An autonomous walking trajectory test method and device

Abstract

The application discloses an autonomous walking track test method and device, and relates to the technical field of track testing. In the method, a target track line of a to-be-tested robot in a target running area is first acquired; the to-be-tested robot is an autonomous walking robot; the to-be-tested robot is started, and an actual track line of the to-be-tested robot is determined based on an autonomous walking track test device; and a track deviation of the to-be-tested robot is determined according to a deviation calculation formula based on the target track line and the actual track line of the to-be-tested robot. The application can realize accurate testing of the track deviation of the robot.

Description

Technical Field

[0001] This application relates to the field of trajectory testing technology, and in particular to a method and device for testing autonomous walking trajectories. Background Technology

[0002] With the rapid development of industrial automation and intelligent manufacturing technologies, robots are being used more and more widely in various fields. To ensure the accuracy and reliability of robots in actual work, trajectory testing has become crucial. Trajectory testing equipment can simulate the motion trajectory of robots in actual work and detect key performance indicators such as motion accuracy, repeatability, and motion smoothness.

[0003] Traditional methods for testing autonomous walking trajectories typically rely on external measuring equipment, such as laser trackers and vision measurement systems. While these methods offer high accuracy, they are expensive, complex to operate, and difficult to integrate into production lines. Furthermore, the accuracy of calculating 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 accurately test the deviation of the robot's motion trajectory.

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

[0006] Firstly, this application provides a method for testing autonomous walking trajectories, including:

[0007] Acquire the target trajectory of the robot under test within the target operating area; the robot under test is an autonomous walking robot.

[0008] Start the robot under test and determine its actual trajectory based on the autonomous walking trajectory testing equipment;

[0009] Based on the target trajectory and the actual trajectory of the robot under test, the trajectory offset of the robot under test is determined according to the offset calculation formula.

[0010] Optionally, the target operating area is a rectangular area simulated by four pre-set positioning points of the robot under test.

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

[0012] Optionally, based on the target trajectory and the actual trajectory of the robot under test, the trajectory offset of the robot under test is determined according to the offset calculation formula, specifically including:

[0013] Based on the target trajectory of the robot under test, determine a number of target trajectory points on the target trajectory.

[0014] Based on the actual trajectory of the robot under test, determine a number of actual trajectory points on the actual trajectory that correspond to the target trajectory.

[0015] Based on the target trajectory line points and the actual trajectory line points, several sets of line point offsets are obtained using the distance formula between the two points.

[0016] The trajectory offset of the robot under test is determined based on several sets of line point offsets.

[0017] Optionally, based on the target trajectory line points and the actual trajectory line points, and using the distance formula between the two points, several sets of line point offsets are obtained, specifically including:

[0018] According to the formula Calculate the offset of the line point;

[0019] Where Yp is the ordinate of point p in the actual trajectory line points, Xp is the abscissa of point p in the actual trajectory line points, Yb is the ordinate of point b in the target trajectory line points, and Xb is the abscissa of point b in the actual trajectory line points.

[0020] Secondly, this application provides an autonomous walking trajectory testing device, which includes:

[0021] A satellite positioning fusion device and main control box;

[0022] The guided satellite positioning fusion device consists of a housing, a battery, several GPS antennas, several GPS antenna connecting lines, several detachable antenna brackets, and several antenna supports. The housing houses a satellite positioning module, a DTU module, and a wireless communication module. The surface of the housing is equipped with a GPS antenna interface, a WIFI antenna interface, a power switch, a charging port, a power display screen, a first housing connector, and a second housing connector. The battery is located inside the housing and supplies power to the various modules and the power display screen. One end of each GPS antenna connecting line is connected to a GPS antenna, and the other end is connected to the GPS antenna interface. The antenna supports are fixed to both sides of the housing. One end of each detachable antenna bracket is connected to the antenna support, and the other end houses a GPS antenna.

[0023] The host control box consists 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, it also includes a handheld positioning device; the handheld positioning device consists of a tripod, a 360-degree gimbal, and a locator; the locator is used to track the position information of the robot under test 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 housing and is used to fix the penetrating satellite positioning fusion device on the robot under test.

