category. For the trajectory segments corresponding to the first category in the target trajectory and the actual trajectory respectively, the first position deviation is calculated; and for the trajectory segments corresponding to the second category in the target trajectory and the actual trajectory respectively, the second position deviation is calculated. The first position deviation and the second position deviation are used as the third reference indicator. Among them, the above-mentioned first position deviation and the second position deviation respectively include at least part of the corresponding position deviation mean, deviation maximum value, root mean square error and standard deviation. The specific acquisition process can refer to the above-mentioned corresponding implementation method.

[0059] S206: Obtaining the matched contour information and hazard factor of the obstacle, and determining a fourth reference index based on the contour information, the hazard factor and the actual running trajectory.

[0060] In one embodiment, based on the image captured by the target acquisition device, contour information corresponding to each obstacle in the test scene is extracted, and the risk factor matched by each obstacle is determined.

[0061] Specifically, the images collected by the target acquisition device are analyzed to determine the contour information according to the projection of each obstacle on the ground. In addition, the trained classification model is used to identify the category of each obstacle, and the risk factor matching each obstacle is determined according to the category, for example, a higher risk factor is set for fragile obstacles.

[0062] Furthermore, according to the contour information of each obstacle and the actual running track of the sweeping robot, a corresponding intersection track is obtained. According to the intersection track and the risk factor corresponding to each obstacle, a fourth reference index is determined. The fourth index is used to characterize the safety of the sweeping robot during operation.

[0063] Specifically, for each obstacle, the corresponding intersection trajectory is extracted from the actual running trajectory, and the distance between the intersection trajectory and the corresponding contour information is less than the distance threshold. According to the length and the risk factor of the intersection trajectory, the fourth reference index is determined. Among them, the above distance threshold can be obtained by relevant technical personnel through estimation, or it can also be obtained by reverse deduction after multiple tests.

[0064] In one implementation scenario, for each obstacle, a reference product between the length of the corresponding intersection trajectory and the risk factor is obtained, and the sum of the reference products corresponding to all obstacles is used as the fourth reference indicator.

[0065] In the above scheme, the different reference indicators obtained are used to test the performance of the sweeping robot from multiple test dimensions, so as to help improve the comprehensiveness of the sweeping robot test in the future. In addition, it should be noted that in the actual test process, the indicator information may also include only part of the above multiple reference indicators, and the order of obtaining the above different reference indicators may also be other, for example, different reference indicators may be obtained at the same time, or they may be obtained in sequence.

[0066] See also Figure 3 , Figure 3 yes Figure 1 Step S102 in the flowchart corresponds to another embodiment. Specifically, the target running trajectory mentioned in the above corresponding embodiment is determined based on the target scene information matching the test scene constructed by the sweeping robot. Based on this, step S102 also includes: S301: Acquire target scene information collected by the sweeping robot, and determine target position information of obstacles from the perspective of the sweeping robot based on the target scene information.

[0067] In one embodiment, a map of the test scene is constructed using the positioning technology of the sweeping robot to serve as target scene information that matches the test scene. According to the target scene information, obstacles in the sweeping robot's perspective are mapped to a ground coordinate system to obtain corresponding target position information. The target position information includes the coordinates of the obstacles in the ground coordinate system in the sweeping robot's perspective.

[0068] S302: Determine a fifth reference indicator based on the target position information and the actual position information of the obstacle.

[0069] In one implementation, the target position information and the actual position information of the obstacle are compared to determine a fifth reference index, where the fifth reference index is used to characterize the map construction accuracy of the cleaning robot.

[0070] Specifically, according to the target position information and the actual position information, the position deviation corresponding to the obstacle in the test scene from the perspective of the sweeping robot is determined, and the position deviation is used as the fifth reference indicator.

[0071] In yet another embodiment, Figure 1 Before step S103, the method further includes: obtaining motion state information of the sweeping robot based on the actual running track, wherein the motion state information includes at least one of the running speed and running acceleration of the sweeping robot.

[0072] Specifically, according to the determined actual running trajectory, the running speed and running acceleration of the sweeping robot at various positions in the test scene are determined. The running speed is used to characterize the cleaning efficiency of the sweeping robot, and the running acceleration is used to characterize the stability of the sweeping robot during cleaning; by using the obtained motion state information of the sweeping robot to provide a reference basis for the generation of test results, the final test results are more authoritative.

