Method, device and system for testing navigation precision of mobile robot and server

Abstract

The embodiment of the invention discloses a navigation precision testing method, device and system of a mobile robot and a server, and relates to the technical field of robot testing. According to the specific implementation scheme, the mobile robot is indicated to move at least twice in a preset direction along a connecting line between at least two test position points; obtaining distance data measured by the distance measuring module in the moving process, wherein the distance data comprises distance values, measured at the multiple sampling points, between the distance measuring module and the distance measuring baffle; and obtaining the navigation precision index of the mobile robot according to the deviation condition of the distance value. According to the scheme, the navigation precision of the mobile robot can be tested only by configuring the corresponding distance measuring baffles according to the at least two preset test position points and arranging the corresponding distance measuring modules, and the method is easy and convenient to implement, low in cost and convenient to operate and maintain.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot testing, in particular to a navigation accuracy testing method, device, system and server for a mobile robot. BACKGROUND

[0002] When testing a mobile robot product, navigation accuracy is an important testing and evaluation index. Navigation accuracy affects the overall motion performance of the mobile robot.

[0003] Currently, the testing system for navigation accuracy testing usually needs a high-precision motion trajectory measuring device to record the motion trajectory of the mobile robot in real time, so as to evaluate the navigation accuracy based on the real-time motion trajectory of the mobile robot, or needs to measure the actual position of the stop point of the mobile robot through a complex position measurement algorithm, so as to evaluate the navigation accuracy based on the error between the actual position of the mobile robot and the preset position. These testing systems generally have complex structures, high costs, and cumbersome testing processes, which are not conducive to operation and maintenance. SUMMARY

[0004] The present application provides a navigation accuracy testing method, device, system and server for a mobile robot.

[0005] The present application provides the following solutions:

[0006] According to a first aspect, a navigation accuracy testing method for a mobile robot is provided, which is applied to a testing scene containing a ranging baffle and at least two test position points. The ranging baffle is located on one side of a line connecting the at least two test position points. A ranging module is arranged on the mobile robot, and the ranging module faces the ranging baffle when the mobile robot moves along the line. The method comprises:

[0007] Indicating the mobile robot to move at least twice in a preset direction along the line between the at least two test position points;

[0008] Obtaining distance data measured by the ranging module during movement, the distance data comprising distance values between the ranging module and the ranging baffle measured at a plurality of sampling points;

[0009] According to the deviation of the distance values, obtaining a navigation accuracy index of the mobile robot.

[0010] As an optional way, the ranging baffle is located on both sides of the line connecting the at least two test position points.

[0011] Indicating the mobile robot to move at least twice in a preset direction along the line between the at least two test position points, comprising:

[0012] indicating the mobile robot to move at least twice between the at least two test position points along the connecting line in a first preset direction, and to move at least twice between the at least two test position points along the connecting line in a second preset direction, wherein the first preset direction is opposite to the second preset direction.

[0013] As an optional mode, the navigation accuracy index of the mobile robot is obtained according to the deviation of the distance values, comprising:

[0014] The navigation accuracy index of the mobile robot is obtained according to the deviation of the distance values collected at the same sampling point during the movement of the mobile robot between the at least two test position points along the same preset direction.

[0015] As an optional mode, the navigation accuracy index of the mobile robot is obtained according to the deviation of the distance values collected at the same sampling point during the movement of the mobile robot between the at least two test position points along the same preset direction, comprising:

[0016] For each sampling point during the movement along the same preset direction, a distance value sequence collected at the same sampling point during multiple movements is determined;

[0017] A distance value deviation set composed of the deviations between the distance values in the distance value sequence is determined;

[0018] Based on the distance value deviation set, the navigation accuracy index of the mobile robot during the movement in the preset direction is obtained.

[0019] As an optional mode, based on the distance value deviation set, the navigation accuracy index of the mobile robot during the movement in the preset direction is obtained, comprising:

[0020] Based on the distance value deviation set, at least one of the maximum value, the minimum value and the average value in the distance value deviation set is determined as the navigation accuracy index of the mobile robot during the movement in the preset direction.

[0021] According to a second aspect, a navigation accuracy test system of a mobile robot is provided, which is applied to a test scene comprising a ranging baffle and at least two test position points, the ranging baffle being located at least on one side of a connecting line between the at least two test position points; the system comprises:

[0022] A relay server configured to instruct the mobile robot to move at least twice between the at least two test position points along the connecting line in a preset direction;

[0023] The mobile robot is configured to move at least twice between the at least two test position points along the connecting line in the preset direction in response to the instruction;

[0024] The ranging module is arranged on the mobile robot, and the ranging module faces the ranging baffle when the mobile robot moves along the connecting line. The ranging module is configured to send distance data measured by the ranging module to the relay server during movement of the mobile robot, the distance data including distance values between the ranging module and the ranging baffle measured at a plurality of sampling points.

[0025] The relay server is further configured to obtain a navigation accuracy index of the mobile robot according to a deviation of the distance values.

[0026] As an optional mode, the facing direction of the ranging module is perpendicular to the advancing direction of the mobile robot, and the measurement reference surface of the ranging module is flush with the boundary of the side of the mobile robot relative to the advancing direction.

[0027] As an optional mode, the distance between the ranging baffle and the connecting line of the test position point satisfies the condition of not triggering obstacle avoidance stop during movement of the mobile robot.

[0028] As an optional mode, the mobile robot is configured with a test map consistent with the test scene, and the test map is marked with at least two test position points.

[0029] The mobile robot is configured to execute, based on the test map, movement of the mobile robot at least twice between the at least two test position points along the connecting line in the preset direction in response to the indication.

[0030] According to a third aspect, a navigation accuracy testing device of a mobile robot is provided, which is applied to a test scene containing a ranging baffle and at least two test position points, the ranging baffle being located at least on one side of a connecting line between the at least two test position points, and a ranging module being arranged on the mobile robot, the ranging module facing the ranging baffle when the mobile robot moves along the connecting line; the device comprises:

[0031] A control module is configured to instruct the mobile robot to move at least twice between the at least two test position points along the connecting line in a preset direction.

