Robot pile alignment method, device and equipment, storage medium and pile alignment system

Abstract

The invention discloses a robot pile alignment method, device and equipment, a storage medium and a pile alignment system, and relates to the technical field of robots. According to the technical scheme, when it is determined that a receiver of the robot is located in a light band area of a workstation, the robot is controlled to move by a preset distance based on a reference direction, the reference direction is the direction of a connecting line between the rotation center of the robot and the receiver, and the preset distance is determined based on the distance between the rotation center and the receiver; controlling the robot to rotate so that the receiver returns to the light band area again; and controlling the robot to move to the workstation based on a target direction, wherein the target direction is determined based on the reference direction. By means of the technical means, the problem that in the prior art, time consumed in the process that the robot returns to the work station is long is solved, and the pile alignment efficiency of the robot is improved.

Description

Technical Field

[0001] The present application relates to the field of robot technology, and in particular to a robot pile alignment method, device, equipment, storage medium and pile alignment system. Background Art

[0002] With the continuous development of science and technology, the application of intelligent robots is becoming more and more extensive, such as cleaning robots, bank service robots, etc. Some intelligent robots can move along preset paths to perform corresponding tasks, consuming battery power during the movement process. When the intelligent robot detects that the battery power is low and needs to be charged, replenished with water, discharge sewage, or complete the task, it will automatically return to the workstation.

[0003] In the related art, when the intelligent robot returns to the workstation, it will continuously adjust its moving direction according to the infrared signal emitted by the workstation, which causes the process of the robot returning to the workstation to take a long time and has low pile efficiency. Summary of the invention

[0004] The present application provides a robot pile alignment method, device, equipment, storage medium and pile alignment system to solve the problem in the prior art that the process of the robot returning to the workstation takes a long time and improve the robot's pile alignment efficiency.

[0005] In a first aspect, the present application provides a robot pile alignment method, comprising:

[0006] When it is determined that the receiver of the robot is located in the light band area of ​​the workstation, the robot is controlled to move a preset distance based on a reference direction, the reference direction being the direction of a line between the rotation center of the robot and the receiver, and the preset distance being determined based on the distance between the rotation center and the receiver;

[0007] Controlling the robot to rotate so that the receiver returns to the light band area;

[0008] The robot is controlled to move to the workstation based on a target direction, wherein the target direction is determined based on the reference direction.

[0009] In a second aspect, the present application provides a robot pile-aligning device, comprising:

[0010] A first moving module is configured to control the robot to move a preset distance based on a reference direction when it is determined that the receiver of the robot is located in the light band area of ​​the workstation, wherein the reference direction is a direction of a line between a rotation center of the robot and the receiver, and the preset distance is determined based on a distance between the rotation center and the receiver;

[0011] A rotation control module, configured to control the robot to rotate so that the receiver returns to the light band area;

[0012] The second moving module is configured to control the robot to move to the workstation based on a target direction, where the target direction is determined based on a reference direction.

[0013] In a third aspect, the present application provides a robot pile-aligning device, comprising:

[0014] One or more processors; a memory storing one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the robot pile-pile method as described in the first aspect.

[0015] In a fourth aspect, the present application provides a storage medium comprising computer executable instructions, which, when executed by a computer processor, are used to perform the robot pile alignment method as described in the first aspect.

[0016] In a fifth aspect, the present application provides a pile system, comprising:

[0017] A workstation provided with at least one infrared emitter, wherein the infrared emitter is used to generate a light band area;

[0018] A robot is provided with an infrared receiver and a processor. The processor is used to control the robot to move a preset distance based on a reference direction when it is determined that the infrared receiver of the robot is located in a light band area of ​​a workstation. The reference direction is the direction of a line between a rotation center of the robot and the receiver, and the preset distance is determined based on the distance between the rotation center and the infrared receiver; control the robot to rotate so that the infrared receiver returns to the light band area; and control the robot to move to the workstation based on a target direction, and the target direction is determined based on the reference direction.

[0019] In the present application, when the robot triggers the pile return operation, the robot moves to the location of the workstation. When the robot's receiver is located in the light band area of ​​the workstation for the first time in this pile return operation, the robot is controlled to move the distance from the robot's rotation center to the receiver based on the reference direction, so that the rotation center is within the light band area when the robot stops moving. The robot is controlled to rotate and stop rotating after the receiver returns to the light band area. At this time, the receiver and the rotation center are both within the light band area. The current posture of the robot is consistent or approximately consistent with the posture within the workstation. The target direction of the robot can be determined by the reference direction, and the robot can be controlled to move toward the workstation according to the target direction. Through the above technical means, after the robot's receiver moves to the light band area, the robot can be controlled to move straight and rotate to quickly adjust the robot's posture to the posture of the workstation, and then the robot can be controlled to move to the workstation based on the target direction, reducing the frequency of adjusting the robot's moving direction and the amplitude of rotation, shortening the time it takes for the robot to return to the workstation, and improving the robot's pile efficiency. Moreover, the robot can quickly align the piles by relying on the receiver sensor, and the control process is relatively simple, which is conducive to reducing the power consumed by the robot in the process of aligning the piles, making it easier for the robot to consume more power on the task, thereby improving the robot's operating efficiency in disguise. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a flow chart of a robot pile alignment method provided in an embodiment of the present application;

