Test system for navigation accuracy of mobile robots

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

(19) State Intellectual Property Office (12) Invention Patent Application (10) Application Publication Number (43) Application Publication Date (21) Application Number 202511767368.5 (22) Application Date 2025.09.02 (62) Divisional Application Data 202511248053.X 2025.09.02 (71) Applicant: ZhuiMi Innovation Technology (Suzhou) Co., Ltd. Address: Units 1, 2, and 3, Building 8, No. 1688, Songwei Road, Guoxiang Street, Wuzhong Economic Development Zone, Suzhou City, Jiangsu Province, 215000 (72) Inventors: Cui Peng, Lang Zhigong, Sun Ping (74) Patent Agency: Beijing Brui Intellectual Property Agency Co., Ltd. 11505 Patent Attorney: Yuan Yuan (51) Int.Cl. G01C 25 / 00 (2006.01) G01B 21 / 16 (2006.01) (54) Invention Title: Navigation Accuracy Testing System for Mobile Robots (57) Abstract: This application discloses a method, device, system, and server for testing the navigation accuracy of a mobile robot, relating to the field of robot testing technology. The specific implementation scheme is as follows: instructing the mobile robot to move at least twice along a connecting line in a preset direction between at least two test position points; acquiring distance data measured by the ranging module during the movement, including distance values ​​between the ranging module and the ranging baffle measured at multiple sampling points; and obtaining the navigation accuracy index of the mobile robot based on the deviation of the distance values. In this scheme, only the corresponding ranging baffle needs to be configured according to at least two preset test position points, and the corresponding ranging module needs to be set, to achieve navigation accuracy testing of the mobile robot. It is simple to implement, low in cost, and easy to operate and maintain. Claims 1 page, Description 13 pages, Drawings 4 pages, CN 121475277 A 2026.02.06 CN 1 21 47 52 77 A 1. A navigation accuracy testing system for a mobile robot, characterized in that it is applied to a test scenario including a ranging baffle and at least two test position points, the ranging baffle being located at least on one side of the line connecting the at least two test position points; the system includes: a relay server 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 between the at least two test position points in response to the instruction; the mobile robot configured to move at least twice along the line connecting the at least two test position points in a preset direction between the at least two test position points in response to the instruction; a ranging module disposed on the mobile robot, the ranging module being used to send measured distance data to the relay server, the distance data including distance values ​​between the ranging module and the ranging baffle measured at multiple sampling points; the relay server being further configured to obtain a navigation accuracy index of the mobile robot based on the deviation of the distance values.2. The system according to claim 1, wherein the ranging module faces the ranging baffle when the mobile robot moves along the connecting line, and the ranging module is configured to send the measured distance data to the relay server during the movement of the mobile robot. 3. The system according to claim 2, wherein the orientation of the ranging module is perpendicular to the forward direction of the mobile robot, and the measurement reference plane of the ranging module is flush with the boundary of the side of the mobile robot relative to the forward direction. 4. The system according to claim 1, wherein the distance between the ranging baffle and the connecting line is sufficient to not trigger obstacle avoidance stopping during the movement of the mobile robot. 5. The system according to any one of claims 1-4, wherein the mobile robot is configured with a test map consistent with the test scenario, the test map marking the at least two test location points; the mobile robot is configured to: based on the test map, execute the response to the instruction, moving at least twice along the connecting line between the at least two test location points in a preset direction. 6. The system according to claim 1, wherein the ranging baffle is parallel to the connecting line between the at least two test location points. 7. The system according to claim 6, wherein the length of the ranging baffle is such that the ranging module can always measure the distance value during the movement of the mobile robot. 8. The system according to claim 7, wherein the ranging baffle comprises two baffles, respectively located on both sides of the line connecting the at least two test position points, the at least two test position points including a first test position point and a second test position point, and the length of the ranging baffle is the distance between the first test position point and the second test position point. 9. The system according to claim 7 or 8, wherein the ranging baffle is a single piece or a baffle obtained by splicing to satisfy the length. 10. The system according to claim 1, wherein the ranging module is horizontally positioned, and the height of the ranging baffle is twice the emission height of the ranging signal from the ranging module. 11. The system according to claim 1, wherein the ranging module is a laser ranging module or an ultrasonic ranging module. Claims 1 / 1 Page 2 CN 121475277 A Navigation Accuracy Testing System for Mobile Robots

[0001] This application is a divisional application of application number 202511248053X, application date September 2, 2025, entitled "Navigation Accuracy Testing Method, Apparatus, System and Server for Mobile Robots". Technical Field

[0002] This application relates to the field of robot testing technology, and in particular to a navigation accuracy testing method, apparatus, system and server for mobile robots. Background Art

[0003] Navigation accuracy is an important test and evaluation indicator when testing mobile robot products. Navigation accuracy affects the overall motion performance of the mobile robot.

[0004] Currently, testing systems for navigation accuracy typically require high-precision motion trajectory measurement devices to record the motion trajectory of the mobile robot in real time, so as to evaluate navigation accuracy based on the real-time motion trajectory of the mobile robot, or require complex position measurement algorithms to measure the actual position of the mobile robot's docking point, so as to evaluate navigation accuracy based on the error between the actual position and the preset position of the mobile robot. These testing systems are generally complex in structure, expensive, and the testing process is cumbersome, which is not conducive to operation and maintenance. Summary of the Invention

[0005] This application provides a method, device, system, and server for testing the navigation accuracy of a mobile robot.