[0026] Optionally, it also includes: a device storage box; the device storage box is used to store the disassembled or not installed GPS antenna, antenna bracket, GPS antenna connection cable, detachable antenna bracket and WIFI antenna.

[0027] Optionally, it further includes: an electronic gyroscope device; the electronic gyroscope device is used to be installed at the test position of the robot under test via a ratchet tightener, for measuring and recording the angular velocity and angular acceleration of the robot under test during its movement.

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

[0029] This application provides an autonomous walking trajectory testing method and device. The method includes: First, obtaining the target trajectory line of the robot under test within the target operating area is the foundation of the test. This step ensures that the test has a clear standard, namely, the ideal path that the robot should follow. Next, the robot under test is started, and its actual trajectory line is determined based on the autonomous walking trajectory testing device. This step is the core of the test, as it directly reflects the robot's performance in actual operation. By comparing the actual trajectory line with the target trajectory line, it is possible to intuitively see whether there is any deviation in the robot's movement, and the degree of deviation. Finally, based on the target trajectory line and the actual trajectory line of the robot under test, the trajectory offset is determined using the offset calculation formula. This step is the quantitative analysis stage of the test, which provides specific data support for evaluating the robot's motion trajectory offset by quantifying the deviation between the actual trajectory and the target trajectory. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a schematic flowchart of an autonomous walking trajectory testing method provided in one embodiment of this application;

[0032] Figure 2 This is a planning map of the driving area of ​​the robot under test provided in one embodiment of this application;

[0033] Figure 3 This application provides a route map of the robot under test in one embodiment.

[0034] Figure 4 A schematic diagram of a satellite positioning fusion device provided in an embodiment of this application;

[0035] Figure 5 A schematic diagram of the side of the housing provided in an embodiment of this application. Figure 1 ;

[0036] Figure 6 A schematic diagram of the side of the housing provided in an embodiment of this application. Figure 2 ;

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

[0038] Figure 8 Schematic diagram of the assembly of the penetrating satellite positioning fusion device provided in an embodiment of this application Figure 1 ;

[0039] Figure 9 Schematic diagram of the assembly of the penetrating satellite positioning fusion device provided in an embodiment of this application Figure 2 ;

[0040] Figure 10 This is a schematic diagram illustrating the assembly using two magnets according to an embodiment of this application;

[0041] Figure 11 This is a schematic diagram of the experimental installation of a satellite positioning fusion device provided in an embodiment of this application;

[0042] Figure 12 A schematic diagram of an angle adjustment mechanism provided in an embodiment of this application;

[0043] Figure 13 A physical diagram of an electronic gyroscope device provided in an embodiment of this application;

[0044] Figure 14 A physical diagram of a ratchet tightener provided in one embodiment of this application;

[0045] Figure 15 This is a schematic diagram of the experimental installation of an electronic gyroscope device provided in one embodiment of this application;

[0046] Figure 16 A schematic diagram of a host control box provided in an embodiment of this application;

[0047] Figure 17 A physical diagram of the suction cup mechanism and main control box provided in an embodiment of this application;

[0048] Figure 18 This is a schematic diagram of the installation position of the suction cup mechanism provided in one embodiment of this application;

[0049] Figure 19 A schematic diagram of a handheld positioning device provided in an embodiment of this application;

[0050] Figure 20 A handheld positioning assembly diagram provided in an embodiment of this application;

[0051] Figure 21 This is a diagram showing the placement of a storage box according to an embodiment of this application. Detailed Implementation

[0052] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0053] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0054] Example 1

[0055] like Figure 1 As shown, this embodiment provides a method for testing autonomous walking trajectories, including:

[0056] Step 101: Obtain the target trajectory of the robot under test within the target operating area; the robot under test is an autonomous walking robot;

[0057] Step 102: Start the robot under test and determine the actual trajectory of the robot under test based on the autonomous walking trajectory testing equipment;

[0058] Step 103: Based on the target trajectory line and the actual trajectory line of the robot under test, determine the trajectory offset of the robot under test according to the offset calculation formula.

[0059] Among them, such as Figure 2 , Figure 3 As shown, the target operating area is a rectangular area simulated by four pre-set positioning points of the robot under test.

