A robot cruise endurance automatic test method and system

Abstract

The application relates to the field of robots, and discloses a robot cruise endurance automatic testing method and system. The method comprises the following steps: controlling a robot to automatically circulate and travel in a target testing site according to a preset cruise route; continuously collecting video frames of the robot in the automatic cruise process, identifying markers in the video frames, and obtaining the coordinate position of the robot in the target testing site according to the markers; calculating the total travel mileage of the robot by using an inter-frame displacement accumulation formula according to the coordinate position of the robot in the target testing site; determining the number of laps by using a vector cross product crossing judgment algorithm according to the set starting and ending lines; collecting the running state data of the robot, automatically terminating the endurance test of the robot when the running state data meets the endurance termination condition; saving the whole-process data of the endurance test process, and generating an endurance test report. The application has the advantages that the robot can be automatically endurance tested, the test error can be effectively reduced, and the test effect is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically to an automatic testing method and system for robot cruise endurance. Background Technology

[0002] Battery life is a crucial indicator for evaluating a robot's continuous working ability in practical applications, and battery life testing is required after robot production is completed. However, existing battery life testing methods for robots have the following shortcomings:

[0003] 1. Relying on manual timing and recording of laps, testers need to be on duty for a long time during the test, and are prone to omissions or misrecordings due to fatigue or viewing angle, which leads to inconsistencies between the test results and the actual results;

[0004] 2. Mileage calculation relies on the robot's internal odometer for statistics. However, during actual driving, the robot may experience tire slippage, path deviation, or positioning drift, which can cause the odometer to distort the driving range.

[0005] 3. The inability to clearly define the reasons for the end of the test in a timely and unified manner is not conducive to subsequent comparison of product battery life performance and quality inspection.

[0006] For the reasons mentioned above, there is an urgent need to provide a method that can automatically perform battery life testing on robots, effectively reduce testing errors, and ensure testing results. Summary of the Invention

[0007] To address the shortcomings of existing technologies, this invention provides an automatic testing method and system for robot cruise endurance, which can automatically test the robot's endurance, effectively reduce testing errors, and ensure testing results.

[0008] To achieve the above objectives, the present invention provides the following technical solution:

[0009] In a first aspect, the present invention provides an automatic testing method for the cruise endurance of a robot, the method comprising:

[0010] The robot is controlled to automatically cycle within the target test site according to the preset cruise route. The target test site has a start and finish line set at a predetermined location, and the robot is equipped with markers.

[0011] The robot continuously collects video frames during its autonomous cruise process, identifies markers in the continuously collected video frames, and obtains the robot's coordinate position within the target test site based on the identified markers.

[0012] Based on the robot's coordinates within the target test site, the total mileage of the robot is calculated using the inter-frame displacement accumulation formula; based on the set start and end lines, the number of laps is determined using the vector cross product crossing judgment algorithm.

[0013] Collect the robot's operating status data, and automatically terminate the robot's endurance test when the operating status data meets the endurance termination conditions;

[0014] Save all data from the entire battery life test process and generate a battery life test report.

[0015] Furthermore, the formula for accumulating inter-frame shifts is as follows:

[0016] ;

[0017] in, This indicates the total mileage traveled. This represents the total number of video frames. Indicates the sequence number of the current frame. Indicates the robot in the The pose vector of the frame. Indicates the robot in the The pose vector of the frame. Indicates the first The physical X-axis coordinates of the frame. Indicates the first The physical X-axis coordinates of the frame. Indicates the first The physical Y-axis coordinate of the frame. Indicates the first The physical Y-axis coordinate of the frame.

[0018] Furthermore, the specific steps for determining the number of loops using the vector cross product crossing algorithm are as follows:

[0019] The sign value of the positions of two consecutive frames relative to the start and end lines is calculated using the following formula:

[0020] ;

[0021] ;

[0022] Among them, the starting and ending lines are straight line segments. and Indicates the coordinates of the two endpoints of the starting and ending lines; Indicates the robot in the The pose vector of the frame. Indicates the robot in the The pose vector of the frame; Indicates the start and end lines are from point to The direction vector; Indicates the starting point from the beginning and end lines. Pointing robot in the The vector of the frame's location. Indicates the starting point from the beginning and end lines. Pointing robot in the The vector representing the frame's location;

[0023] When satisfied If the angle between the current heading and the preset cruise direction is less than the preset angle threshold, it is considered a valid crossing, the number of laps is incremented by 1, and the time taken for the lap, the average speed within the lap, the maximum instantaneous speed, and the corresponding timestamp are recorded simultaneously.