[0006] This application provides the following solution: According to a first aspect, a method for testing the navigation accuracy of a mobile robot is provided, applied 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 line; the method includes: instructing the mobile robot to move at least twice along the line between the at least two test position points in a preset direction; acquiring distance data measured by the ranging module during the movement, the distance data including distance values ​​between the ranging module and the ranging baffle measured at multiple sampling points; and obtaining a navigation accuracy index of the mobile robot based on the deviation of the distance values.

[0007] As an optional method, the ranging baffle is located on both sides of the line connecting at least two test position points; instructing the mobile robot to move at least twice along the line connecting at least two test position points in a preset direction includes: instructing the mobile robot to move at least twice along the line connecting at least two test position points in a first preset direction, and to move at least twice along the line connecting at least two test position points in a second preset direction, wherein the first preset direction is opposite to the second preset direction.

[0008] As an optional method, the navigation accuracy index of the mobile robot is obtained based on the deviation of the distance values, including: obtaining the navigation accuracy index of the mobile robot based on the deviation of the distance values ​​collected at the same sampling point on page 1 / 13 of the specification, CN 121475277 A, during the process of the mobile robot moving along the same preset direction between at least two test position points.

[0009] As an optional approach, 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 process of the mobile robot moving between at least two test locations along the same preset direction. This includes: determining the sequence of distance values ​​collected at the same sampling point during multiple movements for each sampling point during the process of moving along the same preset direction.A distance value deviation set is determined by identifying the deviations between each distance value in the distance value sequence; based on the distance value deviation set, a navigation accuracy index for the mobile robot during movement in a preset direction is obtained.

[0010] As an optional method, obtaining a navigation accuracy index for the mobile robot during movement in a preset direction based on the distance value deviation set includes: determining at least one of the maximum value, minimum value, and average value in the distance value deviation set as a navigation accuracy index for the mobile robot during movement in a preset direction.

[0011] According to a second aspect, a navigation accuracy testing system for a mobile robot is provided, applied 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; the system includes: a relay server configured to instruct the mobile robot to move at least twice along the line between the at least two test position points in a preset direction; the mobile robot configured to move at least twice along the line between the at least two test position points in a preset direction in response to the instruction; a ranging module disposed on the mobile robot, the ranging module facing the ranging baffle when the mobile robot moves along the line, the ranging module being configured to send distance data measured by the ranging module to the relay server during the movement of the mobile robot, the distance data including distance values ​​between the ranging module and the ranging baffle measured at multiple sampling points; and the relay server further configured to obtain a navigation accuracy index of the mobile robot based on the deviation of the distance values.

[0012] As an optional embodiment, the ranging module is oriented perpendicular to the forward direction of the mobile robot, and the measurement reference plane of the ranging module is flush with the boundary of the side of the mobile robot relative to the forward direction.

[0013] As an optional embodiment, the distance between the ranging baffle and the line connecting the test position points is such that it does not trigger obstacle avoidance stopping during the movement of the mobile robot.

[0014] As an optional embodiment, the mobile robot is configured with a test map consistent with the test scenario, and the test map is marked with at least two test position points; the mobile robot is configured to: based on the test map, execute a response to an instruction, and move at least twice along the line connecting the at least two test position points in a preset direction.

[0015] According to a third aspect, a navigation accuracy testing device for a mobile robot is provided, applied 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 line; the device includes: a control module for instructing the mobile robot to move at least twice in a preset direction along the line between the at least two test position points; and a processing module for acquiring distance data measured by the ranging module during the movement, the distance data being included on page 4 CN of the specification.121475277 A Distance values ​​between the ranging module and the ranging baffle measured by multiple sampling points; based on the deviation of the distance values, the navigation accuracy index of the mobile robot is obtained.

[0016] According to a fourth aspect, a relay server is provided, including 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 includes computer instructions; wherein, when the processor executes the computer instructions, the relay server executes the method of the first aspect above.

[0017] According to the specific embodiments provided in this application, this application discloses the following technical effects: Through this application, a test scenario can be built based on the ranging baffle and at least two preset test position points, thereby controlling the mobile robot to move between at least two test position points in a preset direction to achieve navigation accuracy testing of the mobile robot. In this process, the distance between the mobile robot and the ranging baffle can be measured by the ranging module. The measured distance value is used to evaluate whether the mobile robot deviates from the line connecting the test position points during its movement. The navigation accuracy index can be obtained based on the deviation of the measured distance value. The navigation accuracy index is used to describe the navigation accuracy of the mobile robot based on the deviation of the mobile robot's movement along the line connecting the test position points. In this way, only at least two preset test position points need to be configured with corresponding ranging baffles and set up corresponding ranging modules to realize the navigation accuracy test of the mobile robot. It is simple to implement, low in cost, and easy to operate and maintain.

[0018] Of course, any product implementing this application does not necessarily need to achieve all of the above advantages at the same time. Brief Description of the Drawings

[0019] In order to more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 is a schematic diagram of a test scenario for a navigation accuracy testing system based on a mobile robot provided in an embodiment of this application.

