Autonomous walking track testing method and device

Abstract

The invention discloses an autonomous walking trajectory test method and device, and relates to the technical field of trajectory test.The method comprises the steps that firstly, a target trajectory line of a to-be-tested robot in a target operation area is obtained; the to-be-tested robot is an autonomous walking robot; starting the to-be-tested robot, and determining an actual trajectory line of the to-be-tested robot based on the autonomous walking trajectory test equipment; and determining the trajectory offset of the to-be-detected robot according to the target trajectory line and the actual trajectory line of the to-be-detected robot and an offset calculation formula. According to the invention, accurate testing of the offset of the motion track of the robot can be realized.

Description

Technical Field

[0001] The present application relates to the technical field of trajectory testing, and in particular to a method and device for autonomous walking trajectory testing. Background Art

[0002] With the rapid development of industrial automation and intelligent manufacturing technology, robots are becoming more and more widely used in various fields. In order to ensure the accuracy and reliability of robots in actual work, it is very important to conduct trajectory testing on robots. The trajectory testing equipment can simulate the motion trajectory of robots in actual work and detect key performance indicators such as motion accuracy, repeated positioning accuracy, and motion smoothness.

[0003] Traditional autonomous walking trajectory testing methods usually rely on external measurement equipment, such as laser trackers, visual measurement systems, etc. Although these methods have high accuracy, they are expensive, complicated to operate, and not easy to integrate into the production line. In addition, the calculation accuracy of the motion trajectory offset is not high. Summary of the invention

[0004] The purpose of this application is to provide an autonomous walking trajectory testing method and equipment, which can realize accurate testing of the deviation of the robot's motion trajectory.

[0005] To achieve the above objectives, this application provides the following solutions:

[0006] In a first aspect, the present application provides an autonomous walking trajectory testing method, comprising:

[0007] Obtaining a target trajectory of the robot to be tested in a target operating area; the robot to be tested is an autonomous walking robot;

[0008] Start the robot to be tested, and determine the actual trajectory of the robot to be tested based on the autonomous walking trajectory test equipment;

[0009] According to the target trajectory route and the actual trajectory route of the robot to be tested, the trajectory offset of the robot to be tested is determined according to an offset calculation formula.

[0010] Optionally, the target operating area is a rectangular area simulated by four positioning points pre-set for the robot to be tested.

[0011] Optionally, the target trajectory line is a virtual path with a boundary of the rectangular area as a limit and a set vertical distance from the boundary line as a safety distance.

[0012] Optionally, according to the target trajectory route and the actual trajectory route of the robot to be tested, and according to an offset calculation formula, determining the trajectory offset of the robot to be tested specifically includes:

[0013] Based on the target trajectory of the robot to be tested, determining a plurality of target trajectory points on the target trajectory;

[0014] Based on the actual trajectory of the robot to be tested, determining a number of actual trajectory points on the actual trajectory corresponding to the target trajectory;

[0015] According to the target trajectory route point and the actual trajectory route point, based on the distance formula between the two points, a plurality of groups of route point offsets are obtained;

[0016] The track offset of the robot to be tested is determined according to a plurality of groups of route point offsets.

[0017] Optionally, according to the target trajectory route point and the actual trajectory route point, based on a distance formula between two points, several groups of route point offsets are obtained, specifically including:

[0018] According to the formula Calculate route point offset;

[0019] Among them, Yp is the ordinate of point p in the actual trajectory route point, Xp is the abscissa of point p in the actual trajectory route point, Yb is the ordinate of point b in the target trajectory route point, and Xb is the abscissa of point b in the actual trajectory route point.

[0020] In a second aspect, the present application provides an autonomous walking trajectory testing device, the autonomous walking trajectory testing device comprising:

[0021] Guidance satellite positioning fusion device and host control box;

[0022] The Guandao satellite positioning fusion device is composed of a Guandao shell, a battery, a plurality of GPS antennas, a plurality of GPS antenna connecting lines, a plurality of detachable antenna brackets and a plurality of antenna brackets; a satellite positioning module, a DTU module and a wireless communication module are arranged in the shell; a GPS antenna interface, a WIFI antenna interface, a power switch, a charging port, a power display screen, a first shell connector and a second shell connector are arranged on the surface of the shell; a battery is arranged inside the shell for power supply of each module and the power display screen; one end of the GPS antenna connecting line is connected to the GPS antenna, and the other end is connected to the GPS antenna interface; the antenna bracket is fixed on both sides of the shell; one end of the detachable antenna bracket is connected to the antenna bracket, and a GPS antenna is arranged on the other end;

[0023] The host control box is composed of a power supply, a tablet computer, a WIFI module, a base station and a display; the host control box is used to control the operation of the test equipment.