[0021] Figure 2 It is one of the top view schematic diagrams of the light band area provided in the embodiment of the present application;

[0022] Figure 3 This is the second schematic top view of the light band area provided in the embodiment of the present application;

[0023] Figure 4 This is the third schematic top view of the light band area provided in the embodiment of the present application;

[0024] Figure 5 This is a fourth schematic top view of the light band area provided in an embodiment of the present application;

[0025] Figure 6 It is one of the top view schematic diagrams of the workstation and the robot provided in the embodiment of the present application;

[0026] Figure 7 This is the second top view schematic diagram of the workstation and the robot provided in the embodiment of the present application;

[0027] Figure 8 It is one of the top view schematic diagrams of the robot movement provided in the embodiment of the present application;

[0028] Fig. 9This is the second top view schematic diagram of the robot movement provided in the embodiment of the present application;

[0029] Fig.10 This is one of the top view schematic diagrams of the robot after rotation provided in the embodiment of the present application;

[0030] Fig.11 This is one of the top view schematic diagrams of the robot rotating in place provided in the embodiments of the present application;

[0031] Fig.12 This is the second top view schematic diagram of the robot rotating in place provided by the embodiment of the present application;

[0032] Fig.13 This is the second schematic top view of the robot after rotation provided in the embodiment of the present application;

[0033] Fig.14 It is a structural schematic diagram of a robot pile-aligning device provided in an embodiment of the present application;

[0034] Fig.15 It is a structural schematic diagram of a robot pile-to-pile device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical scheme and advantages of the present application clearer, the specific embodiments of the present application are further described in detail below in conjunction with the accompanying drawings. It is understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for the convenience of description, only the part related to the present application but not all the contents are shown in the accompanying drawings. Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow chart describes each operation (or step) as a sequential process, many of the operations therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of each operation can be rearranged. The process can be terminated when its operation is completed, but it can also have additional steps not included in the accompanying drawings. The process can correspond to a method, a function, a procedure, a subroutine, a subprogram, etc.

[0036] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0037] In the more common existing implementation methods, when the robot detects that the battery power is low and needs to be charged or has completed the cleaning task, or has the need to return to the pile to add clean water, drain sewage, clean cleaning tools, etc., it can trigger the pile return operation and move to the location of the workstation. The workstation sends an infrared signal to the area in front of the charging port. When the robot's infrared receiver moves to this area, it will receive the infrared signal sent by the workstation. When the robot's infrared receiver moves out of this area, it does not receive the infrared signal sent by the workstation. The robot continuously adjusts the moving direction based on whether the infrared receiver receives the infrared signal, so that the robot returns to the workstation with a posture aligned with the charging port. Since the robot needs to frequently adjust the moving direction during the pile return process to ensure that the robot can return to the workstation with a posture aligned with the charging port, the process of the robot returning to the workstation takes a long time and the pile efficiency is low. In the relevant pile-to-pile technical solutions, in order to improve the pile efficiency, the robot will use a variety of sensors such as lasers or cameras to assist the robot in quickly aligning the pile, but this method will increase the cost and power consumption of the robot. Some robots also determine the direction of the emitted infrared signal by their own posture, and control the robot to pile based on this direction. The control process of this method is relatively complicated, and the required pile return time is not short.

[0038] In order to solve the above problems, this embodiment provides a robot pile-aligning method, which controls the robot to quickly return to the pile in a low-cost and low-power pile-aligning manner.

[0039] The robot pile alignment method provided in this embodiment can be executed by a robot pile alignment device, which can be implemented by software and / or hardware, and can be composed of two or more physical entities, or one physical entity. For example, the robot pile alignment device can be the robot itself, or a processor of the robot.

[0040] The robot-pile device is installed with at least one type of operating system, wherein the operating system includes but is not limited to Android system, Linux system and Windows system. The robot-pile device can install at least one application based on the operating system, and the application can be an application that comes with the operating system, or an application downloaded from a third-party device or server. In this embodiment, the robot-pile device has at least an application that can execute the robot-pile method.

[0041] For ease of understanding, this embodiment is described by taking a robot as an example of a subject that executes the robot pile-matching method.

[0042] Figure 1 A flowchart of a robot pile alignment method provided by an embodiment of the present application is given. Figure 1 The robot pile method specifically includes:

[0043] S110. When it is determined that the receiver of the robot is located in the light band area of ​​the workstation, the robot is controlled to move a preset distance based on a reference direction, where the reference direction is the direction of a line between the rotation center of the robot and the receiver, and the preset distance is determined based on the distance between the rotation center of the robot and the receiver, so that the rotation center of the robot moves toward the light band area and is located in the light band area.

[0044] The workstation refers to a device with functions such as dust collection, charging, water change, cleaning and / or drying, and the light band area refers to the area formed by the signal emitted by the workstation for guiding the robot to pile. The signal emitted by the workstation can be a visible spectrum signal or an infrared signal, but compared with the visible spectrum signal, the infrared signal has a longer wavelength and is not easily affected by ambient light. This embodiment is described by taking the workstation emitting an infrared signal as an example.

