We use our self-developed trajectory tracking control system, combined with high-definition cameras, to record and calculate the coverage of relevant test data for the cleaning robot in the testing area, including XY coordinate position, angle, running trajectory, moving speed, arch spacing, arch speed displayed in different colors, and rotation speed parameters. The relevant test data system automatically records and can export data through USB. The testing system supports related testing playback functions, product names, product numbers, testing environment temperature, humidity, atmospheric pressure data, etc.

2. The main components of the control system include the testing room, high-temperature camera, laser wireless receiver auxiliary station, trajectory tracking and positioning software, simulated furniture, identification poles, and simulated furniture in T/AIIA 001-2020. Single room coverage calculation and accessible area cleaning capability test conducted in designated rooms according to reference related testing standards through the control system. By testing the space of the room, the accumulated coverage rate and multiple coverage rate tests of the tested sweeping robot over a period of time are conducted.

3. The testing system is applied in the relevant standard testing room and assembled into a room with dimensions of 4 meters X 5 meters X 2.5 meters high. Simulate furniture according to the layout standards in the testing room. A 4-channel Hikvision high-definition camera is used on top to visually display the entire testing area, track trajectories and related angles, and locate XY coordinates.

The temperature, humidity, and lighting requirements for the testing conditions are based on the testing conditions for individual rooms. By testing the internal layout of the room, a large wide-angle high-definition visual camera and a self-developed visual tracking object motion trajectory system are installed on the top to monitor the real-time position coordinates of moving objects. The coordinate address is transmitted to the upper computer system, and the coordinate data collected by the camera is further processed with algorithms and embedded deep learning, combined with high-definition visual cameras. Finally restore the actual motion trajectory of the moving object and simulate and display the trajectory.

5. The control system adopts a 17 inch display and industrial computer control, displaying and setting through the interface. Users can choose the corresponding testing mode based on the testing items.