[0021] Figure 2 is a schematic diagram of the setting position of a ranging module provided in an embodiment of this application.

[0022] Figure 3 is a flowchart of a navigation accuracy testing method for a mobile robot provided in an embodiment of this application.

[0023] Figure 4 is a schematic diagram of a mobile robot performing reciprocating motion provided in an embodiment of this application.

[0024] Figure 5 is a structural schematic diagram of a navigation accuracy testing device for a mobile robot provided in an embodiment of this application. Detailed Description

[0025] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.The embodiments described herein are obviously only a part of the embodiments of this application, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0026] The terminology used in the embodiments of this invention is for the purpose of describing particular embodiments only, and is not intended to limit the invention. The singular forms “a,” “the,” and “the” used in the embodiments of this invention and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0027] It should be understood that the term “and / or” used herein is merely a description of the relationship between related objects, indicating that three relationships may exist, for example, A and / or B, which can represent: A alone, A and B simultaneously, and B alone. Additionally, the character “ / ” in this document generally indicates that the related objects before and after are in an “or” relationship.

[0028] Depending on the context, the word “if” as used herein can be interpreted as “when” or “in response to determination” or “in response to detection.” Similarly, depending on the context, the phrases "if determined" or "if detected (the stated condition or event)" can be interpreted as "when determined" or "in response to determined" or "when detected (the stated condition or event)" or "in response to detected (the stated condition or event)".

[0029] Navigation accuracy is an important test and evaluation indicator when testing mobile robot products. Navigation accuracy affects the overall motion performance of the mobile robot.

[0030] Currently, testing systems for navigation accuracy typically require high-precision motion trajectory measurement devices to record the motion trajectory of the mobile robot in real time, so as to evaluate navigation accuracy based on the real-time motion trajectory of the mobile robot, or require complex position measurement algorithms to measure the actual position of the mobile robot's docking point, so as to evaluate navigation accuracy based on the error between the actual position and the preset position of the mobile robot, etc. These testing systems are generally complex in structure, expensive, and the testing process is cumbersome, which is not conducive to operation and maintenance.

[0031] To solve the above-mentioned technical problems, embodiments of this application provide a method, apparatus, system, and server for testing the navigation accuracy of a mobile robot. Based on a test scenario constructed using a ranging baffle and at least two preset test location points, the navigation accuracy of the mobile robot is tested by controlling the robot to move between at least two test location points in a preset direction. During the movement of the mobile robot, the distance between it and the ranging baffle can be measured using a ranging module, and the measured distance value can be used to assess whether the mobile robot deviates from its intended path during movement.The connection between the test location points is separated, so the navigation accuracy index can be obtained based on the deviation of the measured distance values. This navigation accuracy index describes the navigation accuracy of the mobile robot based on the deviation of its movement along the connection between the test location points. This method only requires configuring corresponding ranging baffles according to at least two preset test location points and setting corresponding ranging modules to achieve navigation accuracy testing of the mobile robot. It is simple to implement, low in cost, and easy to operate and maintain.

[0032] The mobile robot in this embodiment can be a cleaning robot, specifically a self-propelled robot capable of autonomously moving and completing cleaning tasks within a work area without external human input or control. The work area can include indoor areas. Indoor areas can include family rooms, offices, shopping malls, factory workshops, etc. The aforementioned cleaning robots can include, but are not limited to: sweeping robots, floor washing robots, sweeping and mopping robots, etc. Of course, in some other possible embodiments of this application, the mobile robot can also be a robot with autonomous mobility for performing other functions besides cleaning tasks, such as a mobile robot for transporting materials (e.g., a forklift robot), a mobile robot for transporting passengers or goods (e.g., an autonomous vehicle), etc., without specific limitations here.

[0033] Optionally, the navigation accuracy testing system of the mobile robot corresponding to the navigation accuracy testing method of the mobile robot provided in this application can be applied to a test scenario including a ranging baffle and at least two test position points. Specifically, it can include a relay server, a ranging module, and the mobile robot under test. The relay server can be communicatively connected to the ranging module and the mobile robot respectively. Among them, the relay server can be an electronic device with computing capabilities, such as a computer (e.g., a laptop, a desktop computer, etc.), a tablet computer, a server, a mobile phone, etc., without limitations here. The ranging module can be a device with ranging function, such as a laser ranging module, an ultrasonic ranging module, etc., without limitations here.

[0034] In the navigation accuracy testing system for a mobile robot according to an embodiment of this application, a relay server can be configured to instruct the mobile robot to move at least twice in a preset direction along the line connecting at least two test location points. Specification page 4 / 13 6 CN 121475277 A

[0035] The mobile robot can be configured to move at least twice in a preset direction along the line connecting at least two set test location points in response to the instruction of the relay server.

[0036] A ranging module can be disposed on the mobile robot, and the ranging module faces the ranging baffle when the mobile robot moves along the line connecting the test location points. The ranging module can be configured to measure distances during the movement of the mobile robot.The distance data is sent to the relay server, and the distance data may include the distance values ​​between the ranging module and the ranging baffle measured at multiple sampling points.

[0037] Furthermore, the relay server may be further configured to obtain the navigation accuracy index of the mobile robot based on the deviation of the above-mentioned distance values.