[0073] See also Figure 4 , Figure 4 yes Figure 1 Step S103 in the flowchart corresponds to another embodiment. Specifically, the implementation process of step S103 includes: S401: Based on the indicator information and the motion state information, obtain a test score corresponding to the sweeping robot.

[0074] In one embodiment, for each reference indicator in the indicator information and each data in the motion state information, a corresponding sub-score is obtained, wherein a higher sub-score indicates that the cleaning robot performs better under the corresponding test item.

[0075] Furthermore, all the obtained sub-scores are weighted and summed to obtain the test score corresponding to the sweeping robot.

[0076] S402: Determine the test result corresponding to the cleaning robot based on the test score.

[0077] In one implementation, a preset score threshold is obtained, and a test result corresponding to the cleaning robot is determined according to the score threshold and the above test score.

[0078] Specifically, when the test score is greater than or equal to the score threshold, the test result corresponding to the sweeping robot is determined to be "test passed". Alternatively, when the test score is less than the score threshold, it indicates that the sweeping robot does not meet the test pass condition and the test result is "test failed".

[0079] The above scheme improves the efficiency of obtaining test results by converting the indicator information and motion state information of the sweeping robot into test scores, so as to intuitively display the overall cleaning effect of the sweeping robot according to the test scores.

[0080] In another embodiment, the image collected by the target acquisition device is analyzed to obtain the behavior information of the sweeping robot during the test, wherein the behavior information is used to characterize whether the behavior of the sweeping robot is straight-line cleaning, obstacle-avoiding cleaning, or collision.

[0081] Furthermore, the behavior information of the sweeping robot is analyzed by combining the visualization image of the sweeping robot generated by the Rviz (Robotics Visualization) tool, so as to determine the cause of the malfunction when the sweeping robot malfunctions. The cause of the malfunction is used as the test result of the sweeping robot.

[0082] See also Figure 5 , Figure 5 1 is a schematic diagram of the structure of an embodiment of a testing device for a sweeping robot of the present application. Specifically, the testing device for the robot comprises an acquisition module 10, a first processing module 20 and a second processing module 30 which are coupled to each other.

[0083] Specifically, the acquisition module 10 is used to use the target acquisition device to acquire the actual running trajectory of the sweeping robot in the test scene.

[0084] The first processing module 20 is used to obtain index information of the sweeping robot during operation based on the actual operation trajectory; wherein the index information is determined based on the cleaning area of ​​the sweeping robot, the actual position information of obstacles in the test scene, and the position deviation, and the position deviation is determined based on the actual operation trajectory and the target operation trajectory from the perspective of the sweeping robot.

[0085] The second processing module 30 is used to obtain the test result corresponding to the cleaning robot based on the indicator information.

[0086] In one embodiment, please continue to refer to Figure 5 The robot testing device proposed in the present application also includes a conversion module 40 coupled to the acquisition module 10. A calibration mark is set in the test scene. The target test system includes a conversion matrix between the target acquisition device and the test scene. The process of the conversion module 40 determining the conversion matrix includes: acquiring a calibration image obtained by the target acquisition device acquiring the calibration mark, and based on the calibration image, acquiring the conversion matrix between the camera coordinate system of the target acquisition device and the ground coordinate system of the test scene.

[0087] In one embodiment, the sweeping robot is provided with a positioning mark, and the first processing module 20 uses the target acquisition device to obtain the actual operation trajectory of the sweeping robot in the test scene, including: obtaining the video frame captured by the target acquisition device, and determining the actual operation trajectory of the sweeping robot in the ground coordinate system based on the positioning mark and the transformation matrix in the video frame.

[0088] In one embodiment, the first processing module 20 obtains index information of the sweeping robot during operation based on the actual operation trajectory, including: determining the cleaning area of ​​the sweeping robot based on the actual operation trajectory; determining a first reference index based on the cleaning area; and obtaining the actual position information of the obstacle in the test scene, and dividing the actual operation trajectory into trajectory segments matching different trajectory categories based on the actual position information and the actual operation trajectory; for each trajectory category, determining second reference data based on the running distance and running time of the matching trajectory segments; and obtaining the target operation trajectory from the perspective of the sweeping robot, and determining a third reference index based on the target operation trajectory and the actual operation trajectory; and obtaining the contour information and hazard factor of the obstacle match, and determining a fourth reference index based on the contour information, the hazard factor and the actual operation trajectory.