[0032] A processing module is configured to obtain distance data measured by the ranging module during movement, the distance data including distance values between the ranging module and the ranging baffle measured at a plurality of sampling points; and obtain a navigation accuracy index of the mobile robot according to a deviation of the distance values.

[0033] According to a fourth aspect, a relay server is provided, which comprises a processor, a memory and a communication interface; the memory and the communication interface are coupled to the processor, the memory is configured to store computer program code, and the computer program code comprises computer instructions; when the processor executes the computer instructions, the relay server executes the method of the first aspect.

[0034] According to the specific embodiments provided in the present application, the present application discloses the following technical effects:

[0035] According to the present application, the test scene can be built according to the ranging baffle and the preset at least two test position points, so as to realize the navigation precision test of the mobile robot by controlling the mobile robot to move in the preset direction between the at least two test position points. During the movement of the mobile robot, the distance between the mobile robot and the ranging baffle can be measured by the ranging module, so as to evaluate whether the mobile robot deviates from the connecting line between the test position points during the movement of the mobile robot through the measured distance value, so as to obtain the navigation precision index according to the deviation of the measured distance value, so as to describe the navigation precision of the mobile robot based on the deviation of the mobile robot moving along the connecting line between the test position points through the navigation precision index. In this way, only the corresponding ranging baffle needs to be configured according to the preset at least two test position points, and the corresponding ranging module needs to be set, so as to realize the navigation precision test of the mobile robot, which is simple and convenient to operate and maintain.

[0036] Of course, implementing any product of the present application does not necessarily require all the above advantages to be achieved at the same time. BRIEF DESCRIPTION OF DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced below. Obviously, the drawings in the following description only constitute some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0038] Figure 1 A test scene schematic diagram of a navigation precision test system based on a mobile robot provided by an embodiment of the present application;

[0039] Figure 2 A schematic diagram of the setting position of a ranging module provided by an embodiment of the present application;

[0040] Figure 3 A flowchart of a navigation precision test method of a mobile robot provided by an embodiment of the present application;

[0041] Figure 4 A schematic diagram of a reciprocating motion of a mobile robot provided by an embodiment of the present application;

[0042] Figure 5 A structural schematic diagram of a navigation precision test device of a mobile robot provided by an embodiment of the present application. DETAILED DESCRIPTION

[0043] With reference to the drawings, the technical solutions in the embodiments of the present application will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by a person of ordinary skill in the art belong to the scope of protection of the present application.

[0044] The terms used in the embodiments of the present application are merely for the purpose of describing the specific embodiments, and are not intended to limit the present application. The singular forms "a", "an" and "the" used in the embodiments of the present application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0045] It should be understood that the term "and / or" used herein is merely an association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " herein generally represents an "or" relationship between the associated objects.

[0046] Depending on the context, the word "if" as used herein can be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting". Similarly, depending on the context, the phrase "if determined" or "if detecting (a stated condition or event)" can be interpreted as "when determined" or "in response to determining" or "when detecting (a stated condition or event)" or "in response to detecting (a stated condition or event)".

[0047] When testing a mobile robot product, navigation accuracy is an important test and evaluation index. Navigation accuracy affects the overall motion performance of the mobile robot.

[0048] Currently, the test system for testing navigation accuracy usually needs a high-precision motion trajectory measurement device to record the motion trajectory of the mobile robot in real time, so as to evaluate the navigation accuracy based on the real-time motion trajectory of the mobile robot, or needs to measure the actual position of the parking point of the mobile robot through a complex position measurement algorithm, so as to evaluate the navigation accuracy based on the error between the actual position of the mobile robot and the preset position. These test systems generally have complex structure, high cost, and cumbersome test process, which is not conducive to operation and maintenance.

[0049] To solve the above technical problems, the embodiment of the present application provides a navigation accuracy test method, device, system and server of a mobile robot, which can build a test scene according to a ranging baffle and at least two preset test position points, and control the mobile robot to move between the at least two test position points in a preset direction to realize navigation accuracy test of the mobile robot. During the movement of the mobile robot, the distance between the mobile robot and the ranging baffle can be measured by a ranging module, so as to evaluate whether the mobile robot deviates from the connecting line between the test position points during the movement of the mobile robot through the measured distance value, so as to obtain the navigation accuracy index according to the deviation of the measured distance value, so as to describe the navigation accuracy of the mobile robot based on the deviation of the mobile robot moving along the connecting line between the test position points through the navigation accuracy index. In this way, only the corresponding ranging baffle needs to be configured according to the at least two preset test position points, and the corresponding ranging module needs to be set, and the navigation accuracy test of the mobile robot can be realized, which is simple to implement, low in cost, and convenient to operate and maintain.

[0050] The mobile robot in the embodiment of the present application can be a cleaning robot, specifically a self-walking robot, which can autonomously move and complete cleaning tasks in a working area without external human information input and control. The working area can include an indoor area. The indoor area can include a family room, an office, a shopping mall, a factory workshop, etc. The above-mentioned cleaning robot can include but is not limited to a sweeping robot, a washing robot, a sweeping and mopping integrated robot, etc. Of course, in some other possible embodiments of the present application, the mobile robot can also be a robot with autonomous movement capability for realizing other functions other than cleaning tasks, such as a mobile robot for carrying materials (such as a forklift robot), a mobile robot for carrying passengers or goods (such as an autonomous vehicle), etc., which is not limited here.

[0051] Optionally, the navigation accuracy test system of the mobile robot corresponding to the navigation accuracy test method of the mobile robot provided by the present application can be applied to a test scene including a ranging baffle and at least two test position points. Specifically, it can include a relay server, a ranging module, and a mobile robot to be tested, and the relay server can be in communication connection with the ranging module and the mobile robot. The relay server can be an electronic device with computing capability, for example, the relay server can be a computer (such as a notebook computer, a desktop computer, etc.), a tablet computer, a server, a mobile phone, etc., which is not limited here. The ranging module can be a device with ranging function, for example, a laser ranging module, an ultrasonic ranging module, etc., which is not limited here.