[0038] Thus, based on the navigation accuracy test system of the mobile robot in the test scenario, the navigation accuracy of the mobile robot can be tested by controlling the mobile robot to move in a preset direction along the line connecting the test position points in the test scenario. The navigation accuracy index that can describe the navigation accuracy of the mobile robot can be obtained based on 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, so it is easy to operate and maintain.

[0039] When applying the navigation accuracy test method and system of the mobile robot provided in this application, a corresponding test scenario can be built based on the navigation accuracy test system of the mobile robot, according to the ranging baffle and at least two preset test position points. Among them, the ranging baffle is located at least on one side of the line connecting at least two test position points.

[0040] Optionally, the ranging baffle can be parallel to the line connecting the test position points, thereby ensuring that the distance value measured by the ranging module remains consistent when the mobile robot moves along the line, thus making the navigation accuracy index obtained based on the distance value more accurate in representing the navigation accuracy.

[0041] For example, taking a test scenario containing two test position points and two ranging baffles as an example, the test scenario involved in the embodiments of this application is illustrated. Figure 1 is a schematic diagram of a test scenario built based on a navigation accuracy test system for a mobile robot provided in the embodiments of this application.

[0042] As shown in Figure 1, the test scenario may include two preset test position points, such as a first test position point A and a second test position point B. The two ranging baffles 101 can be respectively set on both sides of the line connecting the first test position point A and the second test position point B, and are parallel to the line respectively. The mobile robot 102 under test (shown as a cleaning robot in the figure) can be located between the two ranging baffles 101. The ranging module 103 can be mounted on the mobile robot 102 to measure the distance between the ranging module 103 and the ranging baffle 101 (e.g., distance d as shown in the figure). Therefore, when performing navigation accuracy testing on the mobile robot 102, the mobile robot 102 can be controlled to autonomously move in a preset direction between the first test position point A and the second test position point 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.

[0043] In this embodiment, when there are two ranging baffles 101, respectively on both sides of the line connecting the test position points, the relay server can instruct the mobile robot 102 to move at least twice along the line connecting the test position points in the first preset direction, so as to...And move twice in the opposite second preset direction, so that the distance measurement of the mobile robot 102 when moving in the two preset directions can be realized by the two ranging baffles 101 respectively.

[0044] For example, taking the test scenario shown in FIG1 as an example, the relay server can instruct the mobile robot 102 to move back and forth between the first test position point A and the second test position point B at least twice. The ranging module 103 can be oriented toward the ranging baffle 101 on the right side of the mobile robot 102's forward direction so as to always measure the distance between the ranging baffles 101 on the right side of the mobile robot 102's forward direction (shown as an example in the figure), or it can be oriented toward the ranging baffle 101 on the left side of the mobile robot 102's forward direction so as to always measure the distance between the ranging baffles 101 on the left side of the mobile robot 102's forward direction. Therefore, on page 5 / 13 of the specification, CN 121475277 A, when the mobile robot 102 moves from the first test position point A to the second test position point B according to the instructions of the relay server, 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.

[0045] 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.

[0046] Therefore, as an example, in the embodiment of this application, the length of the ranging baffle 101 can be set to a length that enables the ranging module 103 to always measure the corresponding distance value during the movement of the mobile robot 102. This facilitates navigation accuracy testing throughout the entire movement of the mobile robot 102, improving the accuracy of the final navigation accuracy index.

[0047] For example, continuing with the test scenario 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 (Figure 1 shows them as equal, i.e., the line connecting the endpoints of the two ranging baffles 101 passes through the center of the first test position point A and the second test position point B, respectively). This ensures that the ranging module 103 can always measure the corresponding distance value during the movement of the mobile robot 102, thereby making the effective movement length of the mobile robot 102 the distance between the first test position point A and the second test position point B, maximizing the effective movement length. This allows navigation accuracy testing to be performed throughout the entire movement of the mobile robot 102, improving the accuracy of the obtained navigation accuracy index.

[0048] Of course, in some other possible embodiments of this application, the length of the ranging baffle 101 can also be set to...Other lengths are not limited here. Additionally, the ranging baffle 101 can be a single piece or a baffle of a specified length obtained by splicing; this is not limited here.

[0049] In this embodiment, 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 transmission of the ranging signal from the ranging module 103, as long as the ranging signal from the ranging module 103 can be projected onto the ranging baffle 101. For example, taking the ranging module 103 as horizontal, the height of the ranging baffle 101 can be set to twice the emission height of the ranging signal from the ranging module 103.

[0050] As an example, the distance between the ranging baffle 101 and the line connecting the test position point can be set to a value that does not trigger obstacle avoidance stopping during the movement of the mobile robot 102. For example, continuing with the test scenario shown in Figure 1, 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 does not trigger obstacle avoidance stop during the movement of the mobile robot 102. This avoids interrupting the navigation accuracy test of the mobile robot 102 due to obstacle avoidance stop triggered during reciprocating motion in the test process. For ease of setting, 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, i.e., the s values ​​corresponding to the two ranging baffles 101 are equal. Of course, the corresponding s values ​​can also be set separately, which is not limited here.

[0051] In one possible embodiment of this application, the orientation of the ranging module 103 in the navigation accuracy test 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, so that the distance value measured by the ranging module 103 can better represent the distance relationship between the mobile robot 102 and the ranging baffle 101, and improve the accuracy of the navigation accuracy index obtained from the distance value in expressing the navigation accuracy of the mobile robot 102.