[0024] Optionally, a handheld positioning device is also included; the handheld positioning device is composed of a tripod, a 360-degree pan-tilt head and a locator; the locator is used to track the position information of the robot to be tested in real time, and transmit the data to the host control box through a wireless communication module.

[0025] Optionally, it also includes a suction cup mechanism; the suction cup mechanism is connected to the bottom of the shell and is used to fix the navigation satellite positioning fusion device on the robot to be tested.

[0026] Optionally, it also includes: an equipment storage box; the equipment storage box is used to place the disassembled or uninstalled GPS antenna, antenna bracket, GPS antenna connecting line, detachable antenna bracket and WIFI antenna.

[0027] Optionally, it also includes: an electronic gyroscope device; the electronic gyroscope device is used to be installed at the position to be tested of the robot to be tested through a ratchet tightener, and is used to measure and record the angular velocity and angular acceleration of the robot to be tested during movement.

[0028] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0029] The present application provides an autonomous walking trajectory testing method and equipment, which includes: first, obtaining the target trajectory line of the robot to be tested in the target operating area is the basis of the test. This step ensures that the test has a clear standard, that is, the ideal path that the robot should follow. Next, start the robot to be tested, and determine its actual trajectory line based on the autonomous walking trajectory testing equipment. This step is the core of the test, which directly reflects the performance of the robot in actual operation. By comparing the actual trajectory line with the target trajectory line, it can be intuitively seen whether the robot has deviations during the movement process, and the degree of deviation. Finally, according to the target trajectory line and the actual trajectory line of the robot to be tested, the trajectory offset is determined using the offset calculation formula. This step is the quantitative analysis stage of the test, which quantifies the deviation between the actual trajectory and the target trajectory, and provides specific data support for the evaluation of the robot's motion trajectory offset. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. 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 paying creative work.

[0031] Figure 1 A schematic diagram of a flow chart of an autonomous walking trajectory testing method provided in one embodiment of the present application;

[0032] Figure 2 A planning diagram of the driving area of ​​the robot to be tested provided in an embodiment of the present application;

[0033] Figure 3 A driving route map of the robot to be tested provided in one embodiment of the present application;

[0034] Figure 4 A schematic diagram of a navigation satellite positioning fusion device provided in one embodiment of the present application;

[0035] Figure 5 A schematic diagram of a housing side view provided in an embodiment of the present application Figure 1 ;

[0036] Figure 6 A schematic diagram of a housing side view provided in an embodiment of the present application Figure 2 ;

[0037] Figure 7 A schematic diagram of the components of a navigation satellite positioning fusion device provided in one embodiment of the present application;

[0038] Figure 8 Schematic diagram of the assembly of the navigation satellite positioning fusion device provided in one embodiment of the present application Figure 1 ;

[0039] Fig. 9 Schematic diagram of the assembly of the navigation satellite positioning fusion device provided in one embodiment of the present application Figure 2 ;

[0040] Fig.10 A schematic diagram of an assembly using two magnets provided in one embodiment of the present application;

[0041] Fig.11 A schematic diagram of the test installation of a navigation satellite positioning fusion device provided in one embodiment of the present application;

[0042] Fig.12 A schematic diagram of an angle adjustment mechanism provided in one embodiment of the present application;

[0043] Fig.13 A physical diagram of an electronic gyroscope device provided in one embodiment of the present application;

[0044] Fig.14 A physical picture of a ratchet tightener provided in one embodiment of the present application;

[0045] Fig.15 A schematic diagram of the test installation of an electronic gyroscope device provided in one embodiment of the present application;

[0046] Fig.16 A schematic diagram of a host control box provided in an embodiment of the present application;

[0047] Fig.17 A physical diagram of a suction cup mechanism and a main control box provided in an embodiment of the present application;

[0048] Fig.18 A schematic diagram of the installation position of a suction cup mechanism provided in an embodiment of the present application;

[0049] Fig.19 A schematic diagram of a handheld positioning device provided in an embodiment of the present application;

[0050] Fig. 20 A diagram of the handheld positioning components provided in one embodiment of the present application;

[0051] Fig.21 A diagram showing the placement of storage boxes according to an embodiment of the present application. DETAILED DESCRIPTION

[0052] 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. 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.