[0060] The target trajectory is a virtual path defined by the boundary of a rectangular area and a set safe distance perpendicular to the boundary line.

[0061] Specifically, a rectangle is simulated using four pre-set positioning points of the robot under test, thus confirming the operating area. The robot under test walks around the boundary of the rectangle according to the navigation route, and the calculation range is divided into three areas by the four sides, the four vertices, and the center point of the rectangle.

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

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

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

[0065] In some embodiments, the trajectory offset of the robot under test is determined according to the target trajectory and the actual trajectory of the robot under test, based on the offset calculation formula, specifically including:

[0066] Based on the target trajectory of the robot under test, determine a number of target trajectory points on the target trajectory.

[0067] Based on the actual trajectory of the robot under test, determine a number of actual trajectory points on the actual trajectory that correspond to the target trajectory.

[0068] Based on the target trajectory line points and the actual trajectory line points, several sets of line point offsets are obtained using the distance formula between the two points.

[0069] The trajectory offset of the robot under test is determined based on several sets of line point offsets.

[0070] Specifically, based on the target trajectory points and the actual trajectory points, and using the distance formula between the two points, several sets of trajectory point offsets are obtained, including:

[0071] According to the formula Calculate the offset of the line point;

[0072] Where Yp is the ordinate of point p in the actual trajectory line points, Xp is the abscissa of point p in the actual trajectory line points, Yb is the ordinate of point b in the target trajectory line points, and Xb is the abscissa of point b in the actual trajectory line points.

[0073] like Figure 2 As shown, different regions use different calculation methods, as detailed below:

[0074] The calculation method for region 1 is as follows:

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

[0076] P represents the actual trajectory point.

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

[0078] Specifically, the calculation method for Region 2 is as follows:

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

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

[0081] Specifically, the calculation method for region 3 is as follows:

[0082] P{}=Kpc>Kac&Kpc <Kbc,Δp=Yb-Yp。

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

[0084] Example 2

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

[0086] A satellite positioning fusion device and main control box;

[0087] The guided satellite positioning fusion device consists of a housing, a battery, several GPS antennas, several GPS antenna connecting lines, several detachable antenna brackets, and several antenna supports. The housing houses a satellite positioning module, a DTU module, and a wireless communication module. The surface of the housing is equipped with a GPS antenna interface, a WIFI antenna interface, a power switch, a charging port, a power display screen, a first housing connector, and a second housing connector. The battery is located inside the housing and supplies power to the various modules and the power display screen. One end of each GPS antenna connecting line is connected to a GPS antenna, and the other end is connected to the GPS antenna interface. The antenna supports are fixed to both sides of the housing. One end of each detachable antenna bracket is connected to the antenna support, and the other end houses a GPS antenna.

[0088] Specifically, the navigation and satellite positioning fusion device integrates a navigation and satellite positioning module, a DTU module (RTK solution mode), a wireless communication module (including a WIFI module), a battery, an antenna bracket, etc., to realize functions such as robot posture data acquisition and wireless transmission.

[0089] In some embodiments, such as Figure 4 As shown, the guided satellite positioning fusion device consists of a housing, a battery, two GPS antennas, two GPS antenna connecting lines, two detachable antenna supports, and two antenna brackets. Figure 5 and Figure 6 As shown, one side of the housing is equipped with a GPS antenna interface, a WIFI antenna interface, a power switch, a charging port, and a power display screen, while the other side is equipped with a GPS antenna interface, a first connector of the housing, and a second connector of the housing.

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

[0091] Step 1: Remove the two GPS antennas, antenna brackets, two GPS antenna connecting cables, two detachable antenna brackets, and one WIFI antenna from the storage box (e.g., Figure 7 ).

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

[0093] Step 3: If the two suction cups are not securely fixed, two magnets can be used for fixing (e.g., Figure 10 ).

[0094] The experimental installation method for the satellite positioning fusion device is as follows:

[0095] The satellite positioning fusion device is fixed to the robot surface using two vacuum suction cups or magnetic suction cups. It can be installed on the front or side of the robot. The angle can be adjusted to make the guide as horizontal as possible. For ease of installation, the system is equipped with two spare magnetic suction cups. The magnetic suction cups and vacuum suction cups are interchangeable and can be attached to a suitable location, reducing test preparation time (e.g., ...). Figure 11 ).