[0052] For example, FIG2 is a schematic diagram of the setting position of the ranging module 103 provided in an embodiment of this application. As shown in FIG2, 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 measuring 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 distance between the two sides.The distance value between the ranging baffles 101 is used to improve the accuracy of the navigation accuracy index obtained from the distance value in expressing the navigation accuracy of the mobile robot 102.

[0053] Of course, in some other possible embodiments, the ranging module 103 can also be set in other positions, and the measurement 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 baffles 101.

[0054] In one possible embodiment of this 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 in a preset direction along the line connecting the test position points between at least two test position points according to the instructions of the relay server, based on the test map. Thus, the relay server can conveniently control the mobile robot 102 to make corresponding movements without indicating the test position points in the test scene to the mobile robot 102.

[0055] Based on the aforementioned mobile robot navigation accuracy testing system and corresponding test scenario, Figure 3 is a flowchart illustrating the mobile robot navigation accuracy testing method provided in this application embodiment. This method can be executed by a relay server in the corresponding navigation accuracy testing system based on the aforementioned example test scenario. As shown in Figure 3, the method may include the following S301-S303.

[0056] S301: Instruct the mobile robot 102 to move at least twice along the line connecting the test location points in a preset direction between at least two test location points.

[0057] S302: Obtain distance data measured by the ranging module 103 during the movement of the mobile robot 102. The distance data includes the distance values ​​between the ranging module 103 and the ranging baffle 101 measured at multiple sampling points.

[0058] S303: Obtain the navigation accuracy index of the mobile robot 102 based on the deviation of the distance values.

[0059] Wherein, the ranging module 103 can use a preset sampling frequency to measure the distance, thereby realizing the measurement of the corresponding distance values ​​at multiple sampling points during the movement of the mobile robot 102. The sampling frequency can be determined based on the length of the line connecting the test position points, and is not limited here.

[0060] The navigation accuracy index obtained based on the deviation of the distance value can be used to describe the navigation accuracy of the mobile robot 102 based on the deviation of the mobile robot 102 moving in a preset direction along the line connecting the test position points. That is, the navigation accuracy index can characterize the magnitude of the deviation of the mobile robot 102 moving along the line connecting the test position points, and thus further represent the navigation accuracy of the mobile robot 102 based on the magnitude of the deviation. For example, the smaller the deviation of the mobile robot 102 moving along the line connecting the test position points, the higher the navigation accuracy of the mobile robot 102.

[0061] In this embodiment, the relay server can be pre-configured with an interface to facilitate communication between the relay server and the mobile robot 102 and the ranging module 103 according to the configured interface settings. Thus, the relay server can, based on the communication connection, instruct the mobile robot 102 to move in a preset direction along the line connecting the test locations in the test scenario, and obtain the corresponding distance value measured by the ranging module 103.

[0062] The method provided in this embodiment can perform navigation accuracy testing on the mobile robot 102 by controlling the mobile robot 102 to move in a preset direction between at least two test locations, based on a test scenario constructed using the ranging baffle 101 and at least two preset test locations. During the movement of the mobile robot 102, the distance between it and the ranging baffle 101 can be measured by the ranging module 103. The measured distance value is used to evaluate whether the mobile robot 102 deviates from the line connecting the test positions. The deviation of the measured distance value can then be used to obtain a navigation accuracy index. This index describes the navigation accuracy of the mobile robot 102 based on its deviation from the line connecting the test positions (page 7 / 13, CN 121475277 A). This method requires only configuring corresponding ranging baffles 101 and setting up corresponding ranging modules 103 for at least two preset test positions to perform navigation accuracy testing on the mobile robot 102. It is simple to implement, low in cost, and easy to operate and maintain.

[0063] In this embodiment of the application, when the ranging baffle 101 includes two baffles, respectively located on both sides of the line connecting the test position points, the relay server can instruct the mobile robot 102 to move along the line connecting the test position points between the test position points in two opposite preset directions, with each preset direction moving at least twice. Thus, the movement of the mobile robot 102 in both directions can be combined to perform navigation accuracy testing on the mobile robot 102, improving the accuracy of the navigation accuracy test.

[0064] Therefore, in one possible implementation of this application, instructing the mobile robot 102 to move at least twice along the line connecting at least two test position points in a preset direction can include: instructing the mobile robot 102 to move at least twice along the line connecting at least two test position points in a first preset direction, and to move at least twice along the line connecting at least two test position points in a second preset direction, wherein the first preset direction is opposite to the second preset direction.

[0065] For example, taking two test position points as an example, the mobile robot 102 can be instructed to perform at least two reciprocating movements along the line connecting the two test position points between the two test position points.

[0066] For example, taking the test scenario shown in Figure 1 as an example, Figure 4 is a schematic diagram of a mobile robot 102 performing reciprocating motion according to an embodiment of this application. As shown in Figure 4(a), 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 d between the distance measuring baffles 101 on the right side of the mobile robot 102's forward direction using the distance measuring module 103. Then, as shown in Figure 4(b), the mobile robot 102 can move from the second test position point B back to the first test position point A, and measure the distance d between the distance measuring baffles 101 on the right side of the mobile robot 102's forward direction using the distance measuring module 103. Thus, the mobile robot 102 completes one reciprocating motion. The movement from the first test position point A to the second test position point B can be considered as the first preset direction, and the movement from the second test position point B to the first test position point A can be considered as the second preset direction.

