A robot regression charging control method and device

Abstract

The present disclosure relates to a robot return charging control method and device, comprising: when the robot is returning to charge, upon detecting a magnetic field signal generated by a ground magnetic device located near a charging station, adjusting the robot's motion posture based on the correlation between the magnetic field values ​​detected by the robot's left and right magnetic induction sensors and its motion posture, causing it to travel along the ground magnetic device; and controlling the robot to travel along the ground magnetic device until it docks with the charging station. In this embodiment of the disclosure, two magnetic induction sensors are used to detect the strength of the magnetic field signals on the left and right sides of the robot, without using the direction of the magnetic field signals, to adjust the robot's position, causing it to travel along the direction of the magnetic strip to the charging station and complete charging docking.

Description

Technical Field

[0001] The present disclosure relates to an automatic working system, and more particularly to a robot return charging control method and device. Background Art

[0002] With the development of science and technology, robots such as sweeping robots, mopping robots, and smart lawn mowers have brought convenience to people's daily lives. Related technologies can guide the autonomous movement of robots using electromagnetic induction sensors, laser sensors, and visual sensors. When using electromagnetic induction sensors to guide robot movement, the magnetic strips must be arranged relatively flat, with the north and south poles of the magnetic strips installed in a specific direction. During use, the magnetic strips, after being repeatedly rolled and twisted, can cause changes in the magnetic field, affecting the robot's alignment accuracy. Furthermore, due to strict requirements on the direction of the magnetic strips, the user experience can be reduced. Summary of the Invention

[0003] In order to overcome the problems existing in the related art, the present disclosure provides a robot regression charging control method and device.

[0004] According to a first aspect of an embodiment of the present disclosure, a robot regression charging control method is provided, comprising:

[0005] When the robot is returning to charge, if it detects a magnetic field signal generated by a ground magnetic device located near the charging station, the robot adjusts its motion posture based on the correlation between the magnetic field values ​​detected by the robot's left and right magnetic induction sensors and its motion posture, so that it moves along the ground magnetic device;

[0006] The robot is controlled to travel along the ground magnetic device until it docks with the charging station.

[0007] In one possible implementation, controlling the robot to travel along the ground magnetic device until docking with the charging station includes:

[0008] The distance between the central axis of the robot and the ground magnetic device is controlled to be within a preset distance range.

[0009] In a possible implementation, adjusting the robot's motion posture according to the correlation between the magnetic field values ​​detected by the left and right magnetic induction sensors of the robot and the motion posture includes:

[0010] When a magnetic field value is detected at the left side of the robot, the robot is controlled to rotate leftward by a preset angle;

[0011] When a magnetic field value is detected at a right position symmetrical to the left position, the robot is controlled to rotate rightward by the preset angle.

[0012] In a possible implementation, adjusting the robot's motion posture according to the correlation between the magnetic field values ​​detected by the left and right magnetic induction sensors of the robot and the motion posture includes:

[0013] When magnetic field signals are detected at symmetrical positions on both sides of the robot, comparing the magnitudes of the two magnetic field signals;

[0014] The robot is controlled to rotate a preset angle toward the side with a larger magnetic field signal.

[0015] In a possible implementation, the conditions set to detect the magnetic field value generated by the ground magnetic device include:

[0016] The magnetic field value of the detected magnetic field signal is greater than a preset value.

[0017] In a possible implementation, adjusting the movement posture of the robot so that it travels along the ground magnetic device includes:

[0018] Controlling the robot to move forward or backward by a preset length;

[0019] When a change in a magnetic field value of a magnetic field signal detected at a left side position of the robot or a right side position symmetrical to the left side position is within a preset value range, the robot is controlled to move forward along the ground magnetic device.

[0020] In a possible implementation, after controlling the robot to move forward or backward a preset length, the method further includes:

[0021] When the change in the magnetic field value of the magnetic field signal detected at the left position of the robot or the right position symmetrical to the left position exceeds the preset value range, the robot is controlled to move according to the preset action until the difference in the magnetic field signals detected at the symmetrical positions on both sides of the robot is within the preset range.

[0022] In one possible implementation, controlling the robot to travel along the ground magnetic device until docking with the charging station includes:

[0023] detecting magnetic field signals generated by the ground magnetic devices at the symmetrical positions respectively;

[0024] It is determined whether the difference between the two magnetic field signals is within the preset range. If the difference is within the preset range, the robot is controlled to continue moving according to the current motion posture until it docks with the charging station.