[0096] Suction cup angle adjustment: Once the suction cup adheres to the robot body, its angle can be adjusted for better adhesion. To adjust the angle, simply loosen the Allen screw, wait for the suction cup to adhere properly, and then tighten it again. The suction cup can be adjusted to any angle (e.g., ...). Figure 12 ).

[0097] In some embodiments, the satellite positioning module, DTU module, and wireless communication module housed within 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 robot posture parameters such as position, speed, heading angle, and lateral acceleration.

[0100] The A1-3H inertial measurement and satellite positioning fusion sensor is a compact, high-performance navigation unit that integrates a carrier phase differential positioning module and supports single / dual antennas. It provides three-axis kinematic measurements, including acceleration, angular velocity, heading, velocity, and position information, supporting a maximum update rate of 100Hz. Its reliable temperature resistance ensures its suitability for applications in aerospace, mapping, stability control, autonomous driving, and motion analysis. Integrating a high-precision RTK positioning and orientation board with a high-precision inertial navigation IMU, it can provide continuous, stable, and reliable real-time high-precision position and attitude information in various harsh environments. Specific parameters are shown in Table 1.

[0101] By combining INS with baseband signals for parameter estimation and utilizing INS navigation parameters to assist in signal acquisition, carrier loop and code loop tracking, the signal acquisition sensitivity, carrier and pseudorange observation accuracy are improved, and multipath effects are better eliminated, thus increasing the success rate of RTK ambiguity resolution.

[0102] Table 1A1-3H Board Technical Parameters

[0103]

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

[0105] The DTU selected is the classic MD-6494G DTU product from Yitang. Compared with traditional GPRS DTUs, the MD-649 operates under 4G networks and has high-speed data transmission capabilities. Theoretically, the maximum downlink speed on LTE 4G Cat4 networks can reach 100Mbps, and the maximum uplink speed can reach 50Mbps; the maximum downlink speed on LTE-FDD Cat1 networks is 10Mbps, and the maximum uplink speed is 5Mbps; the maximum downlink speed on LTE-TDD Cat1 networks is 7.5Mbps, and the maximum uplink speed is 1Mbps.

[0106] The MD-649 uses an industrial-grade 4G module, ensuring efficient and stable data transmission. The MD-649 also features more flexible interfaces and more diverse software integration methods.

[0107] Differential data is transmitted via fixed base station to DTU, providing RTK differential data to satellite modules.

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

[0109] Wireless communication module function: Transmits positioning data and robot attitude data (heading angle, roll angle, pitch angle, etc.) to the host via wireless communication module.

[0110] The WIFI module can convert a serial port (RS232 / 485) into a TCP / IP network interface, enabling bidirectional transparent data transmission between the serial port (RS232 / 485) and WIFI / Ethernet. This allows serial devices to immediately possess TCP / IP network interface functionality, connecting to the network for data communication and greatly extending the communication range of serial devices.

[0111] In some embodiments, the electronic gyroscope device is equipped with an IMU570 high-precision inertial navigation unit manufactured by Shenzhen Ruifen Co., Ltd. The IMU570 inertial navigation unit consists of a three-axis gyroscope, a three-axis accelerometer, a temperature sensor, and signal processing circuitry, specifically designed to measure the three-axis angular velocities of a carrier. It outputs the three angular velocity data, processed with error compensation (including temperature compensation, installation error angular compensation, and nonlinear compensation), via an RS422 serial port according to a predetermined communication protocol. This product employs a differential gyroscope structure, effectively suppressing the effects of linear acceleration and vibration, and achieving full temperature compensation, enabling it to adapt to harsh environments in industrial applications, such as… Figure 13 As shown.

[0112] When installing an electronic gyroscope device, use methods such as... Figure 14 The ratchet tensioner shown mounts the gyroscope onto the robot under test. In this embodiment, the robot under test is a robot carrying a fire monitor. The ratchet tensioner mounts the gyroscope above the fire monitor. As the monitor rotates and pitches, the gyroscope transmits relevant tilt angle data to the server for calculation, specifically as follows... Figure 15 As shown.