[0067] Since the mobile robot 102 reciprocates between the first test position point A and the second test position point B, ideally, the movement 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. Furthermore, since the ranging baffle 101 is parallel to the line connecting the first test position point A and the second test position point B, ideally, the distance value measured by the ranging module 103 will remain unchanged. Therefore, based on the deviation of the distance value, a navigation accuracy index is obtained, which can relatively accurately characterize the magnitude of the deviation when the mobile robot 102 moves in a straight line between the first test position point A and the second test position point B, thereby further representing the navigation accuracy of the mobile robot 102.

[0068] In this embodiment, the relay server can instruct the mobile robot 102 to perform corresponding movements by sending a high-level signal to the mobile robot 102. Accordingly, the mobile robot 102 can be pre-configured so that it can begin corresponding movements upon receiving a high-level signal. Alternatively, the relay server can also instruct the mobile robot 102 to perform corresponding movements by sending instructions to the mobile robot 102. Accordingly, the mobile robot 102 can perform corresponding movements according to the instructions received.

[0069] For example, the relay server can send a test task execution instruction to the mobile robot 102, so that the mobile robot 102 performs corresponding movements according to the test task execution instruction.

[0070] The test task execution instruction can be an instruction to instruct the mobile robot 102 to start executing a test task, so that the mobile robot 102 starts moving along the line connecting the test position points set in the test scenario in a preset direction. Instructing the mobile robot 102 to perform corresponding movements through test task instructions facilitates...The test task instruction configures the parameters (such as the number of movements) required for the mobile robot 102 to perform the corresponding movements, thereby improving the flexibility of instructing the mobile robot 102 to perform the corresponding movements.

[0071] For example, taking the scenario of the mobile robot 102 performing reciprocating motion as shown in Figure 4 as an example, the number of reciprocating movements of the mobile robot 102 can be indicated by the task parameters carried in the test task execution instruction. This allows for flexible configuration of the number of reciprocating movements of the mobile robot 102 according to test requirements and actual conditions, improving the flexibility of testing the navigation accuracy of the mobile robot 102. Of course, in this example, a fixed number of reciprocating movements can also be pre-configured for the mobile robot 102, so that it is not necessary to carry task parameters in the test task execution instruction. After receiving the instruction, the mobile robot 102 can automatically perform a fixed number of reciprocating movements according to the configuration.

[0072] When the test task execution instruction includes task parameters, these task parameters can be input by the operator to the relay server before the test begins, based on the required number of movements to be performed by the mobile robot 102. This allows the operator to conveniently set the number of movements performed by the mobile robot 102 during the test according to actual test requirements, improving the flexibility of navigation accuracy testing of the mobile robot 102.

[0073] Of course, in this embodiment, the task parameters can also be pre-configured by the operator in the relay server and stored in the relay server's memory. Therefore, the relay server can obtain the task parameters from its memory.

[0074] Optionally, in this embodiment, when the relay server instructs the mobile robot 102 to perform the corresponding movement, it can also carry the coordinates of each test position point in the test task execution instruction, so that the mobile robot 102 can move in a preset direction along the line connecting the test position points according to the coordinates.

[0075] Of course, a test map consistent with the test scenario can also be pre-configured for the mobile robot 102, and each test location point can be marked on the test map. Thus, after receiving the test task execution instruction, the mobile robot 102 can move in a preset direction along the line connecting the test location points based on the test map and the marked test location points.

[0076] In this embodiment, the navigation accuracy index is obtained based on the deviation of the distance values. This can be achieved by directly obtaining the navigation accuracy index based on the deviation between the distance values. The greater the deviation between the distance values, the greater the deviation of the mobile robot 102's movement along the line connecting the test location points, and the worse the navigation accuracy.

[0077] When there are two ranging baffles 101, located on both sides of the line connecting the test location points, the mobile robot 101...The navigation accuracy index can be obtained by considering the deviation of distance values ​​when moving in the first preset direction and the second preset direction. Alternatively, the navigation accuracy index of the mobile robot 102 can be obtained separately for each of the two directions during its movement.

[0078] For example, taking the reciprocating motion of the mobile robot 102 as shown in Figure 4, the first navigation accuracy index can be obtained based on the deviation of distance values ​​corresponding to the process of the mobile robot 102 moving from the first test position point A to the second test position point B. The second navigation accuracy index can be obtained based on the deviation of distance values ​​corresponding to the process of the mobile robot 102 moving from the second test position point B to the first test position point A.

[0079] In this embodiment, the navigation accuracy index can be obtained based on the deviation of each distance value during different movements of the mobile robot 102.

[0080] For example, in one possible embodiment of this application, obtaining the navigation accuracy index of the mobile robot 102 based on the deviation of distance values ​​may include: 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 between at least two test position points along the same preset direction. By obtaining the navigation accuracy index based on the deviation of 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 laterally evaluated based on the distance values ​​corresponding to each sampling point, thereby obtaining a more accurate navigation accuracy index and improving the accuracy of navigation testing. Specification 9 / 13 pages 11 CN 121475277 A

[0081] Wherein, when the preset direction includes opposite first preset direction and second preset direction, the corresponding navigation accuracy index can be obtained based on this method for the first preset direction and the second preset direction respectively.