[0045] In one embodiment, the workstation is provided with an infrared transmitter, and the area covered by the infrared signal emitted by the infrared transmitter is the light band area, and the receiver of the robot is an infrared receiver. When the infrared receiver of the robot receives the infrared signal sent by the infrared transmitter, it can be determined that the infrared receiver of the robot is located in the light band area. In another embodiment, the workstation can be provided with multiple infrared transmitters, and the robot can be guided to perform pile operations through multiple infrared transmitters. For example, the workstation can be provided with two infrared transmitters, one infrared transmitter transmits a first coded infrared signal to the first coded signal area, and the other infrared transmitter transmits a second coded infrared signal to the second coded signal area, and the overlapping area of ​​the first coded signal area and the second coded signal area is the light band area. Alternatively, the workstation is provided with three infrared transmitters, one infrared transmitter transmits a first coded infrared signal to the first coded signal area, one infrared transmitter transmits a second coded infrared signal to the second coded signal area, and one infrared transmitter transmits a third coded infrared signal to the light band area, and the first coded signal area and the second coded signal area are located on both sides of the light band area respectively.

[0046] The light band area is located on one side of the workstation to guide the robot back to the workstation in the same posture as when it was at the workstation. The width between the two sides of the light band area is generally between 5mm and 20mm. Figure 2-Figure 5 30 is a top view of the light band area provided in the embodiment of the present application. Figure 2-Figure 4 The straight line shown can also be Figure 5 The arc shown. Figure 2 As shown, the angle between the straight lines on both sides of the light band area 30 is small so that the width of the two sides of the light band area 30 is within a certain range. Figure 3 and 4 As shown, the two side straight lines of the light band area 30 are parallel to each other. Figure 5 As shown, the arcs on both sides of the light band area 30 have a large curvature and a small angle, so that the width of both sides of the light band area 30 is within a certain range. In general, when the infrared receiver and the rotation center of the robot are both located in the light band area, the current posture of the robot is consistent or nearly consistent with the posture of the robot in the workstation.

[0047] It should be noted that the smaller the width of the light band area 30, the stronger the constraint force on the infrared receiver and the rotation center of the robot in the light band area 30, that is, the closer the current posture of the robot is to the posture of the robot in the workstation. Compared with the light band area 30 with an angle on both sides, the light band areas 30 parallel to each other on both sides have stronger constraint forces on the infrared receiver and the rotation center of the robot in the light band area 30, and the current posture of the robot is closer to the posture of the robot in the workstation. This embodiment is described with the light band areas 30 parallel to each other on both sides. There is no special limitation here on the infrared transmitter and / or its light constraint structure that produces the light band areas parallel to each other on both sides.

[0048] Among them, the posture of the robot in the workstation can be understood as the posture of the robot when the workstation performs dust collection, charging, water change, cleaning or drying operations on the robot after the robot returns to the workstation. For example, when the workstation supplies power to the robot, the posture of the robot when the charging port of the robot is aligned with the charging port of the workstation is the posture of the robot in the workstation; when the workstation changes the water for the robot, the posture of the robot when the water replenishment port of the robot is aligned with the water supply port of the workstation is the posture of the robot in the workstation. In other words, the posture of the robot in the workstation mainly refers to the posture presented when the interface set on the robot is aligned and docked with the interface set on the base station. Among them, the interface may include at least a charging interface, an injection interface, a sewage discharge interface, a limited alignment interface specifically used for docking, etc.

[0049] This embodiment is described by taking the posture of the robot when the charging port of the robot is aligned with the charging port of the workstation as the posture of the robot returning to the workstation, and the light band area is covered by the infrared signal of an infrared transmitter as an example. Figure 6 and Figure 7 is a top view schematic diagram of a workstation and a robot provided in an embodiment of the present application. Figure 6 As shown, the workstation 10 is provided with an infrared transmitter 12 and a first charging port 11, the infrared transmitter 12 is arranged above the first charging port 11, the robot 20 is provided with an infrared receiver 22 and a second charging port 21, the infrared receiver 22 is arranged above or below the second charging port 21. Alternatively, as Figure 7 As shown, the infrared transmitter 12 of the workstation 10 is arranged on the left side of the first charging port 11 and maintains a horizontal distance a from the first charging port 11. The infrared receiver 22 of the robot 20 is arranged on the left side of the second charging port 21 and maintains a horizontal distance a from the second charging port 21. The robot 20 uses the direction of the line between the infrared receiver 22 and the rotation center 23 of the robot 20 as the reference direction of the robot 20. Figure 6 and Figure 7It can be seen that when the infrared receiver 22 and the rotation center 23 are located in the light band area 30, the current posture of the robot 20 is equivalent to or similar to the posture of the robot 20 being charged in the workstation 10. At this time, the robot 20 can quickly move to the workstation 10 based on the reference direction or fine-tune the moving direction to quickly move to the workstation 10. When the robot 20 returns to the workstation 10, the first charging port 11 is aligned with the second charging port 21, and the workstation 10 charges the robot 20. It should be noted that Figure 6 and Figure 7 A square robot is shown, but the robot may also be round or in other shapes, which is not specifically limited in this embodiment.