[0052] In the navigation accuracy testing system of the mobile robot, the transfer server can be configured to instruct the mobile robot to move at least twice along the line connecting the at least two test position points in a preset direction.

[0053] The mobile robot can be configured to move at least twice along the line connecting the at least two test position points in a preset direction in response to the instruction of the transfer server.

[0054] The ranging module can be arranged on the mobile robot and faces the ranging baffle when the mobile robot moves along the line connecting the test position points. The ranging module can be configured to send distance data measured by the ranging module to the transfer server during the movement of the mobile robot, and the distance data can include distance values between the ranging module and the ranging baffle measured at multiple sampling points.

[0055] In addition, the transfer server can further be configured to obtain the navigation accuracy index of the mobile robot according to the deviation of the distance values.

[0056] Therefore, the navigation accuracy of the mobile robot can be tested by controlling the mobile robot to move along the line connecting the test position points in the test scene in a preset direction based on the navigation accuracy testing system of the mobile robot. The navigation accuracy index of the mobile robot can be obtained according to the deviation of the distance values measured by the ranging module at multiple sampling points during the movement of the mobile robot. The system structure is relatively simple, and thus is convenient to operate and maintain.

[0057] In the application of the navigation accuracy testing method and system of the mobile robot provided in the present application, the test scene can be set up based on the navigation accuracy testing system of the mobile robot according to the ranging baffle and the preset at least two test position points. The ranging baffle is located at least on one side of the line connecting the at least two test position points.

[0058] Optionally, the ranging baffle can be parallel to the line connecting the test position points, so that the distance values measured by the ranging module when the mobile robot moves along the line can remain consistent, and thus the navigation accuracy index obtained from the distance values can more accurately represent the navigation accuracy.

[0059] For example, the test scene includes two test position points and two ranging baffles, and the test scene related to the embodiments of the present application is exemplified, Figure 1 A test scene set up by the navigation accuracy testing system of the mobile robot provided in the embodiments of the present application is shown in the figure.

[0060] As Figure 1As shown, this test scenario can include two preset test locations, such as a first test location A and a second test location B. Two ranging baffles 101 can be respectively positioned on both sides of the line connecting the first test location A and the second test location B, and parallel to the line. The mobile robot 102 under test (shown as a cleaning robot in the figure) can be located between the two ranging baffles 101. A ranging module 103 can be mounted on the mobile robot 102 to measure the distance between the ranging module 103 and the ranging baffles 101 (e.g., distance d as shown in the figure). Therefore, when testing the navigation accuracy of the mobile robot 102, it can be controlled to autonomously move in a preset direction between the first test location A and the second test location B, so that the corresponding navigation accuracy index can be obtained based on the deviation of the distance value measured by the ranging module 103.

[0061] In this embodiment of the application, when there are two ranging baffles 101, which are respectively on both sides of the line connecting the test position point, the relay server can instruct the mobile robot 102 to move at least twice in the first preset direction and twice in the opposite second preset direction along the line connecting the test position point, so that the ranging of the mobile robot 102 when moving in the two preset directions can be realized by the two ranging baffles 101 respectively.

[0062] For example, with Figure 1 Taking the test scenario shown as an example, the relay server can instruct the mobile robot 102 to reciprocate between the first test position point A and the second test position point B at least twice. The ranging module 103 can be oriented towards the ranging baffle 101 on the right side of the mobile robot 102's direction of travel, so as to always measure the distance between the ranging baffles 101 on the right side of the mobile robot 102's direction of travel (shown as an example in the figure), or it can be oriented towards the ranging baffle 101 on the left side of the mobile robot 102's direction of travel, so as to always measure the distance between the ranging baffles 101 on the left side of the mobile robot 102's direction of travel. Thus, when the mobile robot 102 moves from the first test position point A to the second test position point B according to the relay server's instruction, it can measure the distance through the ranging baffle 101 on one side, and when the mobile robot 102 moves from the second test position point B to the first test position point A, it can measure the distance through the ranging baffle 101 on the other side.

[0063] Since the navigation accuracy index needs to be obtained based on the distance value measured by the ranging module 103 during the movement of the mobile robot 102, the effective moving length of the mobile robot 102 corresponds to the moving length of the mobile robot 102 that enables the ranging module 103 to measure the corresponding distance value.

[0064] Therefore, as an example, in the embodiment of the present application, the length of the ranging baffle 101 can be set to a length that enables the ranging module 103 to measure the corresponding distance value during the movement of the mobile robot 102. Thus, it is convenient to test the navigation accuracy based on the entire movement of the mobile robot 102, and improve the accuracy of the finally obtained navigation accuracy index.

[0065] For example, continuing with the test scene shown in Figure 1 The length of the ranging baffle 101 can be set to be greater than or equal to the distance between the first test position point A and the second test position point B (L1). Figure 1 For example, the two endpoints of the ranging baffle 101 pass through the centers of the first test position point A and the second test position point B, respectively. Thus, the ranging module 103 can always measure the corresponding distance value during the movement of the mobile robot 102, and the effective movement length of the mobile robot 102 is the distance between the first test position point A and the second test position point B, so the effective movement length is the longest. Thus, it is convenient to test the navigation accuracy based on the entire movement of the mobile robot 102, and improve the accuracy of the finally obtained navigation accuracy index.

[0066] Of course, in some other possible embodiments of the present application, the length of the ranging baffle 101 can also be set to other lengths, which are not limited here. In addition, the ranging baffle 101 can be a whole baffle, or a baffle of a specified length obtained by splicing, which is not limited here.