[0089] In one embodiment, the first processing module 20 determines a first reference indicator based on the cleaning area, including: obtaining the area to be cleaned in the test scene, and determining a reference area of ​​the area to be cleaned; obtaining a first ratio of the cleaning area to the reference area; and, based on the actual operation trajectory, determining the repeated cleaning area of ​​the sweeping robot during operation, and obtaining a second ratio of the repeated cleaning area to the reference area; and using the first ratio and the second ratio as the first reference indicator.

[0090] In one embodiment, the first processing module 20 obtains the target running trajectory from the perspective of the sweeping robot, and determines a third reference indicator based on the target running trajectory and the actual running trajectory, including: obtaining the target running trajectory from the perspective of the sweeping robot; determining the position deviation of the sweeping robot at various positions in the test scene based on the target running trajectory and the actual running trajectory; and obtaining the third reference indicator based on the position deviation.

[0091] In one embodiment, the target operation trajectory is determined based on the target scene information constructed by the sweeping robot and matching the test scene. The first processing module 20 obtains the indicator information of the sweeping robot during the operation based on the actual operation trajectory, and also includes: obtaining the target scene information collected by the sweeping robot, and determining the target position information of the obstacle from the perspective of the sweeping robot based on the target scene information; determining the fifth reference indicator based on the target position information and the actual position information of the obstacle.

[0092] In one embodiment, before obtaining the test results corresponding to the sweeping robot based on the indicator information, the first processing module 20 is also used to obtain the motion state information of the sweeping robot based on the actual operation trajectory; wherein the motion state information includes at least one of the operating speed and operating acceleration of the sweeping robot.

[0093] In one embodiment, the second processing module 30 obtains the test result corresponding to the sweeping robot based on the indicator information, including: obtaining the test score corresponding to the sweeping robot based on the indicator information and the motion state information; and determining the test result corresponding to the sweeping robot based on the test score.

[0094] See also Figure 6 , Figure 6: is a structural diagram of an embodiment of an electronic device of the present application. The electronic device comprises: a memory 50 and a processor 60 coupled to each other. The memory 50 stores program instructions, and the processor 60 is used to execute the program instructions to implement the method mentioned in any of the above embodiments. Specifically, the electronic device includes but is not limited to: a desktop computer, a laptop computer, a tablet computer, a server, etc., which are not limited here. In addition, the processor 60 can also be called a CPU (Center Processing Unit). The processor 60 may be an integrated circuit chip with signal processing capabilities. The processor 60 may also be a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field-programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. In addition, the processor 60 may be implemented by an integrated circuit chip.

[0095] See also Figure 7 , Figure 7 It is a structural diagram of an embodiment of a computer-readable storage medium of the present application. The computer-readable storage medium 70 stores program instructions 80 that can be executed by a processor. When the program instructions 80 are executed by the processor, the method mentioned in any of the above embodiments is implemented.

[0096] In the several embodiments provided in the present application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device implementation described above is only schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0097] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0098] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0099] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) or a processor to execute all or part of the steps of each implementation method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program code.

[0100] The above description is only an implementation method of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for testing a sweeping robot, characterized in that: The testing method of the sweeping robot is applied to a target testing system, the target testing system includes a target acquisition device arranged in a test scene, and the method includes: Using the target acquisition device to obtain the actual running trajectory of the sweeping robot in the test scene; Based on the actual running trajectory, obtaining index information of the sweeping robot during operation; wherein the index information is determined based on the cleaning area of ​​the sweeping robot, the actual position information of obstacles in the test scene, and the position deviation, and the position deviation is determined based on the actual running trajectory and the target running trajectory from the perspective of the sweeping robot; Based on the indicator information, a test result corresponding to the sweeping robot is obtained.