[0050] Figure 8 and Fig. 9 is a top view schematic diagram of the robot movement provided in the embodiment of the present application. Figure 8 As shown, in the case where the light band area 30 is covered by an infrared signal emitted by an infrared transmitter 12, when the infrared receiver 22 of the robot 20 enters the light band area 30 for the first time during the return process, the infrared receiver 22 receives the infrared signal sent by the infrared transmitter 12, and the robot 20 compares the code of the received infrared signal with the code of the infrared signal of the infrared transmitter 12 corresponding to the light band area 30 stored in advance. When the codes are the same, it is determined that the infrared receiver 22 is in the light band area 30. Since the reference direction is the direction of the line between the infrared receiver 22 and the rotation center 23, if the robot 20 moves the distance b between the infrared receiver 22 and the rotation center 23 along the reference direction, the rotation center 23 will move to the position where the infrared receiver 22 was previously located in the light band area 30, that is, the rotation center 23 moves into the light band area 30. It should be noted that since the rotation center 23 is a position point and the infrared receiver 22 is an object, when the volume of the infrared receiver 22 is large and the width of the light band area 30 is small, after the robot 20 moves a distance b along the reference direction, the rotation center 23 is still outside the light band area. Therefore, the preset distance moved by the robot 20 can be determined based on the volume of the infrared receiver 20, the width of the light band area 30 and the straight-line distance b between the infrared receiver 22 and the rotation center 23.

[0051] This embodiment is described by taking the preset distance as the distance b between the rotation center 23 and the receiver as an example. Fig. 9 As described above, after the robot 20 moves a distance b in the reference direction, the rotation center 23 of the robot 20 moves into the light band area 30. If the infrared receiver 22 is installed at the tail of the robot 20, the robot 20 is controlled to retreat a distance b in the reference direction; if the infrared receiver 22 is installed at the head of the robot 20, the robot 20 is controlled to move forward a distance b in the reference direction.

[0052] refer to Figure 4 or Figure 5 , when the light band area 30 is covered by the infrared signals emitted by the two infrared transmitters 12, the two coded infrared signals in the light band area 30 are physically merged to form an infrared signal with two coded superpositions. Therefore, when the robot confirms the infrared receiver, and the coded information of the infrared signal received again contains the coded information composed of the codes of the two infrared signals emitted by the two infrared transmitters 12, it is determined that the infrared receiver has returned to the light band area 30. This embodiment is described by taking the light band area as the overlapping area formed by the first coded signal area and the second coded signal area as an example. In this embodiment, the area other than the light band area in the first coded signal area is the first area, and the area other than the light band area in the second coded signal area is the second area. When the information of the infrared signal received by the infrared receiver contains the coded information composed of the first code and the second code, it is determined that the receiver of the robot is located in the light band area of ​​the workstation; when the infrared receiver only receives the infrared signal of the first code, it is determined that the infrared receiver is located in the first area; when the infrared receiver only receives the infrared signal of the second code, it is determined that the infrared receiver is located in the second area.

[0053] S120, controlling the robot to rotate so that the receiver returns to the light band area.

[0054] For example, Fig.10 is a top view schematic diagram of the robot after rotation provided in the embodiment of the present application. Fig. 9 and Fig.10 As shown, when the light band area 30 is covered by an infrared signal emitted by an infrared transmitter 12, Fig. 9 When the robot 20 rotates in place, the rotation center 23 remains in the light band area 30, and the infrared receiver 22 rotates around the rotation center 23. When the robot 20 confirms that the infrared receiver 22 re-receives the infrared signal emitted by the infrared transmitter 12 corresponding to the light band area 30, it is determined that the infrared receiver 22 has returned to the light band area 30. At this time, the current posture of the robot 20 is equal to or similar to the posture of the robot 20 being located in the workstation for charging.

[0055] When the light band area 30 is covered by the infrared signals emitted by two infrared transmitters 12, when the robot 30 confirms that the coding information of the infrared signal re-received by the infrared receiver 22 contains the coding information based on the coding of the two infrared signals emitted by the two infrared transmitters 12, it is determined that the infrared receiver 22 has returned to the light band area 30.

[0056] In the case where the workstation is provided with two infrared transmitters, there are a first area and a second area on both sides of the light band area 30, or, in the case where the workstation is provided with three infrared transmitters, there are a first coded signal area and a second coded signal area on both sides of the light band area 30. After the rotation center of the robot moves to the light band area, the robot can be controlled to rotate clockwise or counterclockwise according to whether the infrared receiver is on the left or right side of the light band area, thereby reducing the rotation angle of the robot and improving the pile-matching efficiency of the robot. This embodiment is described by taking the case where the workstation is provided with two infrared transmitters as an example. For example, it is assumed that the first area is located on the left side of the light band area and the second area is located on the right side of the light band area. When it is determined that the receiver is located in the first area, the robot is controlled to rotate in a clockwise direction so that the receiver returns to the light band area; when it is determined that the receiver is located in the second area, the robot is controlled to rotate in a counterclockwise direction so that the receiver returns to the light band area. Fig.11 and Fig.12 FIG. 1 is a top view schematic diagram of a robot rotating in situ provided in an embodiment of the present application. Fig.11 As shown, when the infrared receiver 22 receives the first coded infrared signal, it is determined that the infrared receiver 22 is located in the first area 31, and in the clockwise direction, the angle between the line connecting the infrared receiver 22 and the rotation center 23 and the light band area 30 is less than or equal to 90 degrees, so the robot 20 can be controlled to rotate in place in the clockwise direction to make the infrared receiver 22 quickly return to the light band area 30. Fig.12 As shown, when the infrared receiver 22 receives the second coded infrared signal, it is determined that the infrared receiver 22 is located in the second area 32. In the counterclockwise direction, the angle between the line connecting the infrared receiver 22 and the rotation center 23 and the light band area 30 is less than or equal to 90 degrees. Therefore, the robot 20 can be controlled to rotate in place in the counterclockwise direction so that the infrared receiver 22 can quickly return to the light band area 30.