[0025] In a possible implementation, after determining whether the difference between the two magnetic field signals is within the preset range, the method further includes:

[0026] If the difference exceeds the preset range, determining a steering action corresponding to the magnetic field signal according to a preset correlation between the magnitude of the magnetic field signal and the steering action;

[0027] The robot is controlled to travel according to the steering action.

[0028] In one possible implementation, controlling the robot to travel along the ground magnetic device until docking with the charging station includes:

[0029] detecting magnetic field signals generated by the ground magnetic devices at the symmetrical positions respectively;

[0030] The two magnetic field signals are subtracted from the average of the two magnetic field signals at the previous moment. If the difference is less than or equal to a preset threshold, the robot is controlled to continue moving according to the current motion posture until it docks with the charging station.

[0031] In a possible implementation, after subtracting the two magnetic field signals from the average of the two magnetic field signals at the previous moment, the method further includes:

[0032] If the difference between the magnetic field signal detected at the left position and the mean value is greater than the preset threshold, controlling the robot to turn left;

[0033] Or if the difference between the magnetic field signal detected at the right position and the mean value is greater than the preset threshold, the robot is controlled to turn right.

[0034] In a possible implementation, before adjusting the robot's motion posture based on the correlation between the magnetic field values ​​detected by the left and right magnetic induction sensors of the robot and the motion posture so that the robot travels along the ground magnetic device, the method further includes:

[0035] Two magnetic induction sensors are used to detect the geomagnetic field signals in the working area;

[0036] performing mean processing on the geomagnetic field signals detected by the two magnetic induction sensors respectively;

[0037] The magnetic field values ​​of the magnetic field signals detected by the two magnetic induction sensors are respectively subtracted from the average values ​​of their respective geomagnetic field signals.

[0038] In a possible implementation, adjusting the robot's motion posture based on the correlation between the magnetic field values ​​detected by the left and right magnetic induction sensors of the robot and the motion posture so that the robot moves along the ground magnetic device further includes:

[0039] The robot is controlled to travel within a preset distance range of the ground magnetic device by using the satellite positioning data of the robot.

[0040] In a possible implementation, the ground magnetic device includes a magnetic strip and / or an electronic boundary.

[0041] According to a second aspect of an embodiment of the present disclosure, there is provided a control device for a robot, comprising:

[0042] processor;

[0043] a memory for storing processor-executable instructions;

[0044] The processor is configured to execute the method described in any embodiment of the present disclosure.

[0045] According to a third aspect of the embodiments of the present disclosure, there is provided a robot, comprising:

[0046] The robot body is provided with a motion module, a power supply module, a control module, a functional module and a magnetic induction sensor, wherein:

[0047] The motion module includes a wheel set and a drive motor for driving the wheel set to move;

[0048] The power supply module includes a battery pack for supplying power to the motion module and the functional module of the robot;

[0049] The functional modules are used to realize the robot purpose;

[0050] The control module is electrically connected to the movement module, the energy module, and the functional module to control the movement and operation of the robot. The control module includes a processor configured to execute the method described in any embodiment of the present disclosure.

[0051] Magnetic induction sensors are respectively provided at left and right symmetrical positions on the front side of the bottom of the robot body, and the magnetic induction sensors are electrically connected to the control module.

[0052] In a possible implementation, the robot further includes a satellite positioning sensor.

[0053] In a possible implementation, the robot further includes a satellite positioning sensor.

[0054] In one possible implementation, the functional module includes at least one of the following:

[0055] A cutting function component, comprising a cutting blade and a motor for driving the cutting blade;

[0056] A snow-clearing component includes a snow-clearing brush and a motor for driving the snow-clearing brush;

[0057] The watering function component includes a watering box, a watering gun and a motor for driving the watering gun.

[0058] According to a fourth aspect of the present disclosure, there is provided a robot system, the system comprising:

[0059] The robot according to any embodiment of the present disclosure;

[0060] A ground magnetic device is provided in the working area of ​​the robot or at the boundary of the working area.

[0061] In a possible implementation, the system further includes:

[0062] A charging station is provided with a first ground magnetic device at the bottom of the charging station, the first ground magnetic device is connected to the ground magnetic device, and the first ground magnetic device and the ground magnetic device are used to guide the robot to the charging station for charging.