[0067] In the embodiment of the present application, in order to ensure that the ranging module 103 can measure the distance relative to the ranging baffle 101, the height of the ranging baffle 101 can be set according to the emission of the ranging signal of the ranging module 103, as long as the ranging signal of the ranging module 103 can be projected to the ranging baffle 101. For example, if the ranging module 103 is horizontally arranged, the height of the ranging baffle 101 can be set to twice the height of the ranging signal of the ranging module 103.

[0068] As an example, the distance between the ranging baffle 101 and the connecting line between the test position points can be set to a value that does not trigger the obstacle avoidance stop during the movement of the mobile robot 102. For example, continuing with the test scene shown in Figure 1Taking the test scenario shown as an example, the distance 's' between the ranging baffle 101 and the line connecting the first test position point A and the second test position point B can be set to a value that prevents the mobile robot 102 from triggering obstacle avoidance stop during its movement. This avoids interrupting the navigation accuracy test of the mobile robot 102 due to obstacle avoidance stop triggered during its reciprocating motion during the test. For simplicity, the two ranging baffles 101 can be symmetrically set relative to the line connecting the first test position point A and the second test position point B, meaning the 's' values ​​for the two ranging baffles 101 are equal. Of course, separate 's' values ​​can also be set; this is not restricted.

[0069] In one possible embodiment of this application, the orientation of the ranging module 103 in the navigation accuracy testing system of the mobile robot can be perpendicular to the forward direction of the mobile robot 102, and the measurement reference plane of the ranging module 103 can be flush with the boundary of the side of the mobile robot 102 relative to the forward direction. Therefore, the distance value measured by the ranging module 103 is the distance between the side of the mobile robot 102 and the ranging module 103, thus enabling the distance value measured by the ranging module 103 to better represent the distance relationship between the mobile robot 102 and the ranging baffle 101, improving the accuracy of the navigation accuracy index obtained from the distance value in expressing the navigation accuracy of the mobile robot 102.

[0070] For example, Figure 2 This is a schematic diagram illustrating the installation position of a ranging module 103 according to an embodiment of this application. Figure 2 As shown, the ranging module 103 can be located on a straight line perpendicular to the forward direction of the mobile robot 102 and passing through the geometric center of the mobile robot 102, and the measurement reference plane of the ranging module 103 can be flush with the boundary of the side of the mobile robot 102 relative to the forward direction. Therefore, the value measured by the ranging module 103 can be equal to the distance between the side of the mobile robot 102 and the ranging baffle 101, thereby improving the accuracy of the navigation accuracy index obtained from the distance value in expressing the navigation accuracy of the mobile robot 102.

[0071] Of course, in some other possible implementations, the ranging module 103 can also be set in other positions, and the measuring reference plane of the ranging module 103 may not be flush with the side boundary of the mobile robot 102, as long as the ranging module 103 can measure the distance value through the ranging baffle 101.

[0072] In a possible implementation of the present application, the mobile robot 102 can also be configured with a test map consistent with the test scene, and at least two test position points in the test scene can be marked in the test map. Thus, the mobile robot can be configured to move at least twice between the at least two test position points along the test position point connecting line in a preset direction based on the test map and according to the indication of the relay server. Thus, the relay server can conveniently control the mobile robot 102 to move correspondingly without the need to indicate the test position points in the test scene to the mobile robot 102.

[0073] Based on the foregoing navigation accuracy test system of the mobile robot and the corresponding test scene, Figure 3 A flowchart of a navigation accuracy test method of a mobile robot provided by an embodiment of the present application is shown in the figure. The method can be executed by a relay server in the corresponding navigation accuracy test system based on the test scene of the foregoing example. As shown in the figure, the method can include the following S301-S303. Figure 3

[0074] S301, instruct the mobile robot 102 to move at least twice between the at least two test position points along the test position point connecting line in a preset direction.

[0075] S302, obtain distance data measured by the distance measuring module 103 during the movement of the mobile robot 102, the distance data including distance values between the distance measuring module 103 and the distance measuring baffle 101 measured at a plurality of sampling points.

[0076] S303, obtain a navigation accuracy index of the mobile robot 102 according to the deviation of the distance values.

[0077] The distance measuring module 103 can measure the distance at a preset sampling frequency, so as to measure the corresponding distance values at a plurality of sampling points during the movement of the mobile robot 102. The sampling frequency can be determined according to the length of the test position point connecting line, which is not limited here.

[0078] The navigation accuracy index obtained according to the deviation of the distance values can be used to describe the navigation accuracy of the mobile robot 102 based on the deviation of the movement of the mobile robot 102 along the test position point connecting line in a preset direction. That is, the navigation accuracy index can represent the deviation of the movement of the mobile robot 102 along the test position point connecting line, so as to further represent the navigation accuracy of the mobile robot 102 according to the deviation. For example, the smaller the deviation of the movement of the mobile robot 102 along the test position point connecting line, the higher the navigation accuracy of the mobile robot 102.

[0079] ​In the embodiments of the present application, the relay server can be pre-configured with interfaces, so that the relay server can be connected with the mobile robot 102 and the ranging module 103 according to the configured interfaces. Thus, the relay server can instruct the mobile robot 102 to move between the test position points in the test scene along the connecting line between the test position points in a preset direction, and obtain the corresponding distance values measured by the ranging module 103.

[0080] The method provided by the embodiments of the present application can realize the navigation accuracy test of the mobile robot 102 according to the test scene built by the ranging baffle 101 and the preset at least two test position points, by controlling the mobile robot 102 to move between the at least two test position points in a preset direction. During the movement of the mobile robot 102, the distance between the mobile robot 102 and the ranging baffle 101 can be measured by the ranging module 103, so as to evaluate whether the mobile robot 102 deviates from the connecting line between the test position points by using the measured distance values. Thus, the navigation accuracy index can be obtained according to the deviation of the measured distance values, so as to describe the navigation accuracy of the mobile robot 102 based on the deviation of the movement of the mobile robot 102 along the connecting line between the test position points by using the navigation accuracy index. In this way, only by configuring the corresponding ranging baffle 101 according to the preset at least two test position points and setting the corresponding ranging module 103, the navigation accuracy test of the mobile robot 102 can be realized, which is simple to implement, low in cost, and convenient to operate and maintain.