[0057] S130, controlling the robot to move to the workstation based on a target direction, where the target direction is determined based on a reference direction.

[0058] refer to Figure 6 or Figure 7 , when the infrared receiver 22 and the rotation center 23 of the robot 20 are both within the light band area 30, the current posture of the robot 20 may be constrained to be the same as the posture within the workstation 10 in the light band area 30, and at this time, the reference direction can be determined as the target direction of the robot, so that the robot 20 can go straight to the workstation 10 based on the target direction. If the infrared receiver 22 is installed at the tail of the robot 20, the robot 20 is controlled to move backward in the target direction, and if the infrared receiver 22 is installed at the head of the robot 20, the robot 20 is controlled to move forward in the target direction.

[0059] In one embodiment, reference Figure 6 or Figure 7 , after the robot 20 rotates in place so that the infrared receiver 22 and the rotation center 23 are simultaneously located in the light band area 30, the distance from the rotation center 23 to the infrared receiver 22 can be first moved based on the reference direction. Since the reference direction is the direction of the line between the infrared receiver 22 and the rotation center 23, after the robot 20 moves the distance, the rotation center 23 moves to the position where the infrared receiver 22 last returned to the light band area, that is, the rotation center 23 is still in the light band area 30. If the infrared receiver 22 of the robot 20 is still in the light band area 30 at this time, it can be determined that the current posture of the robot is consistent or nearly consistent with the posture in the workstation 10, and the robot 20 can be controlled to move the distance from the rotation center 23 to the infrared receiver 22 based on the reference direction. If the infrared receiver 22 of the robot 20 deviates from the light band area 30 at this time, the robot 20 can be controlled to rotate in place so that the infrared receiver 22 returns to the light band area 30, and then the robot 20 can be controlled to move the distance from the rotation center 23 to the infrared receiver 22 based on the reference direction. This process is repeated until the first charging port 11 contacts the second charging port 21. It should be noted that this embodiment does not need to determine whether the infrared receiver moves into the left area or the right area after it deviates from the light band area, but moves the infrared receiver back to the light band area by self-rotation. That is, when the workstation is only equipped with one infrared transmitter, the robot can also pile smoothly, which is beneficial to reduce the design cost of the workstation. Of course, it is also possible to determine whether the infrared receiver moves into the left area or the right area after it deviates from the light band area, so that the robot's infrared receiver can quickly turn back to the light band area. Among them, this determination method can be achieved by using image technology to confirm the relative posture between the robot and the base station, and can also be achieved by using the robot's recording of the rotation posture (angle) to confirm the relative posture between the robot and the base station. This is not limited here.

[0060] In another embodiment, if the workstation is provided with multiple infrared transmitters, there are first and second areas on the left and right sides of the light band area, or there are first and second coding areas on the left and right sides of the light band area, when the robot returns to the workstation, after the infrared receiver moves out of the light band area, it is adjusted back to the light band area in time based on the area where the infrared receiver is located, so as to ensure that the robot returns to the workstation quickly with an accurate posture. This embodiment is described by taking the left and right sides of the light band area as the first and second areas, respectively.

[0061] Exemplarily, according to the encoding of the infrared signal received by the receiver, it is determined that the receiver is located in the light band area, the first area or the second area; the target direction of the robot is determined according to the area where the receiver is located and the reference direction, and the robot is controlled to move to the workstation based on the target direction. It is understandable that when the infrared receiver of the robot moves out of the light band area, the infrared receiver can immediately receive the infrared signal covering the first area or the second area. At this time, there is a small deviation between the current posture of the robot and the posture in the workstation. Therefore, the target direction can be obtained by fine-tuning the reference direction according to the area where the infrared receiver is located. Based on the target direction, the infrared receiver of the robot can be quickly moved back to the light band area, thereby improving the efficiency of the robot returning to the workstation. Fig.13 Schematic diagram of the robot after rotation provided by the embodiment of the present application. Fig.13 As shown, in Fig.11 or Fig.12 When the robot 20 shown rotates to make the infrared receiver 22 return to the light band area 30, the current posture of the robot 20 is consistent or nearly consistent with the posture in the workstation 10, and the reference direction can be determined as the current target direction of the robot, so that the robot moves based on the target direction. During the movement, if the infrared receiver 22 receives an infrared signal containing coded information based on the first code and the second code, it can be determined that the infrared receiver 22 is still in the light band area 30, and the reference direction is determined as the target direction to make the robot 20 move along the reference direction. If the infrared receiver 22 receives an infrared signal of the first code, it indicates that the infrared receiver 22 has shifted to the left from the light band area 30 to the first area 31, and the direction of the reference direction rotating to the right can be used as the target direction. According to the target direction, the robot 20 is controlled to gradually move to the right rear until the infrared receiver 22 returns to the light band area 30, and the target direction is set back to the reference direction. If the infrared receiver 22 receives the second coded infrared signal, it indicates that the infrared receiver 22 has shifted to the left from the light band area 30 to the second area 32, and the direction rotated to the left from the reference direction can be used as the target direction. According to the target direction, the robot 20 is controlled to gradually move to the left rear until the infrared receiver 22 returns to the light band area 30 and sets the target direction back to the reference direction. When the first charging port 11 contacts the second charging port 21, it is determined that the robot 20 completes the return operation.