[0024] Furthermore, when capturing video frames of the robot, the camera is positioned to capture the data from above the target test site.

[0025] Furthermore, the automatic termination of the robot's endurance test when the operating status data meets the endurance termination conditions specifically refers to:

[0026] Based on the collected operational status data, determine whether the robot meets any of the following conditions: low voltage state, stopped movement state, communication interruption state, visual recognition loss state, and manual stop command. If so, the robot's endurance test will be automatically terminated; otherwise, the endurance test will continue.

[0027] Furthermore, the range test report includes the test start time, test end time, total range time, total mileage, total number of laps, lap speed distribution, voltage curve, or reason for test termination.

[0028] Furthermore, the target test site is a planar test area, and the markers are color-coded marker blocks placed on top of the robot.

[0029] Secondly, the present invention provides an automatic testing system for the cruise endurance of a robot, the system comprising:

[0030] The cruise control module is used to control the robot to automatically cycle within the target test site according to the preset cruise route. The target test site has a start and finish line set at a predetermined location, and the robot is equipped with markers.

[0031] The identification module is used to continuously acquire video frames of the robot during its automatic cruise process, identify markers in the continuously acquired video frames, and obtain the robot's coordinate position in the target test site based on the identified markers.

[0032] The mileage and lap count calculation module is used to calculate the robot's total mileage based on the robot's coordinates within the target test site using an inter-frame displacement accumulation formula; and to determine the lap count using a vector cross product crossing judgment algorithm based on the set start and end lines.

[0033] The battery life termination determination module is used to collect the robot's operating status data. When the operating status data meets the battery life termination conditions, the battery life test of the robot is automatically terminated.

[0034] The data storage and report generation module is used to save all the data from the entire battery life test process and generate a battery life test report.

[0035] Furthermore, the formula for accumulating inter-frame shifts is as follows:

[0036] ;

[0037] in, This indicates the total mileage traveled. This represents the total number of video frames. Indicates the sequence number of the current frame. Indicates the robot in the The pose vector of the frame. Indicates the robot in the The pose vector of the frame. Indicates the first The physical X-axis coordinates of the frame. Indicates the first The physical X-axis coordinates of the frame. Indicates the first The physical Y-axis coordinate of the frame. Indicates the first The physical Y-axis coordinate of the frame.

[0038] Furthermore, the specific steps for determining the number of loops using the vector cross product crossing algorithm are as follows:

[0039] The sign value of the positions of two consecutive frames relative to the start and end lines is calculated using the following formula:

[0040] ;

[0041] ;

[0042] Among them, the starting and ending lines are straight line segments. and Indicates the coordinates of the two endpoints of the starting and ending lines; Indicates the robot in the The pose vector of the frame. Indicates the robot in the The pose vector of the frame; Indicates the start and end lines are from point to The direction vector; Indicates the starting point from the beginning and end lines. Pointing robot in the The vector of the frame's location. Indicates the starting point from the beginning and end lines. Pointing robot in the The vector representing the frame's location;

[0043] When satisfied If the angle between the current heading and the preset cruise direction is less than the preset angle threshold, it is considered a valid crossing, the number of laps is incremented by 1, and the time taken for the lap, the average speed within the lap, the maximum instantaneous speed, and the corresponding timestamp are recorded simultaneously.

[0044] By adopting the above-mentioned technical solution of the present invention, it is possible to effectively achieve automatic endurance testing of robots, reduce testing errors, and ensure testing results; specifically, it includes the following aspects:

[0045] 1. By using visual tracking to obtain the robot's actual movement trajectory, the actual distance traveled can be calculated independently of the robot's internal odometer, thereby reducing the impact of slippage, path deviation, or internal counting errors on the endurance test results;

[0046] 2. The total mileage of the robot is calculated using the inter-frame displacement accumulation formula, and the number of laps is determined using the vector cross product crossing judgment algorithm. This can automatically obtain data such as the total number of laps, lap speed distribution, and total mileage to avoid errors caused by manual recording.

[0047] 3. After a valid crossing is determined, in addition to incrementing the number of laps by 1, the time taken for that lap, the average speed within the lap, the maximum instantaneous speed, and the corresponding timestamp are recorded simultaneously. This can prevent the robot from making repeated counts and misjudgments when it is hovering or moving back and forth near the start and finish lines.