[0081] In the embodiments of the present application, when the ranging baffle 101 includes two ranging baffles respectively located on the two sides of the connecting line between the test position points, the relay server can instruct the mobile robot 102 to move between the test position points along the connecting line in two opposite preset directions, and move at least twice in each preset direction. Thus, the navigation accuracy test of the mobile robot 102 can be performed in combination with the movement of the mobile robot 102 in the two directions, so as to improve the accuracy of the navigation accuracy test.

[0082] Therefore, in a possible implementation manner of the present application, instructing the mobile robot 102 to move between the at least two test position points along the connecting line in a preset direction at least twice can include: instructing the mobile robot 102 to move between the at least two test position points along the connecting line in a first preset direction at least twice, and instructing the mobile robot 102 to move between the at least two test position points along the connecting line in a second preset direction at least twice, wherein the first preset direction is opposite to the second preset direction.

[0083] For example, when the test position points are two, the mobile robot 102 can be instructed to move between the two test position points along the connecting line between the two test position points at least twice.

[0084] For example, as shown in the test scenario, Figure 1 Figure 4 A schematic diagram of the mobile robot 102 performing reciprocating motion is provided in an embodiment of the present application. As shown in (a) of FIG. 1, Figure 4 As shown in (a) of FIG. 1, the mobile robot 102 can first move from the first test position point A to the second test position point B, and measure the distance value of the distance d between the ranging stop plates 101 on the right side of the forward direction of the mobile robot 102 by the ranging module 103. Then, as shown in (b) of FIG. 1, Figure 4 As shown in (a) of FIG. 1, the mobile robot 102 can first move from the first test position point A to the second test position point B, and measure the distance value of the distance d between the ranging stop plates 101 on the right side of the forward direction of the mobile robot 102 by the ranging module 103. Then, as shown in (b) of FIG. 1,

[0085] Since the mobile robot 102 reciprocates between the first test position point A and the second test position point B, the ideal trajectory of the mobile robot 102 will always coincide with the line connecting the first test position point A and the second test position point B. Since the ranging stop plates 101 are parallel to the line connecting the first test position point A and the second test position point B, the distance value measured by the ranging module 103 will remain unchanged in the ideal case. Therefore, according to the deviation of the distance value, the navigation accuracy index can accurately represent the deviation of the mobile robot 102 when moving along a straight line between the first test position point A and the second test position point B, thereby further indicating the navigation accuracy of the mobile robot 102.

[0086] In an embodiment of the present application, the transfer server can instruct the mobile robot 102 to move by sending a high-level signal to the mobile robot 102. Correspondingly, the mobile robot 102 can be pre-configured to start corresponding movement when receiving the high-level signal. Alternatively, the transfer server can also instruct the mobile robot 102 to move by sending instructions to the mobile robot 102. Correspondingly, the mobile robot 102 can move according to the instructions of the instruction information when receiving the corresponding instruction information.

[0087] For example, the transfer server can send a test task execution instruction to the mobile robot 102 to make the mobile robot 102 move according to the test task execution instruction.

[0088] ​The test task execution instruction can be an instruction for instructing the mobile robot 102 to start performing a test task, so that the mobile robot 102 starts to move between test position points in a test scene along a test position point line in a preset direction. By instructing the mobile robot 102 to move according to the test task instruction, the parameters required for the mobile robot 102 to perform the corresponding movement (such as the number of movements) can be configured based on the test task instruction, thereby improving the flexibility of instructing the mobile robot 102 to move.

[0089] For example, in the case of a reciprocating motion scenario as shown in the mobile robot 102, the number of reciprocating motions of the mobile robot 102 can be indicated by the task parameters carried in the test task execution instruction. In order to be able to flexibly configure the number of reciprocating motions of the mobile robot 102 according to the test requirements and actual situation, the flexibility of the navigation accuracy test of the mobile robot 102 is improved. Of course, in this example, the mobile robot 102 can also be pre-configured with a fixed number of reciprocating motions, so that the test task execution instruction does not need to carry the task parameters, and the mobile robot 102 can perform the reciprocating motion according to the configuration after receiving the instruction. Figure 4

[0090] When the test task execution instruction includes the task parameters, the task parameters can be input by the operator according to the number of movements required by the mobile robot 102 before starting the test. The operator can conveniently set the number of movements of the mobile robot 102 during the test according to the actual test requirements, thereby improving the flexibility of the navigation accuracy test of the mobile robot 102.

[0091] Of course, in the embodiment of the present application, the task parameters can also be pre-configured by the operator in the relay server and stored in the memory of the relay server. Therefore, the relay server can obtain the task parameters from the memory.

[0092] Optionally, in the embodiment of the present application, when the relay server instructs the mobile robot 102 to perform the corresponding movement, the coordinates of each test position point can also be carried in the test task execution instruction, so that the mobile robot 102 moves between the test position points along the test position point line in the preset direction according to the coordinates.

[0093] Of course, the mobile robot 102 can also be pre-configured with a test map consistent with the test scene, and each test position point can be marked in the test map, so that the mobile robot 102 can move between the test position points along the test position point line in the preset direction based on the test map and the test position points marked in the test map after receiving the test task execution instruction. ​

[0094] In the embodiments of the present application, the manner of obtaining the navigation accuracy index according to the deviation of the distance values can be directly obtaining the navigation accuracy index according to the deviation of the distance values from each other. When the deviation between the distance values is greater, it indicates that the deviation of the movement of the mobile robot 102 along the line connecting the test position points is greater, and the navigation accuracy is poorer.

[0095] When the ranging baffle 101 has two and is located on both sides of the line connecting the test position points, and the mobile robot 101 moves in the first preset direction and the second preset direction respectively, the manner of obtaining the navigation accuracy index according to the deviation of the distance values can also be obtaining the navigation accuracy index of the mobile robot 102 in the two directions respectively for the movement of the mobile robot 102 in the two directions.