[0062] In one embodiment, in order to improve the efficiency of the robot's return to the pile, after the robot triggers the return to the pile operation, it can obtain the position coordinates of the workstation, plan a return to the pile path according to the position coordinates, and control the robot to move based on the return to the pile path. Exemplarily, when the robot is working, it will build a map based on the surrounding environment or obtain a pre-built map. The robot can add the position coordinates of the workstation to the map and plan a return to the pile path to move to the vicinity of the workstation according to the obstacles in the map. Based on the return to the pile path, the robot can bypass the obstacles in the map and quickly move to the vicinity of the workstation.

[0063] In this embodiment, when the robot approaches the workstation based on the return path, the robot is controlled to slow down and move when the receiver receives a signal emitted by the workstation. Exemplarily, when the robot receives the infrared signal emitted by the workstation for the first time when performing the return operation, it indicates that the robot has approached the workstation. Since the width of the light band area is small, when the robot moves faster, the infrared receiver will leave the light band area before the robot reacts. Therefore, the robot is controlled to slow down so as to better control the robot to return to the pile later. For example, refer to Fig.13 When the robot 20 moves to the first area 31, the second area 32 or the light band area 30 for the first time after executing this return operation, the robot 20 receives the infrared signal of the first code, the second code or the superposition of the first code and the second code for the first time after executing this return operation, and the robot 20 slows down. When the robot 20 receives the infrared signal containing the coded information based on the first code and the second code for the first time after executing this return operation, the robot 20 moves the distance between the rotation center 23 and the infrared receiver 22 along the reference direction, so that the rotation center 23 moves to the light band area 30. The robot 20 is controlled to rotate in place, and when the infrared receiver 22 returns to the light band area 30, the robot 20 is controlled to move to the workstation 10 based on the target direction determined by the reference direction.

[0064] In summary, the robot pile-matching method provided by the embodiment of the present application is that when the robot triggers the pile-returning operation, the robot moves to the location of the workstation. When the receiver of the robot is located in the light band area of ​​the workstation for the first time in this pile-returning operation, the robot is controlled to move the distance from the rotation center of the robot to the receiver based on the reference direction, so that the rotation center is in the light band area when the robot stops moving. The robot is controlled to rotate and stop rotating after the receiver returns to the light band area. At this time, the receiver and the rotation center are both in the light band area. The current posture of the robot is consistent or approximately consistent with the posture in the workstation. The target direction of the robot can be determined by the reference direction, and the robot is controlled to move to the workstation according to the target direction. Through the above technical means, after the robot's receiver moves to the light band area, the robot can be controlled to move straight and rotate to quickly adjust the robot's posture to the posture of the workstation, and then the robot is controlled to move to the workstation based on the target direction, reducing the frequency of adjusting the robot's moving direction and the amplitude of rotation, shortening the time it takes for the robot to return to the workstation, and improving the robot's pile-matching efficiency. Moreover, the robot can quickly align the piles by relying on the receiver sensor, and the control process is relatively simple, which is conducive to reducing the power consumed by the robot in the process of aligning the piles, making it easier for the robot to consume more power on the task, thereby improving the robot's operating efficiency in disguise.

[0065] Based on the above embodiments, Fig.14 This is a schematic diagram of the structure of a robot pile device provided in an embodiment of the present application. Fig.14 The robot pile-aligning device provided in this embodiment specifically includes: a first moving module 41 , a rotation control module 42 and a second moving module 43 .

[0066] The first moving module 41 is configured to control the robot to move a preset distance based on a reference direction when it is determined that the receiver of the robot is located in the light band area of ​​the workstation, the reference direction being the direction of a line between the rotation center of the robot and the receiver, and the preset distance being determined based on the distance between the rotation center and the receiver;

[0067] A rotation control module 42, configured to control the robot to rotate so that the receiver returns to the light band area;

[0068] The second moving module 43 is configured to control the robot to move to the workstation based on a target direction, where the target direction is determined based on a reference direction.

[0069] Based on the above embodiment, two sides of the light band area are parallel to each other.

[0070] Based on the above embodiment, the workstation transmits a first coded infrared signal to the first coded signal area and a second coded infrared signal to the second coded signal area, and the light band area is the overlapping area of ​​the first coded signal area and the second coded signal area; accordingly, the first mobile module 41 includes: a first position determination unit, configured to determine that the robot's receiver is located in the light band area of ​​the workstation when the coded information of the infrared signal received by the receiver contains coded information based on the first code and the second code.

[0071] On the basis of the above embodiment, the rotation control module 42 includes: a first rotation control unit, which is configured to control the robot to rotate in a clockwise direction when it is determined that the receiver is located in a first area, so that the receiver returns to the light band area; wherein the first area is the area in the first coding signal area except the light band area, and the first area is located on the left side of the light band area; a second rotation control unit, which is configured to control the robot to rotate in a counterclockwise direction when it is determined that the receiver is located in a second area, so that the receiver returns to the light band area; wherein the second area is the area in the second coding signal area except the light band area, and the second area is located on the right side of the light band area.