[0048] 4. By collecting and storing operational status data, it is easy to establish the correspondence between endurance, mileage, and voltage curves, which facilitates the analysis of battery performance and robot energy consumption status.

[0049] 5. By automatically identifying the test termination reason from five dimensions—low voltage state, stopped movement state, communication interruption state, visual recognition loss state, and manual stop command—the traceability of the test process can be improved, which is beneficial for subsequent comparison of product battery life performance and quality inspection.

[0050] 6. It can automatically save the entire process data of the battery life test and generate a battery life test report, which can reduce the need for testers to be on duty for a long time and improve the consistency and efficiency of battery life testing of multiple robots or multiple batches of products. Attached Figure Description

[0051] Figure 1 This is a flowchart illustrating the execution process of an automatic testing method for robot cruise endurance according to the present invention.

[0052] Figure 2 This is a structural principle block diagram of an automatic testing system for robot cruise endurance according to the present invention. Detailed Implementation

[0053] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0054] Example 1

[0055] Please refer to Figure 1 As shown, this embodiment provides an automatic testing method for robot cruise endurance, the method being applied to a control terminal (i.e., a control computer); the method includes:

[0056] Step S1: Control the robot to automatically cycle within the target test area according to the preset cruise route. The target test area has a start and end line set at a predetermined location, which is used to determine the number of laps. The robot is equipped with a marker, which is used to locate the robot's specific position through visual recognition later. The cruise route can be preset according to the actual test needs. After the setting is completed, the robot can be controlled to automatically cycle along the cruise route.

[0057] Step S2: Continuously acquire video frames of the robot during its autonomous navigation process. Identify markers in the continuously acquired video frames and obtain the robot's coordinates within the target test site based on the identified markers. , Coordinate position;

[0058] Step S3: Based on the robot's coordinates within the target test site, calculate the robot's total mileage using the inter-frame displacement accumulation formula; based on the set start and end lines, determine the number of laps using the vector cross product crossing judgment algorithm; by using the inter-frame displacement accumulation formula, the calculated total mileage can be ensured to be closer to the actual total length of the driving path; by using the vector cross product crossing judgment algorithm to determine the number of laps, the determination result of the number of laps can be guaranteed.

[0059] Step S4: Collect the robot's operating status data. When the operating status data meets the conditions for termination of battery life, the robot's battery life test will be automatically terminated. The operating status data is collected by the robot and then uploaded via wireless communication. The upload frequency can be set to 1Hz. The operating status data may include various required data such as battery voltage, current, and motor speed.

[0060] Step S5: Save the complete data of the entire range test process and generate a range test report. In specific implementation of this invention, during the entire range test process, the pose data, accurate mileage, effective lap count, battery voltage, current, operating status, abnormal events, etc. generated at each moment are all written to a local Excel file using Python scripts to completely record the data of the entire process.

[0061] In this invention, the formula for accumulating inter-frame shifts is as follows:

[0062] ;

[0063] in, This indicates the total mileage traveled. This represents the total number of video frames. This indicates the sequence number of the current frame (i.e., the index of the sampling time). Indicates the robot in the The pose vector of the frame. Indicates the robot in the The pose vector of the frame (the pose vector includes coordinate position information and orientation angle information). Indicates the first The physical X-axis coordinates of the current frame. Indicates the first The physical X-axis coordinates of the frame. Indicates the first The physical Y-axis coordinate of the frame. Indicates the first The physical Y-axis coordinate of the frame.

[0064] Because the robot will move along a straight line from between two adjacent sampling times (approximately 33 milliseconds apart) Exercise to In this invention, the entire continuous driving path is divided into N small straight segments, and the total length of the actual driving path is approximated by summing them, which can significantly improve the accuracy of the measured total driving mileage.