[0096] For example, taking the reciprocating motion of the mobile robot 102 as shown in Figure 4 , the first navigation accuracy index can be obtained according to the deviation of the distance values corresponding to the movement of the mobile robot 102 from the first test position point A to the second test position point B. The second navigation accuracy index can be obtained according to the deviation of the distance values corresponding to the movement of the mobile robot 102 from the second test position point B to the first test position point A.

[0097] In the embodiments of the present application, the navigation accuracy index can be obtained according to the deviation of the corresponding distance values in different movements of the mobile robot 102.

[0098] For example, in a possible implementation manner of the present application, obtaining the navigation accuracy index of the mobile robot 102 according to the deviation of the distance values can include: obtaining the navigation accuracy index of the mobile robot 102 according to the deviation of the distance values collected at the same sampling point during the movement of the mobile robot 102 between at least two test position points in the same preset direction. By obtaining the navigation accuracy index according to the deviation of the distance values collected at the same sampling point in different movements of the mobile robot 102, the deviation between multiple movements of the mobile robot 102 can be evaluated horizontally based on the distance values corresponding to each sampling point, so as to obtain a more accurate navigation accuracy index and improve the accuracy of navigation test.

[0099] When the preset direction includes the first preset direction and the second preset direction in opposite directions, the corresponding navigation accuracy index can be obtained based on the manner for the first preset direction and the second preset direction respectively.

[0100] For example, in one possible implementation of this application, obtaining the navigation accuracy index of the mobile robot 102 based on the deviation of distance values ​​collected at the same sampling point during the movement of the mobile robot 102 along the same preset direction between at least two test positions may include: determining a sequence of distance values ​​collected at the same sampling point during multiple movements of the mobile robot 102, for each sampling point during the movement along the same preset direction; and determining a set of distance value deviations formed by the deviations between the distance values ​​in the distance value sequence. Then, based on the set of distance value deviations, the navigation accuracy index of the mobile robot 102 during the movement in the preset direction is obtained.

[0101] When the preset direction includes a first preset direction and a second preset direction that are opposite to each other, the corresponding navigation accuracy index can be obtained based on this method for the first preset direction and the second preset direction respectively.

[0102] The following, combined with Figure 4 The scenario shown is a mobile robot 102 performing reciprocating motion. Taking the example that the mobile robot 102 performs m reciprocating motions and the ranging module 103 measures the corresponding distance values ​​at n sampling points, that is, the ranging module 103 measures n distance values ​​during each unidirectional motion of the mobile robot 102.

[0103] Therefore, during the m movements of the mobile robot 102 from the first test position point A to the second test position point B, the distance value d of the n sampling points corresponding to the first movement can be obtained. AB11 d AB12 ... d AB1n The distance d between the n sampling points corresponding to the second movement AB21 d AB22 ... d AB2n ... and the distance d between the n sampling points corresponding to the m-th movement. ABm1 d ABm2 ... d ABmn .

[0104] At this point, if we define F(x1,x2,……,x) n (x1, x2, ..., x) n , is the set of absolute values ​​of the differences between elements in a single cycle.

[0105] Right now:

[0106] F(x1,x2,……,x n )=(|x1―x2|,|x1―x3|,……,|x1―x n |,|x2―x3|,……,|x2―x n |,……,|xn―1 ―x n |)。

[0107] For example, F(x1, x2) = (|x1 - x2|), F(x1, x2, x3) = (|x1 - x2|, |x1 - x3|, |x2 - x3|), F(x1, x2, x3, x4) = (|x1 - x2|, |x1 - x3|, |x1 - x4|, |x2 - x3|, |x2 - x4|, |x3 - x4|), and so on.

[0108] Then, for each distance value of the yth sampling point in the distance value set of the n sampling points corresponding to each movement, that is, the distance value sequence collected by the yth sampling point in the m movements: d AB1y , d AB2y , …, d ABmy , the deviation E between each distance value in the distance value sequence corresponding to the yth sampling point can be calculated based on the single-cycle difference absolute value set function defined above by the following formula: 1my :

[0109] E 1my = F(d AB1y , d AB2y , …, d ABy )

[0110] Based on this, the deviations E 1m1 , E 1m2 , …, E 1mn corresponding to the n sampling points can be obtained.

[0111] Thus, the first distance value deviation set D1 = (E 1m1 , E 1m2 , …, E 1mn ) is obtained.

[0112] Similarly, during the m movements of the mobile robot 102 from the second test position point B to the first test position point A, the distance values d BA11 , d BA12 , …, d BA1n of the n sampling points corresponding to the first movement, the distance values d BA21 , d BA22 , …, d BA2n of the n sampling points corresponding to the second movement, …, and the distance values d BAm1 , d BAm2 , …, d BAmn of the n sampling points corresponding to the mth movement can be obtained.

[0113] At this time, if F(x1, x2, …, xn ) is x1, x2, …, x n , the absolute value set of single-cycle difference between each element.

[0114] That is

[0115] F(x1, x2, …, x n ) = (|x1-x2|, |x1-x3|, …, |x1-x n |, |x2-x3|, …, |x2-x n |, …, |x n―1 -x n |).

[0116] For example, F(x1, x2) = (|x1-x2|), F(x1, x2, x3) = (|x1-x2|, |x1-x3|, |x2-x3|), F(x1, x2, x3, x4) = (|x1-x2|, |x1-x3|, |x1-x4|, |x2-x3|, |x2-x4|, |x3-x4|), and so on.

[0117] Then, for each distance value corresponding to the yth sampling point in the distance value sequence of the n sampling points corresponding to each movement, that is, the distance value sequence collected by the yth sampling point in the m movements: d BA1y , d BA2y , …, d BAmy , the deviation E 2my between each distance value in the distance value sequence corresponding to the yth sampling point can be calculated based on the single-cycle difference absolute value set function defined above by the following formula:

[0118] E 2my = F(d BA1y , d BA2yu , …, d BAmy )

[0119] Based on this, the deviations E 2m1 , E 2m2 , …, E 2mn corresponding to the n sampling points can be obtained.