[0072] Based on the above embodiment, the second mobile module 43 includes: a second position determination unit, configured to determine whether the receiver is located in a light band area, a non-overlapping area in the first area, or a non-overlapping area in the second area according to the encoding of the infrared signal received by the receiver; a mobile control unit, configured to determine the target direction of the robot according to the area where the receiver is located and the reference direction, and control the robot to move to the workstation based on the target direction.

[0073] Based on the above embodiment, the robot pile-matching device further includes: a path planning module configured to obtain the position coordinates of the workstation and plan a return path to the pile according to the position coordinates; and a third movement module configured to control the robot to move based on the return path to the pile.

[0074] On the basis of the above embodiment, the third moving module includes: a deceleration control unit configured to control the robot to decelerate and move when the receiver receives a signal transmitted by the workstation.

[0075] As mentioned above, the robot pile-matching device provided in the embodiment of the present application moves to the location of the workstation when the robot triggers the pile-returning operation. When the receiver of the robot is located in the light band area of ​​the workstation for the first time in this pile-returning operation, the robot is controlled to move the distance from the rotation center of the robot to the receiver based on the reference direction, so that the rotation center is in the light band area when the robot stops moving. The robot is controlled to rotate and stop rotating after the receiver returns to the light band area. At this time, the receiver and the rotation center are both in the light band area. The current posture of the robot is consistent or approximately consistent with the posture in the workstation. The target direction of the robot can be determined by the reference direction, and the robot can be controlled to move to the workstation according to the target direction. Through the above technical means, after the robot's receiver moves to the light band area, the robot can be controlled to move straight and rotate to quickly adjust the robot's posture to the posture of the workstation, and then the robot can be controlled to move to the workstation based on the target direction, reducing the frequency of adjusting the robot's moving direction and the amplitude of rotation, shortening the time it takes for the robot to return to the workstation, and improving the robot's pile-matching efficiency. Moreover, the robot can quickly align the piles by relying on the receiver sensor, and the control process is relatively simple, which is conducive to reducing the power consumed by the robot in the process of aligning the piles, making it easier for the robot to consume more power on the task, thereby improving the robot's operating efficiency in disguise.

[0076] The robot pile alignment device provided in the embodiment of the present application can be used to execute the robot pile alignment method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0077] Fig.15 This is a schematic diagram of the structure of a robot pile device provided in an embodiment of the present application, with reference to Fig.15 The robot-pile device includes: a processor 51, a memory 52, a communication device 53, an input device 54 and an output device 55. The number of processors 51 in the robot-pile device can be one or more, and the number of memories 52 in the robot-pile device can be one or more. The processor 51, memory 52, communication device 53, input device 54 and output device 55 of the robot-pile device can be connected through a bus or other methods.

[0078] The memory 52, as a computer-readable storage medium, can be used to store software programs, computer executable programs and modules, such as program instructions / modules corresponding to the robot pile-to-pile method of any embodiment of the present application (for example, the first mobile module 41, the rotation control module 42 and the second mobile module 43 in the robot pile-to-pile device). The memory 52 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the device, etc. In addition, the memory 52 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some instances, the memory may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0079] The communication device 53 is used for data transmission.

[0080] The processor 51 executes various functional applications and data processing of the device by running the software programs, instructions and modules stored in the memory 52, that is, realizes the above-mentioned robot pile matching method.

[0081] The input device 54 may be used to receive input digital or character information and generate key signal input related to user settings and function control of the device. The output device 55 may include a display device such as a display screen.

[0082] The robot pile alignment device provided above can be used to execute the robot pile alignment method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0083] An embodiment of the present application also provides a storage medium containing computer executable instructions, which, when executed by a computer processor, are used to execute a robot alignment method, the robot alignment method comprising: when it is determined that the robot's receiver is located in a light band area of ​​a workstation, controlling the robot to move a preset distance based on a reference direction, the reference direction being the direction of a line between the robot's rotation center and the receiver, and the preset distance being determined based on the distance between the rotation center and the receiver; controlling the robot to rotate so that the receiver returns to the light band area; and controlling the robot to move to the workstation based on a target direction, the target direction being determined based on the reference direction.

[0084] Storage medium - any of various types of memory devices or storage devices. The term "storage medium" is intended to include: installation media, such as CD-ROM, floppy disk or tape device; computer system memory or random access memory, such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; non-volatile memory, such as flash memory, magnetic media (such as hard disk or optical storage); registers or other similar types of memory elements, etc. Storage media may also include other types of memory or combinations thereof. In addition, the storage medium may be located in the first computer system in which the program is executed, or may be located in a different second computer system, which is connected to the first computer system via a network (such as the Internet). The second computer system can provide program instructions to the first computer for execution. The term "storage medium" may include two or more storage media residing in different locations (for example, in different computer systems connected by a network). The storage medium may store program instructions (for example, embodied as a computer program) that can be executed by one or more processors.

[0085] Of course, the storage medium containing computer executable instructions provided in an embodiment of the present application, whose computer executable instructions are not limited to the above robot pairing method, can also execute related operations in the robot pairing method provided in any embodiment of the present application.