[0063] The technical solutions provided by the embodiments of the present disclosure can provide the following beneficial effects: The embodiments of the present disclosure utilize two magnetic induction sensors to detect the strength of magnetic field signals on the left and right sides of the robot, eliminating the need to use the direction of the magnetic field signals to adjust the robot's position, allowing it to travel along the magnetic strip to the charging station for charging and docking. Furthermore, even if the magnetic strip is bent or worn, the values ​​of the two magnetic induction sensors remain consistent, and the robot will continue to travel along the magnetic strip to the charging station.

[0064] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0066] Figure 1 This is a schematic diagram of the magnetic field distribution of a magnetic strip and a magnetic induction sensor in the prior art.

[0067] Figure 2 This is a schematic diagram of the magnetic field distribution of a magnetic strip and a magnetic induction sensor in the prior art.

[0068] Figure 3 This is a schematic diagram of the magnetic field distribution of a magnetic strip and a magnetic induction sensor in the prior art.

[0069] Figure 4 This is an application scenario diagram of a robot control method according to an exemplary embodiment.

[0070] Figure 5 The figure is a flowchart of a method for controlling a robot according to an exemplary embodiment.

[0071] Figure 6 The figure is a schematic structural diagram of a robot according to an exemplary embodiment. DETAILED DESCRIPTION

[0072] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

[0073] In order to facilitate those skilled in the art to understand the technical solution provided by the embodiments of the present disclosure, the technical environment in which the technical solution is implemented is described below.

[0074] During operation, the robot must autonomously return to a charging station to recharge for subsequent use. Because the charging pads on the charging station need to contact the charging pads on the robot, the robot must maintain a certain orientation during return to ensure contact between the two charging pads. In related art, the robot's charging pads are located to the side of the robot. Therefore, upon reaching the charging station, the robot must be traveling parallel to the charging station. Related technologies for guiding robots to return to charging include using closed coils to generate electromagnetic signals, guiding the robot along the coil's placement and returning to the charging station. This method requires laying closed coils at the boundary of the work area, which has many drawbacks. Not only is the installation process cumbersome, but it also poses safety risks. Another method for guiding robots to return to charging involves pre-determining the coordinates of the charging station and using satellite navigation to guide the robot to the charging station. This method relies on the strength of the satellite signal. In indoor environments or outdoors with obstructions, the satellite signal is weak, resulting in inaccurate positioning. Figures 1 to 3 This is a schematic diagram of the magnetic field distribution of a magnetic strip and a magnetic induction sensor in the prior art. Figures 1 to 3 As shown, the magnetic strip 101 is pre-installed at or near the bottom of the charging station, and two magnetic induction sensors are provided on both sides of the bottom of the robot, namely a first magnetic induction sensor 102 and a second magnetic induction sensor 103 . Figures 1 to 3The diagram shows the magnetic stripe 101 positioned between, to the left, and to the right of the two magnetic sensors. It can be seen that the magnetic stripe 101's position on each sensor varies, and the direction of the magnetic field passing through the two sensors also differs. Therefore, the relative position of the magnetic stripe 101 and the two magnetic sensors can be determined by detecting the direction of the magnetic field. However, this method requires the magnetic stripe to be arranged relatively flat; otherwise, the direction of the magnetic field will be affected, which in turn will affect the robot's ability to determine the magnetic stripe's position. Over time, the magnetic stripe can easily bend, making positioning accuracy using this method insufficient.