[0065] In this invention, the method of using the vector cross product crossing determination algorithm to determine the number of loops specifically involves:

[0066] The sign value of the positions of two consecutive frames relative to the start and end lines is calculated using the following formula:

[0067] ;

[0068] ;

[0069] Among them, the starting and ending lines are straight line segments. and This represents the coordinates of the two endpoints of the starting and ending lines; the specific values ​​can be set. Starting from, The endpoint; Indicates the robot in the The pose vector of the frame (i.e., the current frame). Indicates the robot in the The pose vector of the frame; Indicates the start and end lines are from point to The direction vector; Indicates the starting point from the beginning and end lines. Pointing robot in the The vector of the frame's location. Indicates the starting point from the beginning and end lines. Pointing robot in the The vector of the frame's location; in specific implementations of this invention, if If the calculation result is greater than zero, it means the robot is to the left of the starting line; if... If the calculation result is less than zero, it means the robot is to the right of the starting line; if If the calculation result is zero, it means that the robot is exactly on the starting line;

[0070] When satisfied (That is, the position of two adjacent frames jumps exactly from one side of the start and finish line to the other side), and when the angle between the current heading and the preset cruise direction is less than a preset angle threshold, it is determined as a valid crossing, the lap count is incremented by 1, and the time taken for that lap, the average speed within the lap, the maximum instantaneous speed, and the corresponding timestamp are recorded simultaneously to avoid duplicate counting and misjudgment when the robot lingers or moves back and forth near the start and finish line. As a specific embodiment of the present invention, the preset angle threshold is set to 30°.

[0071] In some embodiments of the present invention, when acquiring video frames of the robot, the camera is positioned to capture the data from above the target test site, so as to facilitate obtaining the robot's planar position within the target test site.

[0072] In some embodiments of the present invention, the automatic termination of the robot's endurance test when the operating status data meets the endurance termination conditions specifically refers to:

[0073] Based on the collected operational status data, determine whether the robot meets any of the following conditions: low voltage state, stopped movement state, communication interruption state, visual recognition loss state, or manual stop command. If so, the robot's endurance test is automatically terminated; otherwise, the endurance test continues.

[0074] The low voltage state specifically refers to the working state when the output voltage of the robot's battery pack is continuously lower than a preset safety threshold (specifically, the preset safety threshold can be set to 85% of the rated operating voltage); the stopped motion state specifically refers to the working state where the robot's motor drive system is enabled and control commands have been issued, but there is no motor speed feedback; the communication interruption state specifically refers to the working state where the wireless communication module of the control computer does not receive any valid data frames uploaded by the robot within a preset timeout period (e.g., 5 consecutive seconds), or the error rate of the received data frames continuously exceeds a preset threshold (50%); the visual recognition loss state specifically refers to the working state where, in multiple consecutive video frames (e.g., 30 consecutive frames, i.e., about 1 second), the target detection algorithm cannot successfully identify and lock the marker on the top of the robot from the video frames, or the confidence level of the identified marker is lower than a preset threshold (e.g., 0.7); the manual stop command specifically refers to the active termination signal generated by the tester clicking the "Stop Test" button through the software operation interface of the control computer to send a stop command.

[0075] In some embodiments of the present invention, the range test report includes the test start time, test end time, total range time, total mileage, total number of laps, lap speed distribution, voltage curve, or reason for test termination. Of course, the above is only one specific implementation of the present invention, but the present invention is not limited thereto. In specific implementation, the content of the range test report can be added according to actual needs.

[0076] In some embodiments of the present invention, in order to better achieve the endurance test, the target test site is a planar test area. The specific size of the planar test area can be set according to actual needs, preferably a square area of ​​10m×10m; the marker is a color marker block set on the top of the robot, specifically a white matte color marker block, and the specific size of the color marker block can be set according to actual needs, for example, a color marker block of 15cm×15cm.

[0077] In summary, by adopting the above-mentioned technical solution of the present invention, it is possible to effectively achieve automatic battery life testing of robots, reduce testing errors, and ensure testing results; specifically, this includes the following aspects:

[0078] 1. By using visual tracking to obtain the robot's actual movement trajectory, the actual distance traveled can be calculated independently of the robot's internal odometer, thereby reducing the impact of slippage, path deviation, or internal counting errors on the endurance test results;

[0079] 2. The total mileage of the robot is calculated using the inter-frame displacement accumulation formula, and the number of laps is determined using the vector cross product crossing judgment algorithm. This can automatically obtain data such as the total number of laps, lap speed distribution, and total mileage to avoid errors caused by manual recording.

[0080] 3. After a valid crossing is determined, in addition to incrementing the number of laps by 1, the time taken for that lap, the average speed within the lap, the maximum instantaneous speed, and the corresponding timestamp are recorded simultaneously. This can prevent the robot from making repeated counts and misjudgments when it is hovering or moving back and forth near the start and finish lines.