[0086] The embodiment of the present application also provides a pile alignment system, which includes a workstation and a robot. The workstation is provided with at least one infrared transmitter, which is used to generate a light band area; the robot is provided with an infrared receiver and a processor, and the processor is used to control the robot to move a preset distance based on a reference direction when it is determined that the robot's infrared receiver is located in the light band area of ​​the workstation, the reference direction is the direction of the line between the robot's rotation center and the receiver, and the preset distance is determined based on the distance between the rotation center and the infrared receiver; control the robot to rotate so that the infrared receiver returns to the light band area; control the robot to move to the workstation based on a target direction, and the target direction is determined based on the reference direction.

[0087] The robot pile alignment device, equipment, storage medium and pile alignment system provided in the above embodiments can execute the robot pile alignment method provided in any embodiment of the present application. For technical details not described in detail in the above embodiments, please refer to the robot pile alignment method provided in any embodiment of the present application.

[0088] The above are only preferred embodiments of the present application and the technical principles used. The present application is not limited to the specific embodiments herein, and various obvious changes, readjustments and substitutions that can be made by those skilled in the art will not deviate from the protection scope of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the claims.

Claims

1. A robot pile method, characterized in that: include: When it is determined that the receiver of the robot is located in the light band area of ​​the workstation, the robot is controlled to move a preset distance based on a reference direction, the reference direction being the direction of a line between the rotation center of the robot and the receiver, and the preset distance being determined based on the distance between the rotation center and the receiver; Controlling the robot to rotate so that the receiver returns to the light band area; The robot is controlled to move to the workstation based on a target direction, wherein the target direction is determined based on the reference direction.

2. The robot pile alignment method according to claim 1, characterized in that: The two sides of the light band area are parallel to each other.

3. The robot pile alignment method according to claim 2, characterized in that: The width between the two sides of the light band area is between 5 mm and 20 mm.

4. The robot pile alignment method according to claim 1, characterized in that: The preset distance is the distance between the rotation center and the receiver.

5. The robot pile alignment method according to claim 1, characterized in that: The workstation transmits a first coded infrared signal to the first coded signal area and transmits a second coded infrared signal to the second coded signal area, and the light band area is an overlapping area of ​​the first coded signal area and the second coded signal area; Accordingly, determining that the receiver of the robot is located in the light band area of ​​the workstation includes: When the coding information of the infrared signal received by the receiver includes coding information formed based on the first coding and the second coding, it is determined that the receiver of the robot is located in the light band area of ​​the workstation.

6. The robot pile alignment method according to claim 5, characterized in that: The controlling the robot to rotate so that the receiver returns to the light band area comprises: When it is determined that the receiver is located in the first area, the robot is controlled to rotate in a clockwise direction so that the receiver returns to the light band area; wherein the first area is an area in the first coded signal area other than the light band area, and the first area is located on the left side of the light band area; When it is determined that the receiver is located in the second area, the robot is controlled to rotate counterclockwise so that the receiver returns to the light band area; wherein the second area is the area of ​​the second coded signal area excluding the light band area, and the second area is located on the right side of the light band area.

7. The robot pile alignment method according to claim 6, characterized in that: The controlling the robot to move to the workstation based on the target direction comprises: Determining, according to the code of the infrared signal received by the receiver, whether the receiver is located in the light band area, the first area or the second area; The target direction of the robot is determined according to the area where the receiver is located and the reference direction, and the robot is controlled to move to the workstation based on the target direction.

8. The robot pile alignment method according to claim 1, characterized in that: The method further comprises: Obtaining the position coordinates of the workstation, and planning a return path according to the position coordinates; The robot is controlled to move based on the pile return path.

9. The robot pile alignment method according to claim 8, characterized in that: When controlling the robot to move based on the pile return path, the method further includes: When the receiver receives the signal transmitted by the workstation, the robot is controlled to slow down and move.

10. A robot pile device, characterized in that: include: A first moving module is configured to control the robot to move a preset distance based on a reference direction when it is determined that the receiver of the robot is located in the light band area of ​​the workstation, wherein the reference direction is a direction of a line between a rotation center of the robot and the receiver, and the preset distance is determined based on a distance between the rotation center and the receiver; A rotation control module, configured to control the robot to rotate so that the receiver returns to the light band area; The second moving module is configured to control the robot to move to the workstation based on a target direction, where the target direction is determined based on a reference direction.

11. A robot pile-pile device, characterized in that: include: one or more processors; A memory stores one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors implement the robot pile-pile method as described in any one of claims 1-9.

12. A storage medium containing computer executable instructions, characterized in that: The computer executable instructions are used to perform the robot pile alignment method as described in any one of claims 1-7 when executed by a computer processor.

13. A pile system, characterized in that: include: A workstation provided with at least one infrared emitter, wherein the infrared emitter is used to generate a light band area; A robot is provided with an infrared receiver and a processor. The processor is used to control the robot to move a preset distance based on a reference direction when it is determined that the infrared receiver of the robot is located in a light band area of ​​a workstation. The reference direction is the direction of a line between a rotation center of the robot and the receiver, and the preset distance is determined based on the distance between the rotation center and the infrared receiver; control the robot to rotate so that the infrared receiver returns to the light band area; and control the robot to move to the workstation based on a target direction, and the target direction is determined based on the reference direction.

Images