[0075] Based on practical technical requirements similar to those described above, the present disclosure provides a robot navigation control method and device. Figure 4 FIG1 is an application scenario diagram of a robot control method according to an exemplary embodiment. Figure 4As shown, magnetic induction sensors 106 are symmetrically provided at the bottom of the robot 100 for detecting the surrounding magnetic field. Charging pole pieces 105 are provided on the charging station 104. During the process of returning to charge, the robot 100 needs to continuously adjust its position so that the charging pole pieces on its side eventually come into contact with the charging pole pieces 105 on the charging station 104. In this solution, a magnetic strip 101 is provided on the extension line of the central axis of the charging station 104, and the length direction of the magnetic strip 101 is consistent with the direction of the central axis. Satellite positioning can be used to control the robot 100 to first drive to the vicinity of the charging station 104 or the magnetic strip 101, for example, within a range of 5 meters from the charging station 104. The magnetic induction sensor is used to continuously detect the strength of the magnetic field signal. Since the strength of the magnetic field is related to the distance between the magnetic induction sensor and the magnetic strip, the smaller the distance, the stronger the magnetic field signal, and the larger the distance, the weaker the magnetic field signal. Therefore, during the detection process, if the magnetic field signal strength detected by the left magnetic induction sensor is greater than that detected by the right magnetic induction sensor, indicating that the left side of the robot 100 is closer to the magnetic stripe 101, the robot 100 is controlled to turn left by a preset angle. Correspondingly, if the magnetic field signal strength detected by the right magnetic induction sensor is greater than that detected by the left magnetic induction sensor, indicating that the right side of the robot 100 is closer to the magnetic stripe 101, the robot 100 is controlled to turn right by a preset angle, thereby gradually approaching the magnetic stripe 101. During this process, the robot 100's direction of travel may become perpendicular to the magnetic stripe 101, in which case the magnetic field signal strengths detected by the magnetic induction sensors on both sides are the same. Whether this situation has occurred can be determined by moving the robot 100 forward or backward a preset distance. When detecting the strength of the detection signals of the two magnetic induction sensors, if the signal strength changes, it means that the position of the robot 100 is perpendicular to the magnetic stripe 101, and the robot 100 needs to be controlled to continue rotating; when detecting that the strength of the detection signals of the two magnetic sensors does not change, it means that the robot 100 is straddling the magnetic stripe 101, and the distances between the left and right magnetic induction sensors and the magnetic stripe 101 are the same, then there is no need to control the robot 100 to continue rotating, and the strength of the magnetic field signals from the two magnetic induction sensors to the magnetic stripe 101 is continuously detected. If the difference between the two magnetic field signals is within a preset range, the robot 100 can continue to move forward until it contacts the charging electrode 105.

[0076] The following is combined with Figure 5 The navigation control method of the robot described in the present disclosure is described in detail. Figure 5This is a flowchart of an embodiment of the robot navigation control method provided by the present disclosure. Although the present disclosure provides the method operation steps shown in the following embodiments or figures, the method may include more or fewer operation steps based on routine or no creative effort. For steps that do not logically have a necessary causal relationship, the execution order of these steps is not limited to the execution order provided in the embodiments of the present disclosure.

[0077] Specifically, the navigation control method provided by the present disclosure is implemented as follows: Figure 5 Shown, including:

[0078] Step S501: When the robot is returning to charge, if it detects a magnetic field signal generated by a ground magnetic device located near the charging station, the robot's movement posture is adjusted according to the correlation between the magnetic field values ​​detected by the left and right magnetic induction sensors of the robot and the movement posture, so that it moves along the ground magnetic device.

[0079] Step S502: Control the robot to travel along the ground magnetic device until it docks with the charging station.

[0080] In the embodiment of the present disclosure, the ground magnetic device includes a device capable of generating a magnetic field signal, which may include a magnetic strip, a magnet, or an electronic boundary. The electronic boundary can be formed by laying wires around the robot's working area and using a virtual boundary signal, such as an electromagnetic signal, emitted by a boundary signal generating device connected to the wires. In the embodiment of the present disclosure, the correlation between the magnetic field values ​​detected by the left and right magnetic induction sensors of the robot and the motion posture may include the magnitude and position of the magnetic field values ​​being consistent with the robot's travel direction. In one example, the correlation may include: when the magnetic field value detected in front of the robot is greater than the magnetic field value detected at the rear, the robot moves forward; when the magnetic field value detected at the rear of the robot is greater than the magnetic field value detected in front, the robot moves backward; when the magnetic field value detected on the left side of the robot is greater than the magnetic field value detected on the right side, the robot turns left; when the magnetic field value detected on the right side of the robot is greater than the magnetic field value detected on the left side, the robot turns right. It should be noted that the way in which the magnetic field values ​​detected by the left and right magnetic induction sensors of the robot are associated with the motion posture is not limited to the above examples. For example, if the strength of the magnetic induction signal detected in the left front of the robot is greater than that of the current position, the robot is controlled to move to the left front, or if the strength of the magnetic induction signal detected in the right rear is greater than that of the current position, the robot is controlled to move to the right rear. Technical personnel in the relevant field may make other changes inspired by the technical essence of this application, but as long as the functions and effects achieved are the same or similar to those of this application, they should be covered within the scope of protection of this application.