[0082] For example, in one possible embodiment of this application, the navigation accuracy index of the mobile robot 102 is obtained 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 position points. This 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.

[0083] Wherein, 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.

[0084] The following example, using the scenario of the mobile robot 102 reciprocating as shown in Figure 4, takes the example of the mobile robot 102 performing m reciprocating movements, and the distance measuring module 103 measuring the corresponding distance values ​​at n sampling points, i.e., the distance measuring module 103 measuring n distance values ​​during each unidirectional movement of the mobile robot 102.

[0085] Then, 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 values ​​of the n sampling points corresponding to the first movement, , ..., , can be obtained, the distance values ​​of the n sampling points corresponding to the second movement, , ..., , ..., and the distance values ​​of the n sampling points corresponding to the mth movement, , ..., .

[0086] At this time, if defined as the set of absolute values ​​of the single-cycle difference between each element.

[0087] That is: , .

[0088] For example, , , etc.

[0089] Then, for the distance value corresponding to the y-th sampling point among the distance values ​​of the n sampling points corresponding to each movement, that is, the distance value sequence collected by the y-th sampling point in the m movements: , , ..., , then based on the absolute value set function of the single-cycle difference defined above, the deviation between each distance value in the distance value sequence corresponding to the y-th sampling point can be calculated by the following formula: Based on this, the deviations corresponding to the n sampling points can be obtained respectively, , ..., .

[0090] Thus, the corresponding first distance value deviation set is obtained.

[0091] Similarly, in 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 ​​of the n sampling points corresponding to the first movement, , ..., , the distance values ​​of the n sampling points corresponding to the second movement, , ..., , ..., and the distance values ​​of the n sampling points corresponding to the m movements, , ..., .

[0092] At this time, if it is also defined as the absolute value set of the single-cycle difference between each element, the instruction manual page 10 / 13 12 CN 121475277 A.

[0093] That is, .

[0094] For example, , , etc.

[0095] Then, for the distance value corresponding to the y-th sampling point among the distance values ​​of the n sampling points corresponding to each movement, that is, the distance value sequence collected by the y-th sampling point in the m-times of movement: , , ..., , then based on the single-cycle difference absolute value set function defined above, the deviation between each distance value in the distance value sequence corresponding to the y-th sampling point can be calculated by the following formula: Based on this, the deviations corresponding to the n sampling points respectively, , ..., .

[0096] Thus, the corresponding second distance value deviation set is obtained.

[0097] After obtaining the distance deviation set, the navigation accuracy index of the mobile robot 102 in the corresponding movement direction can be obtained based on the distance deviation set. For example, the navigation accuracy index of the mobile robot 102 in the direction from the first test position point A to the second test position point B can be obtained based on the first distance deviation set. And, the navigation accuracy index of the mobile robot 102 in the direction from the second test position point B to the first test position point A can be obtained based on the second distance deviation set.

[0098] As an example, in this embodiment of the application, obtaining the navigation accuracy index of the mobile robot 102 in the preset direction movement process based on the distance deviation set may include: determining at least one of the maximum value, minimum value, and average value in the distance deviation set as the navigation accuracy index of the mobile robot 102 in the preset direction movement process. Thus, the navigation accuracy of the mobile robot 102 in the corresponding direction movement can be described based on the maximum value, minimum value, and / or average value of the distance deviation.

[0099] For example, based on the foregoing example, after obtaining the first distance value deviation set and the second distance value deviation set, at least one of the maximum value, minimum value, and average value of the first distance value deviation set can be used as the first navigation accuracy index, and at least one of the maximum value, minimum value, and average value of the second distance value deviation set can be used as the second navigation accuracy index.

[0100] That is, the first navigation accuracy index may include at least one of the maximum value, minimum value, and average value.

[0101] The second navigation accuracy index may include at least one of the maximum value, minimum value, and average value.

[0102] Therefore, the closer the maximum value, minimum value, and average value of the first navigation accuracy index are to each other, or the smaller the value of any one of them is, the smaller the deviation of the mobile robot 102 in straight-line movement when moving from the first test position point A to the second test position point B, and thus the higher the navigation accuracy of the mobile robot 102. Accordingly, the closer any two of the maximum, minimum, and average values ​​in the navigation accuracy index on pages 11 / 13 of the second specification (CN 121475277 A) are to each other, or the smaller any one of them is, the smaller the deviation of the mobile robot 102 in its straight-line movement when moving from the second test position point B to the first test position point A, and thus the higher the navigation accuracy of the mobile robot 102.

[0103] 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, thereby obtaining a more accurate navigation accuracy index and improving the accuracy of navigation testing.

[0104] It should be noted that in the aforementioned embodiments, the test scenario mainly includes two ranging baffles, and the mobile robot...The navigation accuracy testing method for a mobile robot provided in this application embodiment is illustrated by taking the example of moving at least twice along the line connecting the test position points in opposite first and second preset directions. In this application embodiment, when the test scenario includes a ranging baffle and the mobile robot moves at least twice along the line connecting the test position points in a preset direction, the navigation accuracy testing method for the mobile robot provided in this application embodiment can also be executed with reference to the exemplary description in the foregoing embodiment.