[0081] 4. By collecting and storing operational status data, it is easy to establish the correspondence between endurance, mileage, and voltage curves, which facilitates the analysis of battery performance and robot energy consumption status.

[0082] 5. By automatically identifying the test termination reason from five dimensions—low voltage state, stopped movement state, communication interruption state, visual recognition loss state, and manual stop command—the traceability of the test process can be improved, which is beneficial for subsequent comparison of product battery life performance and quality inspection.

[0083] 6. It can automatically save the entire process data of the battery life test and generate a battery life test report, which can reduce the need for testers to be on duty for a long time and improve the consistency and efficiency of battery life testing of multiple robots or multiple batches of products.

[0084] Based on the same inventive concept, this application also provides a system corresponding to the method in Embodiment 1, as detailed in Embodiment 2.

[0085] Example 2

[0086] Please refer to Figure 2 As shown, this embodiment provides an automatic testing system for the cruise endurance of a robot, the system comprising:

[0087] The cruise control module is used to control the robot to automatically cycle within the target test area according to a preset cruise route. The target test area has a start and end line set at a predetermined location, which is used to determine the number of laps. The robot is equipped with a marker, which is used to locate the robot's specific position through visual recognition. The cruise route can be preset according to actual test needs, and after the setting is completed, the robot can be controlled to automatically cycle along the cruise route.

[0088] The identification module continuously acquires video frames during the robot's autonomous navigation process, identifies markers within these frames, and determines the robot's coordinates within the target test area based on these markers. , Coordinate position;

[0089] The mileage and lap count calculation module is used to calculate the robot's total mileage based on its coordinates within the target test site using an inter-frame displacement accumulation formula; and to determine the number of laps using a vector cross product crossing algorithm based on the set start and end lines. By using the inter-frame displacement accumulation formula, the calculated total mileage is ensured to be closer to the actual total length of the travel path; and by using the vector cross product crossing algorithm to determine the number of laps, the lap count determination result is guaranteed.

[0090] The battery life termination determination module is used to collect the robot's operating status data. When the operating status data meets the battery life termination conditions, the robot's battery life test is automatically terminated. The operating status data is collected by the robot and then uploaded wirelessly. The upload frequency can be set to 1Hz. The operating status data can include various required data such as battery voltage, current, and motor speed.

[0091] The data storage and report generation module is used to save the complete data of the entire range test process and generate a range test report. In specific implementation, during the entire range test, the pose data, accurate mileage, effective lap count, battery voltage, current, operating status, abnormal events, etc. generated at each moment are all written to a local Excel file using Python scripts to completely record the data of the entire process.

[0092] In this invention, the formula for accumulating inter-frame shifts is as follows:

[0093] ;

[0094] in, This indicates the total mileage traveled. This represents the total number of video frames. This indicates the sequence number of the current frame (i.e., the index of the sampling time). Indicates the robot in the The pose vector of the frame. Indicates the robot in the The pose vector of the frame (the pose vector includes coordinate position information and orientation angle information). Indicates the first The physical X-axis coordinates of the current frame. Indicates the first The physical X-axis coordinates of the frame. Indicates the first The physical Y-axis coordinate of the frame. Indicates the first The physical Y-axis coordinate of the frame.

[0095] Because the robot will move along a straight line from between two adjacent sampling times (approximately 33 milliseconds apart) Exercise to In this invention, the entire continuous driving path is divided into N small straight segments, and the total length of the actual driving path is approximated by summing them, which can significantly improve the accuracy of the measured total driving mileage.

[0096] In this invention, the method of using the vector cross product crossing determination algorithm to determine the number of loops specifically involves:

[0097] The sign value of the positions of two consecutive frames relative to the start and end lines is calculated using the following formula:

[0098] ;

[0099] ;

[0100] Among them, the starting and ending lines are straight line segments. and This represents the coordinates of the two endpoints of the starting and ending lines; the specific values ​​can be set. Starting from, The endpoint; Indicates the robot in the The pose vector of the frame (i.e., the current frame). Indicates the robot in the The pose vector of the frame; Indicates the start and end lines are from point to The direction vector; Indicates the starting point from the beginning and end lines. Pointing robot in the The vector of the frame's location. Indicates the starting point from the beginning and end lines. Pointing robot in the The vector of the frame's location; in specific implementations of this invention, if If the calculation result is greater than zero, it means the robot is to the left of the starting line; if... If the calculation result is less than zero, it means the robot is to the right of the starting line; if If the calculation result is zero, it means that the robot is exactly on the starting line;