[0120] Therefore, the second distance value deviation set D2 = (E 2m1 , E 2m2 , …, E 2mn ) corresponding to the n sampling points is obtained.

[0121] After obtaining the distance value deviation set, the navigation accuracy index of the mobile robot 102 moving in the corresponding direction can be obtained according to the distance value deviation set. For example, the navigation accuracy index of the mobile robot 102 moving from the first test position point A to the second test position point B can be obtained according to the first distance value deviation set. In addition, the navigation accuracy index of the mobile robot 102 moving from the second test position point B to the first test position point A can be obtained according to the second distance value deviation set.

[0122] As an example, in the embodiments of the present application, based on the distance value deviation set, the navigation accuracy index of the mobile robot 102 moving in the preset direction can include: based on the distance value deviation set, determining at least one of the maximum value, the minimum value and the average value in the distance value deviation set as the navigation accuracy index of the mobile robot 102 moving in the preset direction. Thus, the navigation accuracy of the mobile robot 102 moving in the corresponding direction can be described based on the maximum value, the minimum value and / or the average value of the distance value deviation.

[0123] For example, based on the foregoing example, after obtaining the first distance value deviation set D1 and the second distance value deviation set D2, at least one of the maximum value, the minimum value and the average value of the first distance value deviation set can be taken as the first navigation accuracy index, and at least one of the maximum value, the minimum value and the average value of the second distance value deviation set can be taken as the second navigation accuracy index.

[0124] That is, the first navigation accuracy index can include at least one of the maximum value D 1max =(E 1m1 ,E 1m2 ,……,E 1mn ) max , the minimum value D 1min =(E 1m1 ,E 1m2 ,……,E 1mn ) min , and the average value D 1mean =(E 1m1 ,E 1m2 ,……,E 1mn ) mean .

[0125] The second navigation accuracy index can include at least one of the maximum value D 2max =(E 2m1 ,E 2m2 ,……,E 2mn ) max , the minimum value D 2min =(E 2m1 ,E 2m2 ,……,E 2mn )min and the average value D 2mean = (E 2m1 , E 2m2 , …, E 2mn ) mean at least one of the maximum value, the minimum value and the average value.

[0126] Therefore, the closer between at least two of the maximum value, the minimum value and the average value in the first navigation accuracy index, or the smaller value of any one, the smaller deviation of the mobile robot 102 from moving along a straight line when moving from the first test position point A to the second test position point B, and the higher the navigation accuracy of the mobile robot 102. Correspondingly, the closer between at least two of the maximum value, the minimum value and the average value in the second navigation accuracy index, or the smaller value of any one, the smaller deviation of the mobile robot 102 from moving along a straight line when moving from the second test position point B to the first test position point A, and the higher the navigation accuracy of the mobile robot 102.

[0127] In this way, the deviation between multiple movements of the mobile robot 102 can be evaluated laterally based on the distance values corresponding to each sampling point, so as to obtain more accurate navigation accuracy index and improve the accuracy of navigation test.

[0128] It should be noted that in the foregoing embodiments, the navigation accuracy test method of the mobile robot provided by the embodiments of the present application is mainly described by taking the test scene including two ranging barriers and the mobile robot moving at least twice in the opposite first preset direction and second preset direction along the line connecting the test position points as an example. In the embodiments of the present application, when the test scene includes one ranging barrier and the mobile robot moves at least twice in one preset direction along the line connecting the test position points, the navigation accuracy test method of the mobile robot provided by the embodiments of the present application can also be executed by referring to the exemplary description in the foregoing embodiments.

[0129] For example, taking the test scene including two test position points and one corresponding ranging barrier as an example. Based on the method provided by the embodiments of the present application, the transfer server can instruct the mobile robot to move at least twice in the first preset direction (the first preset direction can be the direction from any one test position point to another test position point) along the line connecting the two test position points. Therefore, the ranging module arranged on the mobile robot can measure the distance value corresponding to each movement of the mobile robot in the first preset direction based on the corresponding ranging barrier. Then, the transfer server can obtain the navigation accuracy index of the mobile robot based on the deviation of the distance values measured by the ranging module.

[0130] Of course, the above examples are merely exemplary general descriptions of the navigation accuracy testing method for the mobile robot provided in this application when the test scenario includes one ranging baffle. Specific implementation methods for steps such as how to obtain the navigation accuracy index of the mobile robot based on the deviation of the distance values ​​measured by the ranging module can be found in the foregoing example illustrating a test scenario including two ranging baffles, and will not be repeated here.

[0131] This application also provides a navigation accuracy testing device for mobile robots. Figure 5 A schematic diagram of a navigation accuracy testing device for a mobile robot is shown, which is installed in a relay server. Figure 5 As shown, the device may include:

[0132] Control module 501 is used to instruct the mobile robot to move at least twice along the line connecting at least two test locations in a preset direction;

[0133] The processing module 502 is used to acquire distance data measured by the ranging module during movement. The distance data includes the distance values ​​between the ranging module and the ranging baffle measured at multiple sampling points. Based on the deviation of the distance values, the navigation accuracy index of the mobile robot is obtained.

[0134] As an alternative, the ranging baffle is located on both sides of the line connecting at least two test positions; the control module 501 is specifically used to instruct the mobile robot to move at least twice along the line between at least two test positions in a first preset direction, and to move at least twice along the line between at least two test positions in a second preset direction, wherein the first preset direction is opposite to the second preset direction.

[0135] As an optional approach, the processing module 502 is specifically used to obtain the navigation accuracy index of the mobile robot based on the deviation of the distance values ​​collected at the same sampling point during the mobile robot's movement in the same preset direction between at least two test position points.