[0105] For example, taking a test scenario including two test position points and a corresponding ranging baffle as an example. Based on the method provided in this application embodiment, the relay server can instruct the mobile robot to move at least twice along the line connecting the two test position points in a first preset direction (the first preset direction can be the direction from any test position point to another test position point). Thus, the ranging module set 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 baffle. Then, the relay server can obtain the navigation accuracy index of the mobile robot based on the deviation of the distance value measured by the ranging module.

[0106] Of course, the above examples are merely exemplary general descriptions of the navigation accuracy testing method for a mobile robot provided in this application embodiment 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 referred to the aforementioned example description for a test scenario including two ranging baffles, and will not be repeated here.

[0107] This application embodiment also provides a navigation accuracy testing device for a mobile robot. Figure 5 shows a schematic diagram of the structure of a navigation accuracy testing device for a mobile robot, which is set in a relay server. As shown in Figure 5, the device may include: a control module 501, used to instruct the mobile robot to move at least twice along a connecting line in a preset direction between at least two test position points; a processing module 502, 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.

[0108] As an optional embodiment, the ranging baffle is located on both sides of the line connecting at least two test position points; the control module 501 is specifically used to instruct the mobile robot to move at least twice along the line connecting at least two test position points in a first preset direction, and to move at least twice along the line connecting at least two test position points in a second preset direction, wherein the first preset direction is opposite to the second preset direction.

[0109] As an optional embodiment, the processing module 502 is specifically used to determine the location of the mobile robot at at least two test position points.The deviation of distance values ​​collected at the same sampling point during the movement of points along the same preset direction is used to obtain the navigation accuracy index of the mobile robot.

[0110] As an optional method, the processing module 502 is specifically used to determine the sequence of distance values ​​collected at the same sampling point during multiple movements for each sampling point during the movement of points 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 of points along the preset direction based on the distance value deviation set.

[0111] As an optional method, the processing module 502 is specifically used to determine at least one of the maximum value, minimum value and average value in the distance value deviation set based on the distance value deviation set, as the navigation accuracy index of the mobile robot during the movement of points along the preset direction.

[0112] This application embodiment also provides a relay server, including 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, and the computer program code includes computer instructions; wherein, when the processor executes the computer instructions, the relay server performs the steps of any of the methods in the foregoing method embodiments.

[0113] The technical solutions provided by this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and its core ideas of this application; at the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. In summary, the content of this specification should not be construed as a limitation of this application. Instruction manual 13 / 13 pages 15 CN 121475277 A Figure 1 Instruction manual Figure 1 / 4 pages 16 CN 121475277 A Figure 2 Instruction manual Figure 2 / 4 pages 17 CN 121475277 A Figure 3 Figure 4 Instruction manual Figure 3 / 4 pages 18 CN 121475277 A Figure 5 Instruction manual Figure 4 / 4 pages 19 CN 121475277 A Abstract Abdominal ultrasound examination method, system and device TEST SYSTEM FOR NAVIGATION ACCURACY OF MOBILE ROBOTS Abstract Embodiments of the present application disclose a navigationaccuracy testing method, an apparatus, a system and a server for a mobile robot, and relate to the technical field of robot testing. The specific implementation solution is as follows: instructing the mobile robot to move at least twice in a preset direction along a connecting line between at least two test position points; acquiring distance data measured by a ranging module during the movement, where the distance data includes distance values between the ranging module and a ranging baffle measured at a plurality of sampling points; and obtaining a navigation accuracy index of the mobile robot according to the deviation of the distance values. In the solution of the present application, the navigation accuracy test of the mobile robot can be realized only by configuring corresponding ranging baffles according to at least two preset test position points and arranging corresponding ranging modules. The solution features simple implementation, low cost, and convenient operation andmaintenance.

Claims

1. 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 installed on the mobile robot. The ranging module is used to send the measured distance data to the relay server. The distance data includes the distance values ​​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.

2. The system according to claim 1, characterized in that, The ranging module faces the ranging baffle as the mobile robot moves along the connecting line, and the ranging module is configured to send the measured distance data to the relay server during the movement of the mobile robot.

3. The system according to claim 2, 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.

4. The system according to claim 1, 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.

5. The system according to any one of claims 1-4, 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.

6. The system according to claim 1, characterized in that, The distance measuring baffle is parallel to the line connecting the at least two test position points.

7. The system according to claim 6, characterized in that, The length of the ranging baffle is such that the ranging module can always measure the distance value during the movement of the mobile robot.

8. The system according to claim 7, characterized in that, The ranging baffle includes two baffles, which are located on both sides of the line connecting the at least two test position points. The at least two test position points include a first test position point and a second test position point. The length of the ranging baffle is the distance between the first test position point and the second test position point.

9. The system according to claim 7 or 8, characterized in that, The ranging baffle is a single piece or a baffle that meets the specified length, obtained by splicing together components.

10. The system according to claim 1, characterized in that, The ranging module is set horizontally, and the height of the ranging baffle is twice the distance signal emission height of the ranging module.

11. The system according to claim 1, characterized in that, The ranging module is either a laser ranging module or an ultrasonic ranging module.

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