[0081] In the disclosed embodiment, the motion posture includes single robot movements such as forward, backward, left turn on the spot, and right turn on the spot, and also includes combinations of single movements such as forward left turn, forward right turn, backward left turn, and backward right turn. In the disclosed embodiment, magnetic induction sensors can be used to detect magnetic field signals generated by a ground-based magnetic device, and the magnetic induction sensors can be positioned symmetrically on either side of the robot's central axis. During this process, the robot's motion posture is continuously adjusted based on the detected magnetic field signals, such that the robot moves along the ground-based magnetic device. Adjusting the robot's motion posture based on the detected magnetic field signals may include: controlling the robot to move forward if the magnetic induction signal in front of the robot is stronger; controlling the robot to move backward if the magnetic induction signal behind the robot is stronger; controlling the robot to move left if the magnetic induction signal to the left of the robot is stronger; and controlling the robot to move right if the magnetic induction signal to the right of the robot is stronger. The comparison of the strength of the left and right detection signals can be obtained in real time by the left and right magnetic induction sensors, and the strength of the front or rear signals can be determined by comparing the signal strength detected during forward or backward movement with the current position. It should be noted that the method of adjusting the robot's movement according to the detected magnetic field signal is not limited to the above examples. For example, if the strength of the magnetic induction signal detected in the left front of the robot is greater than that of the current position, the robot is controlled to move to the left front, or if the strength of the magnetic induction signal detected in the right rear is greater than that of the current position, the robot is controlled to move to the right rear. Technical personnel in the relevant field may make other changes inspired by the technical essence of this application, but as long as the functions and effects achieved are the same or similar to those of this application, they should be covered within the scope of protection of this application.

[0082] In the disclosed embodiment, based on the correlation between the magnetic field values ​​detected by the robot's left and right magnetic sensors and its motion posture, the robot's motion posture is adjusted until the two magnetic sensors are equidistant from a ground-based magnetic device, thereby placing the two magnetic sensors on symmetrical sides of the ground-based magnetic device. The robot is then controlled to travel along the ground-based magnetic device, i.e., with its travel direction parallel to that of the ground-based magnetic device, until it reaches a charging station.

[0083] The disclosed embodiment uses two magnetic induction sensors to detect the strength of magnetic field signals on the left and right sides of the robot, eliminating the need to use the direction of the magnetic field signals. This allows the robot to adjust its position, allowing it to follow the direction of the magnetic stripe to the charging station and complete charging and docking. Furthermore, even if the magnetic stripe is bent or worn, the values ​​of the two magnetic induction sensors remain consistent, and the robot will continue to follow the direction of the magnetic stripe to the charging station.

[0084] In one possible implementation, step S502, controlling the robot to travel along the ground magnetic device until docking with the charging station, includes:

[0085] Step S521 , controlling the distance between the central axis of the robot and the ground magnetic device to be within a preset distance range.

[0086] In the disclosed embodiment, the central axis of the robot is a virtual line, the left and right sides of the central axis may coincide, and the extension direction of the central axis is consistent with the forward or backward direction of the robot. Controlling the distance between the central axis of the robot and the ground magnetic device within a preset distance range may include coinciding with the central axis and the ground magnetic device. The preset distance may also include 3 cm, 2 cm, or other set values.

[0087] In a possible implementation, step S501, adjusting the robot's motion posture according to the correlation between the magnetic field values ​​detected by the left and right magnetic induction sensors of the robot and the motion posture, includes:

[0088] Step S503, when a magnetic field signal is detected at the left side of the robot, controlling the robot to rotate leftward by a preset angle;

[0089] Step S504 : When a magnetic field signal is detected at a right position symmetrical to the left position, the robot is controlled to rotate rightward by the preset angle.

[0090] In the disclosed embodiment, considering that the strength of the magnetic field signal is highly correlated with the position from the ground magnetic device, a stronger magnetic field signal indicates a closer position from the ground magnetic device. In the case where the robot is far away from the ground magnetic device, the distance value for "far" can be set based on experience, and if it is greater than the distance value, it indicates far away. In one example, if a magnetic field signal is detected at the left side of the robot and no magnetic field signal is detected at the right side of the robot, the robot is controlled to rotate to the left by a preset angle; in another example, if a magnetic field signal is detected at the right side of the robot and no magnetic field signal is detected at the left side of the robot, the robot is controlled to rotate to the right by a preset angle.