[0101] When satisfied (That is, the position of two adjacent frames jumps exactly from one side of the start and finish line to the other side), and when the angle between the current heading and the preset cruise direction is less than a preset angle threshold, it is determined as a valid crossing, the lap count is incremented by 1, and the time taken for that lap, the average speed within the lap, the maximum instantaneous speed, and the corresponding timestamp are recorded simultaneously to avoid duplicate counting and misjudgment when the robot lingers or moves back and forth near the start and finish line. As a specific embodiment of the present invention, the preset angle threshold is set to 30°.

[0102] In some embodiments of the present invention, when acquiring video frames of the robot, the camera is positioned to capture the data from above the target test site, so as to facilitate obtaining the robot's planar position within the target test site.

[0103] In some embodiments of the present invention, the automatic termination of the robot's endurance test when the operating status data meets the endurance termination conditions specifically refers to:

[0104] Based on the collected operational status data, determine whether the robot meets any of the following conditions: low voltage state, stopped movement state, communication interruption state, visual recognition loss state, or manual stop command. If so, the robot's endurance test is automatically terminated; otherwise, the endurance test continues.

[0105] The low voltage state specifically refers to the working state when the output voltage of the robot's battery pack is continuously lower than a preset safety threshold (specifically, the preset safety threshold can be set to 85% of the rated operating voltage); the stopped motion state specifically refers to the working state where the robot's motor drive system is enabled and control commands have been issued, but there is no motor speed feedback; the communication interruption state specifically refers to the working state where the wireless communication module of the control computer does not receive any valid data frames uploaded by the robot within a preset timeout period (e.g., 5 consecutive seconds), or the error rate of the received data frames continuously exceeds a preset threshold (50%); the visual recognition loss state specifically refers to the working state where, in multiple consecutive video frames (e.g., 30 consecutive frames, i.e., about 1 second), the target detection algorithm cannot successfully identify and lock the marker on the top of the robot from the video frames, or the confidence level of the identified marker is lower than a preset threshold (e.g., 0.7); the manual stop command specifically refers to the active termination signal generated by the tester clicking the "Stop Test" button through the software operation interface of the control computer to send a stop command.

[0106] In some embodiments of the present invention, the range test report includes the test start time, test end time, total range time, total mileage, total number of laps, lap speed distribution, voltage curve, or reason for test termination. Of course, the above is only one specific implementation of the present invention, but the present invention is not limited thereto. In specific implementation, the content of the range test report can be added according to actual needs.

[0107] In some embodiments of the present invention, in order to better achieve the endurance test, the target test site is a planar test area. The specific size of the planar test area can be set according to actual needs, preferably a square area of ​​10m×10m; the marker is a color marker block set on the top of the robot, specifically a white matte color marker block, and the specific size of the color marker block can be set according to actual needs, for example, a color marker block of 15cm×15cm.

[0108] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automatic testing method for the cruise endurance of a robot, characterized in that, The method includes: The robot is controlled to automatically cycle within the target test site according to the preset cruise route. The target test site has a start and finish line set at a predetermined location, and the robot is equipped with markers. The robot continuously collects video frames during its autonomous cruise process, identifies markers in the continuously collected video frames, and obtains the robot's coordinate position within the target test site based on the identified markers. Based on the robot's coordinates within the target test site, the total mileage of the robot is calculated using the inter-frame displacement accumulation formula; based on the set start and end lines, the number of laps is determined using the vector cross product crossing judgment algorithm. Collect the robot's operating status data, and automatically terminate the robot's endurance test when the operating status data meets the endurance termination conditions; Save all data from the entire battery life test process and generate a battery life test report.

2. The automatic testing method for robot cruise endurance according to claim 1, characterized in that, The formula for accumulating inter-frame shifts is as follows: ； in, This indicates the total mileage traveled. This represents the total number of video frames. Indicates the sequence number of the current frame. Indicates the robot in the The pose vector of the frame. Indicates the robot in the The pose vector of the frame. Indicates the first The physical X-axis coordinates of the frame. Indicates the first The physical X-axis coordinates of the frame. Indicates the first The physical Y-axis coordinate of the frame. Indicates the first The physical Y-axis coordinate of the frame.