[0053] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0054] Embodiment 1

[0055] like Figure 1 As shown, this embodiment provides an autonomous walking trajectory testing method, including:

[0056] Step 101: obtaining a target trajectory of the robot to be tested in a target operating area; the robot to be tested is an autonomous walking robot;

[0057] Step 102: Start the robot to be tested and determine the actual trajectory of the robot to be tested based on the autonomous walking trajectory testing device;

[0058] Step 103: determining the trajectory offset of the robot to be tested according to the target trajectory route and the actual trajectory route of the robot to be tested and according to an offset calculation formula.

[0059] Among them, Figure 2 , Figure 3 As shown, the target operation area is a rectangular area simulated by four positioning points preset by the robot to be tested.

[0060] The target trajectory line is a virtual path with the boundary of the rectangular area as the boundary and a set vertical distance from the boundary line as the safety distance.

[0061] Specifically, a rectangle is simulated with the four positioning points pre-set by the robot to be tested, that is, the operation area is confirmed, and the robot to be tested walks around the boundary of the rectangle according to the navigation route, and the four sides, four vertices and the center point of the rectangle are divided into three calculation ranges.

[0062] The range of region 1 is calculated as the vertical distance between the robot trajectory and the boundary line, and the range threshold of region 1 is the y value of the trajectory point within the x value range of the two vertices is less than or greater than the y value of the boundary line.

[0063] The range of region 2 is calculated as the straight-line distance between the robot trajectory and the vertex position, and the range threshold of region 2 is the x, y value less than the vertex coordinates.

[0064] The range of area 3 is calculated as the vertical distance between the robot trajectory and the boundary line. The range threshold of area 3 is within the angle range from the intersection of the rectangle to the two vertices and does not exceed the range of area 1.

[0065] In some embodiments, according to the target trajectory route and the actual trajectory route of the robot to be tested, according to the offset calculation formula, the trajectory offset of the robot to be tested is determined, specifically including:

[0066] Based on the target trajectory of the robot to be tested, determining a plurality of target trajectory points on the target trajectory;

[0067] Based on the actual trajectory of the robot to be tested, determining a number of actual trajectory points on the actual trajectory corresponding to the target trajectory;

[0068] According to the target trajectory route point and the actual trajectory route point, based on the distance formula between the two points, a plurality of groups of route point offsets are obtained;

[0069] The track offset of the robot to be tested is determined according to a plurality of groups of route point offsets.

[0070] Among them, according to the target trajectory route point and the actual trajectory route point, based on the distance formula between the two points, several groups of route point offsets are obtained, specifically including:

[0071] According to the formula Calculate route point offset;

[0072] Among them, Yp is the ordinate of point p in the actual trajectory route point, Xp is the abscissa of point p in the actual trajectory route point, Yb is the ordinate of point b in the target trajectory route point, and Xb is the abscissa of point b in the actual trajectory route point.

[0073] like Figure 2 As shown in the figure, different regions have different calculation methods, as follows:

[0074] The calculation method for area 1 is:

[0075] P{}=Xp>Xa&Xp<Xb&Yp> Ya|Yb,Δp=Yp-Ya.

[0076] P is the actual trajectory point.

[0077] P{}: the trajectory point within the x-axis range of a,b coordinates; Δp is the Y-axis distance between the trajectory point and point a.

[0078] Specifically, the calculation method for area 2 is:

[0079] P{}=Xp>Xb&Yp>Yb,

[0080] P{}: the trajectory point within the x-axis range of a,b coordinates; Δp: the straight-line distance between the trajectory point and point B.

[0081] Specifically, the calculation method for area 3 is:

[0082] P{}=Kpc>Kac&Kpc <Kbc,Δp=Yb-Yp。

[0083] P{}: the trajectory point within the slope range of a, b coordinates and c coordinate; Δp: the Y-axis distance between the trajectory point and point B.