[0091] The setting of the preset angle in the embodiment of the present disclosure may include setting a smaller angle, such as within the range of 10-30 degrees, and may also include setting a correspondence between the intensity difference of the magnetic field signals on the left and right sides and the preset angle. The correspondence may include a positive correlation correspondence, such as the greater the intensity difference of the magnetic field signals on the left and right sides, the larger the preset angle; the smaller the intensity difference of the magnetic field signals on the left and right sides, the smaller the preset angle.

[0092] By using the method of the embodiment of the present disclosure, the robot can be gradually brought closer to the ground magnetic device until the difference between the magnetic field signals detected at the symmetrical positions on both sides of the robot is within a preset range.

[0093] In a possible implementation, step S501, adjusting the robot's motion posture according to the correlation between the magnetic field values ​​detected by the left and right magnetic induction sensors of the robot and the motion posture, includes:

[0094] Step S505, when magnetic field signals are detected at symmetrical positions on both sides of the robot, comparing the magnitudes of the two magnetic field signals;

[0095] Step S506 , controlling the robot to rotate by a preset angle toward the side with a larger magnetic field signal.

[0096] In the embodiment of the present disclosure, considering that the intensity of the magnetic field signal is highly correlated with the position from the ground magnetic device, the stronger the intensity of the magnetic field signal, the closer the position is to the ground magnetic device. In the case where the robot is close to the ground magnetic device, the closer can be set to a distance value based on experience, and if it is less than the distance value, it means closer. In one example, when magnetic field signals are detected at symmetrical positions on both sides of the robot, the sizes of the two magnetic field signals are compared. If the magnetic field signal detected at the left position is greater than the magnetic field signal detected at the right position, the robot is controlled to turn left; if the magnetic field signal detected at the right position is greater than the magnetic field signal detected at the left position, the robot is controlled to turn right. In the embodiment of the present disclosure, the setting method of the preset angle may include the method described in any of the above embodiments, which will not be repeated here.

[0097] By using the method of the embodiment of the present disclosure, the robot can be gradually brought closer to the ground magnetic device until the difference between the magnetic field signals detected at the symmetrical positions on both sides of the robot is within a preset range.

[0098] In a possible implementation, the condition for detecting a magnetic field signal generated by a ground magnetic device includes: a magnetic field value of the detected magnetic field signal is greater than a preset value.

[0099] In the embodiment of the present disclosure, the existence of the geomagnetic field is taken into account, that is, the magnetic induction sensor can detect the magnetic field signal generated by the geomagnetic field at any position. Therefore, when detecting the magnetic field signal generated by the ground magnetic device, it is necessary to subtract the preset value from the magnetic field value. In one example, the preset value can be set to the average value of the detected geomagnetic field. In the embodiment of the present disclosure, the conditions set to detect the magnetic field signal generated by the ground magnetic device include: the magnetic field value of the detected magnetic field signal is greater than the preset value, which can ensure that the ground magnetic device is detected.

[0100] In a possible implementation, the step S501 of adjusting the robot's motion posture according to the correlation between the magnetic field values ​​detected by the left and right magnetic induction sensors of the robot and the motion posture includes:

[0101] Step S507: Control the robot to move forward or backward by a preset length.

[0102] Step S508 , when the change in the magnetic field value of the magnetic field signal detected at the left position of the robot or at the right position symmetrical to the left position is within a preset value range, control the robot to travel along the ground magnetic device.

[0103] In the disclosed embodiments, the difference in magnetic field signals detected at symmetrical positions on both sides of the robot is within a preset range. In one example, this can include the robot traveling on the ground magnetic device, and the ground magnetic device is located at the center of the two magnetic induction sensors. In this case, the robot can be controlled to move forward or backward a preset distance, and the magnetic induction sensor can be used to detect the magnetic induction signal. If the change in the magnetic field value is zero or small, it indicates that the ground magnetic device is located at the bottom of the robot and at the center of the two magnetic induction sensors. Therefore, the robot can be controlled to travel along the ground magnetic device. In another example, the robot can also be controlled to move perpendicular to the ground magnetic device. In this case, the robot can be controlled to move forward or backward a preset distance, and the magnetic induction sensor can be used to detect the magnetic induction signal. If the change in the magnetic field value is relatively large, it indicates that the robot is traveling perpendicular to the ground magnetic device. In this case, the robot needs to be controlled to move according to the preset action until the difference in magnetic field signals detected at the symmetrical positions on both sides of the robot is within the preset range.