[0136] As an optional approach, the processing module 502 is specifically used to determine the distance value sequence collected by the same sampling point during multiple movements for each sampling point during the movement along the same preset direction; determine the distance value deviation set formed by the deviations between the distance values ​​in the distance value sequence; and obtain the navigation accuracy index of the mobile robot during the movement in the preset direction based on the distance value deviation set.

[0137] As an optional approach, the processing module 502 is specifically used to determine at least one of the maximum, minimum and average values ​​in the distance value deviation set, based on the distance value deviation set, as a navigation accuracy indicator for the mobile robot during its movement in a preset direction.

[0138] The embodiment of the present application also provides a relay server, comprising a processor, a memory and a communication interface; the memory and the communication interface are coupled with the processor, the memory is used for storing computer program code, the computer program code comprises computer instructions; wherein when the processor executes the computer instructions, the relay server executes the steps of the method in any one of the preceding method embodiments.

[0139] The above describes the technical solutions provided by the present application in detail, and the principles and implementation manners of the present application are described by applying specific examples; the above embodiment is only used to help understand the method of the present application and its core idea; meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation manners and application ranges will be changed. In conclusion, the content of the specification should not be understood as a limitation of the present application.

Claims

1. A method for testing the navigation accuracy of a mobile robot, characterized in that, The method is applied to a test scenario that includes a ranging baffle and at least two test position points, wherein the ranging baffle is located at least on one side of the line connecting the at least two test position points, and a ranging module is provided on the mobile robot, the ranging module facing the ranging baffle as the mobile robot moves along the connecting line; the method includes: The mobile robot is instructed to move at least twice along the line connecting the at least two test locations in a preset direction; Acquire distance data measured by the ranging module during the movement, the distance data including the distance values ​​between the ranging module and the ranging baffle measured at multiple sampling points; The navigation accuracy index of the mobile robot is obtained based on the deviation of the distance value.

2. The method according to claim 1, characterized in that, The ranging baffle is located on both sides of the line connecting the at least two test locations; instructing the mobile robot to move at least twice along the line connecting the at least two test locations in a preset direction includes: The mobile robot is instructed to move at least twice along the line connecting the at least two test locations in a first preset direction, and to move at least twice along the line connecting the at least two test locations in a second preset direction, wherein the first preset direction is opposite to the second preset direction.

3. The method according to claim 1 or 2, characterized in that, The step of obtaining the navigation accuracy index of the mobile robot based on the deviation of the distance value includes: The navigation accuracy index of the mobile robot is obtained based on the deviation of the distance values ​​collected at the same sampling point during the movement of the mobile robot between at least two test locations along the same preset direction.

4. The method according to claim 3, characterized in that, The navigation accuracy index of the mobile robot is obtained based on the deviation of distance values ​​collected at the same sampling point during the mobile robot's movement between at least two test locations along the same preset direction, including: For each sampling point during the movement along the same preset direction, determine the sequence of distance values ​​collected at the same sampling point during multiple movements; Determine the set of distance value deviations formed by the deviations between each distance value in the distance value sequence; Based on the distance value deviation set, the navigation accuracy index of the mobile robot during its movement in the preset direction is obtained.

5. The method according to claim 4, characterized in that, The process of obtaining the navigation accuracy index of the mobile robot during its movement in the preset direction based on the distance value deviation set includes: Based on the distance deviation set, at least one of the maximum, minimum and average values ​​in the distance deviation set is determined as a navigation accuracy indicator of the mobile robot during its movement in the preset direction.

6. A navigation accuracy testing system for a mobile robot, characterized in that, A system applicable to a test scenario including a ranging baffle and at least two test location points, wherein the ranging baffle is located at least on one side of the line connecting the at least two test location points; the system includes: A relay server is configured to instruct the mobile robot to move at least twice along the line connecting the at least two test locations in a preset direction. The mobile robot is configured to move at least twice in a preset direction along the line connecting the at least two test locations in response to the instruction; A ranging module is disposed on the mobile robot. The ranging module faces the ranging baffle when the mobile robot moves along the connecting line. The ranging module is configured to send the distance data measured by the ranging module to the relay server during the movement of the mobile robot. The distance data includes the distance value between the ranging module and the ranging baffle measured at multiple sampling points. The relay server is further configured to obtain the navigation accuracy index of the mobile robot based on the deviation of the distance value.

7. The system according to claim 6, characterized in that, The ranging module is oriented perpendicular to the forward direction of the mobile robot, and the measuring reference plane of the ranging module is flush with the boundary of the side of the mobile robot relative to the forward direction.

8. The system according to claim 6, characterized in that, The distance between the ranging baffle and the connecting line is such that it does not trigger obstacle avoidance stopping during the movement of the mobile robot.

9. The system according to any one of claims 6-8, characterized in that, The mobile robot is equipped with a test map consistent with the test scenario, and the test map is marked with the at least two test location points. The mobile robot is configured to, based on the test map, execute the response to the instruction and move at least twice along the line connecting the at least two test locations in a preset direction.

10. A navigation accuracy testing device for a mobile robot, characterized in that, The device is applicable to a test scenario including a ranging baffle and at least two test position points, wherein the ranging baffle is located at least on one side of the line connecting the at least two test position points, and a ranging module is provided on the mobile robot, the ranging module facing the ranging baffle when the mobile robot moves along the connecting line; the device includes: A control module is configured to instruct the mobile robot to move at least twice along the line connecting the at least two test locations in a preset direction. The processing module is used to acquire distance data measured by the ranging module during the movement, the distance data including the distance values ​​between the ranging module and the ranging baffle measured at multiple sampling points; and to obtain the navigation accuracy index of the mobile robot based on the deviation of the distance values.

11. A relay server, characterized in that, It includes a processor, a memory, and a communication interface; the memory and the communication interface are coupled to the processor, the memory is used to store computer program code, the computer program code including computer instructions; wherein, when the processor executes the computer instructions, it causes the relay server to perform the method as described in any one of claims 1-5.

Images