[0084] Embodiment 2

[0085] This embodiment provides an autonomous walking trajectory testing device, including:

[0086] Guidance satellite positioning fusion device and host control box;

[0087] The Guandao satellite positioning fusion device is composed of a Guandao shell, a battery, a plurality of GPS antennas, a plurality of GPS antenna connecting lines, a plurality of detachable antenna brackets and a plurality of antenna brackets; a satellite positioning module, a DTU module and a wireless communication module are arranged in the shell; a GPS antenna interface, a WIFI antenna interface, a power switch, a charging port, a power display screen, a first shell connector and a second shell connector are arranged on the surface of the shell; a battery is arranged inside the shell for power supply of each module and the power display screen; one end of the GPS antenna connecting line is connected to the GPS antenna, and the other end is connected to the GPS antenna interface; the antenna bracket is fixed on both sides of the shell; one end of the detachable antenna bracket is connected to the antenna bracket, and a GPS antenna is arranged on the other end;

[0088] Specifically, the Guandao satellite positioning fusion device integrates the combined Guandao with satellite positioning module, DTU module (RTK solution mode), wireless communication module (including WIFI module), battery, antenna bracket, etc. to realize the functions of robot posture data collection, wireless transmission, etc.

[0089] Wherein, in some embodiments, Figure 4 As shown, the said navigation satellite positioning fusion device is composed of a navigation shell, a battery, two GPS antennas, two GPS antenna connecting wires, two detachable antenna brackets and two antenna brackets. Figure 5 and Figure 6 As shown, a GPS antenna interface, a WIFI antenna interface, a power switch, a charging port, and a power display screen are provided on one side of the shell, and a GPS antenna interface, a first shell connector, and a second shell connector are provided on the other side.

[0090] Specifically, the assembly method of the navigation satellite positioning fusion device is as follows:

[0091] Step 1: Take out the two GPS antennas, antenna bracket, two GPS antenna cables, two detachable antenna brackets, and one WIFI antenna from the storage box (such as Figure 7 ).

[0092] Step 2: Press Figure 8 and Fig. 9 The two GPS antennas, two GPS antenna cables, and two detachable antenna brackets are installed.

[0093] Step 3: If the two suction cups are not firmly fixed, you can use two magnets to fix them (such as Fig.10 ).

[0094] Among them, the test installation method of the navigation satellite positioning fusion device is as follows:

[0095] The navigation satellite positioning fusion device is fixed on the surface of the robot through two vacuum suction cups or magnetic suction cups. It can be installed in front of the robot or on the side. At the same time, adjust the angle to make the navigation as horizontal as possible. During installation, for convenience, the system is equipped with two magnetic suction cups as backup. The magnetic disk and the vacuum suction cup can be interchanged and sucked in a suitable position to reduce the test preparation time (such as Fig.11 ).

[0096] Adjustment of suction cup angle: When the suction cup is adsorbing the robot body, you can adjust the angle of the suction cup to make it adsorb better. To adjust the suction cup angle, just loosen the hexagon socket screw, and then tighten the hexagon socket screw after the suction cup is adsorbed. The suction cup can be adjusted to any angle (such as Fig.12 ).

[0097] Among them, in some embodiments, the satellite positioning module, DTU module and wireless communication module provided in the housing are specifically as follows:

[0098] 1) Guidance and satellite positioning module:

[0099] In this embodiment, a high-precision A1-3H navigation and satellite positioning module is used as the core device for outputting parameters such as position, speed, heading angle, lateral acceleration, etc. of the robot's posture.

[0100] The A1-3H inertial measurement and satellite positioning fusion sensor is a small-volume, high-performance navigation unit with an integrated carrier phase differential positioning module and support for single / dual antennas. It can provide three-axis kinematic measurements, including acceleration, angular velocity, heading, speed and position information, and supports an update rate of up to 100Hz. Reliable temperature resistance ensures its suitability for application scenarios such as aerospace, mapping, stability control, unmanned driving, and motion analysis. It integrates a high-precision RTK positioning and orientation board and a high-precision inertial navigation IMU, and can provide continuous, stable, and reliable real-time high-precision position and attitude information in various harsh environments. The specific parameters are shown in Table 1:

[0101] The INS is combined with the baseband signal for parameter estimation, and the INS navigation parameters are used to assist in signal capture, tracking of the carrier loop and the code loop, etc., which improves the signal capture sensitivity, the accuracy of the carrier and pseudorange observations, and can better eliminate the multipath effect and improve the success rate of RTK ambiguity resolution.

[0102] Table 1A1-3H board technical parameters

[0103]

[0104] 2) DTU module (RTK solution mode):

[0105] DTU uses the classic MD-6494G DTU product launched by Yitong. Compared with the traditional GPRSDTU, MD-649 works in 4G network and has high-speed data transmission capability. The theoretical downlink rate of LTE 4G Cat4 network can reach up to 100Mbps, and the uplink rate can reach 50Mbps; the maximum downlink rate of LTE-FDD Cat1 network is 10Mbps, the maximum uplink rate is 5Mbps, and the maximum downlink rate of LTE-TDD Cat1 network is 7.5Mbps, and the maximum uplink rate is 1Mbps.