[0113] In some embodiments, the host control box consists 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, such as Figure 16 As shown, the tablet uses the Microsoft Surface Go3, with a 10.5-inch touchscreen, 11 hours of battery life, and comes pre-installed with the Windows 11 operating system.

[0115] The main unit is a box integrating a tablet computer and various components. Main unit dimensions: Length * Width * Depth: 290mm * 245mm * 50mm (dimensions may vary with product upgrades). The main unit is powered by the tablet computer. When the tablet computer's battery is low, the tablet computer's charger can be connected to a vehicle cigarette lighter or an external power source (9V-30V) to ensure smooth testing. Main unit control box installation method: Remove the main unit control box and suction cup mechanism from the storage box, and install the suction cup mechanism onto the main control box. Install the installed main unit control box in a fixed position on the ground and keep it in that position throughout the entire test. Figures 17-18 As shown.

[0116] In some embodiments, the testing equipment further includes a handheld positioning device; the handheld positioning device consists of a tripod, a 360-degree gimbal, and a locator; the locator is used to track the position information of the robot under test in real time and transmit the data to the host control box via a wireless communication module.

[0117] Specifically, such as Figure 19 As shown, the handheld positioning device consists of three parts: a tripod, a 360-degree gimbal, and a positioning unit. Each part can be easily disassembled and assembled; it is lightweight and compact, meeting the requirements for portable use. The positioning unit consists of a housing, a detachable antenna mast, a GPS antenna, and a GPS signal cable.

[0118] like Figure 20 As shown, both the locator housing and the detachable antenna mast are made of aluminum profiles, offering advantages such as high strength and light weight. The two GPS antennas provide high signal strength, wide coverage, and an operating temperature range of -40℃ to 85℃, meeting the locator's usage requirements. The GPS signal cable is semi-flexible, easy to store, and provides stable signal transmission.

[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, with the laser head flush against it for easy measurement. It also features a rain cover to meet waterproofing requirements. All interfaces on the housing are waterproof, suitable for outdoor use. The housing and detachable antenna use a pin-type structure and are secured with hex bolts to prevent them from coming loose.

[0120] In some embodiments, it further includes: a device storage box; such as Figure 21 As shown, the device storage box is used to store disassembled or uninstalled GPS antennas, antenna brackets, GPS antenna connection cables, detachable antenna brackets, and WIFI antennas.