2. The method according to claim 1, characterized in that The test scene is provided with a calibration mark, the target test system includes a conversion matrix between a target acquisition device and the test scene, and the determination process of the conversion matrix includes: A calibration image is obtained by acquiring the calibration mark by the target acquisition device, and based on the calibration image, the conversion matrix between the camera coordinate system of the target acquisition device and the ground coordinate system of the test scene is acquired.

3. The method according to claim 2, characterized in that The sweeping robot is provided with a positioning mark, and the using the target acquisition device to obtain the actual running track of the sweeping robot in the test scene includes: The video frame collected by the target collection device is obtained, and based on the positioning mark and the transformation matrix in the video frame, the actual running trajectory of the sweeping robot in the ground coordinate system is determined.

4. The method according to claim 1, characterized in that: The obtaining, based on the actual running trajectory, indicator information of the sweeping robot during the running process includes: Determining a cleaning area of ​​the cleaning robot based on the actual running trajectory; Based on the cleaning area, determining a first reference indicator; and, Acquire the actual position information of the obstacle in the test scene, and divide the actual running trajectory into trajectory segments matching different trajectory categories based on the actual position information and the actual running trajectory; For each of the trajectory categories, determining second reference data based on the running distance and running time of the matching trajectory segments; and, Acquire a target running trajectory from the perspective of the sweeping robot, and determine a third reference index based on the target running trajectory and the actual running trajectory; and Obtain the contour information and hazard factor of the obstacle match, and determine a fourth reference index based on the contour information, the hazard factor and the actual running trajectory.

5. The method according to claim 4, characterized in that The determining of a first reference index based on the cleaning area includes: Acquire the area to be cleaned in the test scene, and determine the reference area of ​​the area to be cleaned; acquiring a first ratio of the cleaning area to the reference area; and, Based on the actual running trajectory, determining the repeated cleaning area of ​​the cleaning robot during operation, and obtaining a second ratio of the repeated cleaning area to the reference area; The first ratio and the second ratio are used as the first reference index.

6. The method according to claim 4, characterized in that The acquiring the target running trajectory from the perspective of the sweeping robot and determining a third reference index based on the target running trajectory and the actual running trajectory includes: Obtaining the target running trajectory from the perspective of the sweeping robot; Based on the target running trajectory and the actual running trajectory, determining the position deviation of the sweeping robot at various positions in the test scene; Based on the position deviation, the third reference index is acquired.

7. The method according to claim 6, characterized in that The target running trajectory is determined based on the target scene information constructed by the sweeping robot and matching the test scene, and the step of obtaining the index information of the sweeping robot during operation based on the actual running trajectory further includes: Acquire the target scene information collected by the cleaning robot, and determine the target position information of the obstacle from the perspective of the cleaning robot based on the target scene information; Based on the target position information and the actual position information of the obstacle, a fifth reference index is determined.

8. The method according to claim 1, characterized in that Before obtaining the test result corresponding to the sweeping robot based on the indicator information, the method includes: Based on the actual running trajectory, acquiring the motion state information of the cleaning robot; wherein the motion state information includes at least one of the running speed and the running acceleration of the cleaning robot; The obtaining, based on the indicator information, a test result corresponding to the sweeping robot, comprises: Based on the indicator information and the motion state information, obtaining a test score corresponding to the sweeping robot; Based on the test score, a test result corresponding to the cleaning robot is determined.

9. A testing device for a sweeping robot, characterized in that: include: An acquisition module is used to acquire the actual running trajectory of the sweeping robot in the test scene using a target acquisition device; A first processing module, configured to obtain index information of the sweeping robot during operation based on the actual operation trajectory; wherein the index information is determined based on the cleaning area of ​​the sweeping robot, the actual position information of obstacles in the test scene, and the position deviation, and the position deviation is determined based on the actual operation trajectory and the target operation trajectory from the perspective of the sweeping robot; The second processing module is used to obtain the test result corresponding to the sweeping robot based on the indicator information.

10. An electronic device, characterized in that: include: A memory and a processor coupled to each other, wherein the memory stores program instructions, and the processor is used to execute the program instructions to implement the method according to any one of claims 1 to 8.

11. A computer-readable storage medium having program instructions stored thereon, characterized in that: When the program instructions are executed by a processor, the method according to any one of claims 1 to 8 is implemented.

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