[0106] MD-649 uses industrial-grade 4G modules, which ensures efficient and stable data transmission. MD-649 has more flexible interfaces and more diversified software integration methods.

[0107] The differential data uses a fixed base station to communicate with the DTU and provide RTK differential data to the satellite positioning module.

[0108] 3) Wireless communication module (WIFI module):

[0109] Function of wireless communication module: Transmit positioning data and robot posture data (parameters such as heading angle, roll angle, pitch angle, etc.) to the host through the wireless communication module.

[0110] The WIFI module can convert the serial port (RS232 / 485) into a TCP / IP network interface, and realize the two-way transparent transmission of data between the serial port (RS232 / 485) and WIFI / Ethernet. It enables the serial port device to immediately have the TCP / IP network interface function, connect to the network for data communication, and greatly extend the communication distance of the serial port device.

[0111] Among them, in some embodiments, the electronic gyroscope device is equipped with the IMU570 high-precision inertial navigation unit produced by Shenzhen Ruifen Company. The IMU570 inertial navigation unit is composed of a three-axis gyroscope, a three-axis accelerometer, a temperature sensor and a signal solution circuit, and is specifically used to measure the three-axis angular rate of the carrier. It outputs three angular rate data that have been error compensated (including temperature compensation, installation error angle compensation, nonlinear compensation, etc.) through the RS422 serial port in accordance with the established communication protocol. This product adopts a differential gyroscope structure, which effectively suppresses the influence of linear acceleration and vibration, and realizes full temperature compensation, so that it can adapt to harsh environments in industrial applications, such as Fig.13 shown.

[0112] When installing the electronic gyroscope, use Fig.14 The ratchet tightener shown is used to install the gyroscope on the robot to be tested. In this embodiment, the robot to be tested is a robot carrying a fire-fighting cannon barrel. The ratchet tightener is used to install the gyroscope above the robot's fire-fighting cannon barrel. As the cannon barrel rotates and pitches, the gyroscope transmits the relevant inclination data to the server for calculation. Fig.15 shown.

[0113] In some embodiments, the host control box is composed of a power supply, a tablet computer, a WIFI module, a base station and a display; the host control box is used to control the operation of the test equipment.

[0114] Specifically, Fig.16 As shown, the tablet computer is Microsoft Surface Go3, with a 10.5-inch touch screen, 11 hours of battery life, and pre-installed Windows 11 operating system.

[0115] The host is a box that integrates a tablet computer and various components. Host size: length * width * thickness: 290mm * 245mm * 50mm (size changes with product upgrades). The host is powered by a tablet computer. When the tablet battery is low, the tablet charger can be connected to the vehicle cigarette lighter or an external power supply (9V-30V) to ensure the smooth progress of the test. Host control box installation method: Take the host control box and the suction cup mechanism out of the storage box, and install the suction cup mechanism on the main control box. Install the installed host control box in a fixed position on the ground and keep it in place throughout the test. Figure 17-Figure 18 shown.

[0116] In some embodiments, the testing equipment also includes a handheld positioning device; the handheld positioning device is composed of a tripod, a 360-degree pan-tilt head and a locator; the locator is used to track the position information of the robot to be tested in real time, and transmit the data to the host control box through a wireless communication module.

[0117] Specifically, Fig.19 As shown in the figure, the handheld positioning device consists of a tripod, a 360-degree gimbal, and a locator. Each part can be easily disassembled and assembled, with light weight and small size, which can meet the needs of portable use. The locator consists of a shell, a detachable antenna rod, a GPS antenna, a GPS signal line, and other parts.

[0118] like Fig. 20 As shown, the locator housing and the detachable antenna rod are made of aluminum profiles, which have the advantages of high strength and light weight. The two GPS antennas have high signal strength, wide coverage, and an operating temperature of -40℃~85℃, which meets the needs of locator use. The GPS signal line is semi-flexible, easy to store, and has stable transmission signals.

[0119] The housing is equipped with a power switch, a laser pointer button, an antenna, and a power charging port. The laser rangefinder is installed inside the housing, and the laser head is close to the housing for easy measurement. It is also equipped with a rain shelter to meet waterproof requirements. All interfaces on the housing are waterproof and can be used outdoors. The housing and the detachable antenna adopt a latch structure and are locked with hexagon socket bolts to prevent them from falling out.