[0121] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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 document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for testing autonomous walking trajectories, characterized in that, include: Obtain the target trajectory of the robot under test within the target operating area; The robot under test is an autonomous walking robot; Start the robot under test and determine its actual trajectory based on the autonomous walking trajectory testing equipment; Based on the target trajectory and the actual trajectory of the robot under test, the trajectory offset of the robot under test is determined according to the offset calculation formula. Based on the target trajectory and the actual trajectory of the robot under test, the trajectory offset of the robot under test is determined according to the offset calculation formula, specifically including: Based on the target trajectory of the robot under test, determine a number of target trajectory points on the target trajectory. Based on the actual trajectory of the robot under test, determine a number of actual trajectory points on the actual trajectory that correspond to the target trajectory. Based on the target trajectory line points and the actual trajectory line points, several sets of line point offsets are obtained using the distance formula between the two points. The trajectory offset of the robot under test is determined based on several sets of line point offsets. The autonomous walking trajectory testing equipment includes: A satellite positioning fusion device and main control box; The guided satellite positioning fusion device consists of a housing, a battery, several GPS antennas, several GPS antenna connecting lines, several detachable antenna brackets, and several antenna supports. The housing houses a satellite positioning module, a DTU module, and a wireless communication module. The surface of the housing is equipped with a GPS antenna interface, a WIFI antenna interface, a power switch, a charging port, a power display screen, a first housing connector, and a second housing connector. The battery is located inside the housing and supplies power to the various modules and the power display screen. One end of each GPS antenna connecting line is connected to a GPS antenna, and the other end is connected to the GPS antenna interface. The antenna supports are fixed to both sides of the housing. One end of each detachable antenna bracket is connected to the antenna support, and the other end houses a GPS antenna. The host control box consists 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. It also includes a suction cup mechanism; the suction cup mechanism is connected to the bottom of the housing and is used to fix the penetrating satellite positioning fusion device on the robot under test; It also includes: an electronic gyroscope device; the electronic gyroscope device is used to be installed at the test position of the robot under test via a ratchet tensioner, and is used to measure and record the angular velocity and angular acceleration of the robot under test during the movement process; The satellite positioning module adopts a high-precision A1-3H navigation and satellite positioning module as a device for outputting robot attitude parameters such as position, velocity, heading angle, and lateral acceleration. The DTU module selected is the MD-6494G DTU product; The WIFI module can convert the serial port RS232 / 485 into a TCP / IP network interface, enabling bidirectional transparent data transmission between serial RS232 / 485 and WIFI and / or Ethernet; The target operating area is a rectangular area simulated by four pre-set positioning points of the robot under test; The target trajectory is a virtual path bounded by the boundary of a rectangular area, with a set perpendicular distance from the boundary line as the safety distance; A rectangle is simulated using the four pre-set positioning points of the robot under test to obtain the operating area. The robot under test walks around the boundary of the rectangle according to the navigation route. The four sides, four vertices and the center point of the rectangle are divided into three calculation ranges, namely the range of region 1, the range of region 2 and the range of region 3. Region 1 consists of four parts: the upper part of Region 1, the lower part of Region 1, the left part of Region 1, and the right part of Region 1; Region 2 consists of four parts: the upper left part of Region 2, the lower left part of Region 2, the upper right part of Region 2, and the lower right part of Region 2. The range of Region 1 is calculated as the perpendicular distance between the robot trajectory and the boundary line. When the robot trajectory is in the upper part of Region 1, the range threshold of Region 1 is that the y-value of the trajectory point within the x-value range of the two vertices is greater than the y-value of the boundary line. When the robot trajectory is in the lower part of Region 1, the range threshold of Region 1 is that the y-value of the trajectory point within the x-value range of the two vertices is less than the y-value of the boundary line. When the robot trajectory is in the left part of Region 1, the range threshold of Region 1 is that the y-value of the trajectory point within the y-value range of the two vertices is less than the y-value of the boundary line. When the robot trajectory is in the right part of Region 1, the range threshold of Region 1 is that the y-value of the trajectory point within the y-value range of the two vertices is greater than the y-value of the boundary line. The range of Region 2 is calculated as the straight-line distance between the robot trajectory and the vertex position. When the robot trajectory is in the upper left part of Region 2, the range threshold of Region 2 is that the x-value is less than the x-value of the vertex coordinate and the y-value is greater than the y-value of the vertex coordinate. When the robot trajectory is in the lower left part of Region 2, the range threshold of Region 2 is that the x-value is less than the x-value of the vertex coordinate and the y-value is less than the y-value of the vertex coordinate. When the robot trajectory is in the upper right part of Region 2, the range threshold of Region 2 is that the x-value is greater than the x-value of the vertex coordinate and the y-value is greater than the y-value of the vertex coordinate. When the robot trajectory is in the lower right part of Region 2, the range threshold of Region 2 is that the x-value is greater than the x-value of the vertex coordinate and the y-value is less than the y-value of the vertex coordinate. The range of region 3 is calculated as the perpendicular distance between the robot trajectory and the boundary line. The range threshold of region 3 is the angle range from the intersection of the rectangle to any two vertices, and does not exceed the range of region 1.

2. The method for testing autonomous walking trajectories according to claim 1, characterized in that, It also includes a handheld positioning device; the handheld positioning device consists of a tripod, a 360-degree gimbal and a locator; the locator is used to track the position information of the robot under test in real time and transmit the data to the host control box through a wireless communication module.

3. The method for testing an autonomous walking trajectory according to claim 1, characterized in that, Also includes: Equipment storage box; The device storage box is used to store disassembled or uninstalled GPS antennas, antenna brackets, GPS antenna connection cables, detachable antenna brackets, and WIFI antennas.

Images