3. The automatic testing method for robot cruise endurance according to claim 1, characterized in that, The specific steps for determining the number of loops using the vector cross product crossing algorithm are as follows: The sign value of the positions of two consecutive frames relative to the start and end lines is calculated using the following formula: ； ； Among them, the starting and ending lines are straight line segments. and Indicates the coordinates of the two endpoints of the starting and ending lines; Indicates the robot in the The pose vector of the frame. Indicates the robot in the The pose vector of the frame; Indicates the start and end lines are from point to The direction vector; Indicates the starting point from the beginning and end lines. Pointing robot in the The vector of the frame's location. Indicates the starting point from the beginning and end lines. Pointing robot in the The vector representing the frame's location; When satisfied If the angle between the current heading and the preset cruise direction is less than the preset angle threshold, it is considered a valid crossing, the number of laps is incremented by 1, and the time taken for the lap, the average speed within the lap, the maximum instantaneous speed, and the corresponding timestamp are recorded simultaneously.

4. The automatic testing method for robot cruise endurance according to claim 1, characterized in that, When capturing video frames of the robot, the camera should be positioned above the target test site for overhead viewing.

5. The automatic testing method for robot cruise endurance according to claim 1, characterized in that, The automatic termination of the robot's endurance test when the operating status data meets the endurance termination conditions is specifically as follows: Based on the collected operational status data, determine whether the robot meets any of the following conditions: low voltage state, stopped movement state, communication interruption state, visual recognition loss state, and manual stop command. If so, the robot's endurance test is automatically terminated; otherwise, the endurance test continues.

6. The automatic testing method for robot cruise endurance according to claim 1, characterized in that, The range test report includes the test start time, test end time, total range time, total mileage, total number of laps, lap speed distribution, voltage curve, or reason for test termination.

7. The automatic testing method for robot cruise endurance according to claim 1, characterized in that, The target test site is a planar test area, and the marker is a color marker block placed on top of the robot.

8. An automatic testing system for the cruise endurance of a robot, characterized in that, The system includes: The cruise control module is used to control the robot to automatically cycle within the target test site according to the preset cruise route. The target test site has a start and finish line set at a predetermined location, and the robot is equipped with markers. The identification module is used to continuously acquire video frames of the robot during its autonomous cruise, identify markers in the continuously acquired video frames, and obtain the robot's coordinate position in the target test site based on the identified markers. The mileage and lap count calculation module is used to calculate the robot's total mileage based on the robot's coordinates within the target test site using an inter-frame displacement accumulation formula; and to determine the lap count using a vector cross product crossing judgment algorithm based on the set start and end lines. The battery life termination determination module is used to collect the robot's operating status data. When the operating status data meets the battery life termination conditions, the battery life test of the robot is automatically terminated. The data storage and report generation module is used to save all the data from the entire battery life test process and generate a battery life test report.

9. The automatic testing system for robot cruise endurance according to claim 8, characterized in that, The formula for accumulating inter-frame shifts is as follows: ； in, This indicates the total mileage traveled. This represents the total number of video frames. Indicates the sequence number of the current frame. Indicates the robot in the The pose vector of the frame. Indicates the robot in the The pose vector of the frame. Indicates the first The physical X-axis coordinates of the frame. Indicates the first The physical X-axis coordinates of the frame. Indicates the first The physical Y-axis coordinate of the frame. Indicates the first The physical Y-axis coordinate of the frame.

10. The automatic testing system for robot cruise endurance according to claim 8, characterized in that, The specific steps for determining the number of loops using the vector cross product crossing algorithm are as follows: The sign value of the positions of two consecutive frames relative to the start and end lines is calculated using the following formula: ； ； Among them, the starting and ending lines are straight line segments. and Indicates the coordinates of the two endpoints of the starting and ending lines; Indicates the robot in the The pose vector of the frame. Indicates the robot in the The pose vector of the frame; Indicates the start and end lines are from point to The direction vector; Indicates the starting point from the beginning and end lines. Pointing robot in the The vector of the frame's location. Indicates the starting point from the beginning and end lines. Pointing robot in the The vector representing the frame's location; When satisfied If the angle between the current heading and the preset cruise direction is less than the preset angle threshold, it is considered a valid crossing, the number of laps is incremented by 1, and the time taken for the lap, the average speed within the lap, the maximum instantaneous speed, and the corresponding timestamp are recorded simultaneously.

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