[0120] In some embodiments, it also includes: an equipment storage box; Fig.21 As shown, the equipment storage box is used to store the disassembled or uninstalled GPS antenna, antenna bracket, GPS antenna connecting line, detachable antenna bracket and WIFI antenna.

[0121] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0122] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. An autonomous walking trajectory testing method, characterized in that: include: Obtain the target trajectory of the robot to be tested in the target operating area; The robot to be tested is an autonomous walking robot; Start the robot to be tested, and determine the actual trajectory of the robot to be tested based on the autonomous walking trajectory test equipment; According to the target trajectory route and the actual trajectory route of the robot to be tested, the trajectory offset of the robot to be tested is determined according to an offset calculation formula.

2. The autonomous walking trajectory testing method according to claim 1, characterized in that: The target operation area is a rectangular area simulated by four positioning points pre-set by the robot to be tested.

3. The autonomous walking trajectory testing method according to claim 2, characterized in that: The target trajectory line is a virtual path with the boundary of the rectangular area as the boundary and a set vertical distance from the boundary line as the safety distance.

4. The autonomous walking trajectory testing method according to claim 3, characterized in that: According to the target trajectory route and the actual trajectory route of the robot to be tested, and according to the offset calculation formula, the trajectory offset of the robot to be tested is determined, specifically including: Based on the target trajectory of the robot to be tested, determining a plurality of target trajectory points on the target trajectory; Based on the actual trajectory of the robot to be tested, determining a number of actual trajectory points on the actual trajectory corresponding to the target trajectory; According to the target trajectory route point and the actual trajectory route point, based on the distance formula between the two points, a plurality of groups of route point offsets are obtained; The track offset of the robot to be tested is determined according to a plurality of groups of route point offsets.

5. The autonomous walking trajectory testing method according to claim 4, characterized in that: According to the target trajectory route point and the actual trajectory route point, based on the distance formula between the two points, several groups of route point offsets are obtained, specifically including: According to the formula Calculate route point offset; Among them, Yp is the ordinate of point p in the actual trajectory route point, Xp is the abscissa of point p in the actual trajectory route point, Yb is the ordinate of point b in the target trajectory route point, and Xb is the abscissa of point b in the actual trajectory route point.

6. An autonomous walking trajectory testing device, characterized in that: The autonomous walking trajectory testing device comprises: Guidance satellite positioning fusion device and host control box; The Guandao satellite positioning fusion device is composed of a Guandao shell, a battery, a plurality of GPS antennas, a plurality of GPS antenna connecting lines, a plurality of detachable antenna brackets and a plurality of antenna brackets; a satellite positioning module, a DTU module and a wireless communication module are arranged in the shell; a GPS antenna interface, a WIFI antenna interface, a power switch, a charging port, a power display screen, a first shell connector and a second shell connector are arranged on the surface of the shell; a battery is arranged inside the shell for power supply of each module and the power display screen; one end of the GPS antenna connecting line is connected to the GPS antenna, and the other end is connected to the GPS antenna interface; the antenna bracket is fixed on both sides of the shell; one end of the detachable antenna bracket is connected to the antenna bracket, and a GPS antenna is arranged on the other end; The host control box is composed of a power supply, a tablet computer, a WIFI module, a base station and a display; the host control box is used to control the operation of the test equipment.

7. The autonomous walking trajectory testing device according to claim 6, characterized in that: It also includes a handheld positioning device; the handheld positioning device is composed of a tripod, a 360-degree pan-tilt head and a locator; the locator is used to track the position information of the robot to be tested in real time, and transmit the data to the host control box through a wireless communication module.

8. The autonomous walking trajectory testing device according to claim 7, characterized in that: It also includes a suction cup mechanism; the suction cup mechanism is connected to the bottom of the shell and is used to fix the navigation satellite positioning fusion device on the robot to be tested.

9. The autonomous walking trajectory testing device according to claim 8, characterized in that: Also includes: Equipment storage box; The equipment storage box is used to store the disassembled or uninstalled GPS antenna, antenna bracket, GPS antenna connecting line, detachable antenna bracket and WIFI antenna.

10. The autonomous walking trajectory testing device according to claim 9, characterized in that: Also includes: An electronic gyroscope device; the electronic gyroscope device is used to be installed at a position to be tested on the robot to be tested through a ratchet tightener, and is used to measure and record the angular velocity and angular acceleration of the robot to be tested during movement.

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