[0104] In a possible implementation, in step S507, the robot is controlled to move forward or backward by a preset length.

[0105] Step S509, when the change in the magnetic field value of the magnetic field signal detected at the left position of the robot or the right position symmetrical to the left position exceeds the preset value range, the robot is controlled to move according to the preset action until the difference in the magnetic field signals detected at the symmetrical positions on both sides of the robot is within the preset range.

[0106] In the disclosed embodiment, if the change in the magnetic field value of the magnetic field signal detected at the left side of the robot or at the right side symmetrical to the left side exceeds the preset value range, it indicates that the robot's driving direction is perpendicular to the ground magnetic device. Therefore, it is necessary to control the robot to move according to a preset action, which may include a single action such as turning left or turning right on the spot, or a combination of single actions such as turning left forward, turning right forward, turning left backward, and turning right backward, until the difference in the magnetic field signals detected at the symmetrical positions on both sides of the robot falls within a preset range.

[0107] The disclosed embodiment provides a method for controlling the movement of a robot when the robot's travel direction is perpendicular to a ground magnetic device, thereby ensuring that the robot is ultimately parallel to the ground magnetic device.

[0108] In one possible implementation, step S502, controlling the robot to travel along the ground magnetic device until docking with the charging station, includes:

[0109] Step S510, detecting magnetic field signals generated by the ground magnetic device at the symmetrical positions respectively;

[0110] Step S511 , determining whether the difference between the two magnetic field signals is within the preset range; if the difference is within the preset range, controlling the robot to continue traveling in the current posture.

[0111] In the disclosed embodiment, while controlling the robot to travel along the ground magnetic device, it is necessary to continuously detect the magnetic field signals generated by the ground magnetic device at the symmetrical positions. A determination is then made as to whether the difference between the two magnetic field signals is within a preset range. If the difference is within the preset range, it indicates that the distances between the ground magnetic device and the locations of the two magnetic induction sensors are approximately the same, and the robot is controlled to continue traveling in the current posture.

[0112] In one possible embodiment, after determining whether the difference between the two magnetic field signals is within the preset range, the method further includes determining that, if the difference is not within the preset range, it indicates that the ground magnetic device is relatively far away from the positions of the two magnetic induction sensors. Therefore, the robot needs to be controlled to make adjustments so that the ground magnetic device is located on the central axis of the robot. In one example, the magnitude relationship of the magnetic field signals can be associated with the steering action. The associated relationship may include, if the magnetic field signal detected on the left side is relatively strong, the robot is controlled to turn right so that the left magnetic induction sensor is away from the ground magnetic device. The associated relationship may also include, if the magnetic field signal detected on the right side is relatively strong, the robot is controlled to turn left so that the right magnetic induction sensor is away from the ground magnetic device.

[0113] The disclosed embodiment detects the strength of the magnetic induction sensor signal at left and right symmetrical positions of the robot. When the two magnetic field values ​​differ greatly, the robot's travel direction is adjusted to ensure that the ground magnetic device is located on the central axis of the robot and that the robot travels along the ground magnetic device.

[0114] In one possible implementation, step S502, controlling the robot to travel along the ground magnetic device until docking with the charging station, includes:

[0115] Step S512, detecting magnetic field signals generated by the ground magnetic device at the symmetrical positions respectively;

[0116] Step S513 , subtracting the two magnetic field signals from the mean of the two magnetic field signals at the previous moment. If the difference is less than or equal to a preset threshold, the robot is controlled to continue driving according to the current posture.

[0117] In the embodiment of the present disclosure, considering that the occasional magnetic field value of the magnetic induction sensor may not be accurate enough, a comparison is added between the currently detected magnetic field value and the average value of the two magnetic field signals at the previous moment. The previous moment in the embodiment of the present disclosure can be set based on the detection frequency. For example, the detection frequency includes the value of detecting the magnetic field signal once every 1 second. For example, it is set to detect once every 1 second. If the current moment is n seconds, the previous moment is n-1 seconds. The magnetic field value of the magnetic field signal at the current moment is subtracted from the average value of the two magnetic field signals at the previous moment. If the difference is relatively small, it means that the distance between the two magnetic induction sensors and the ground magnetic device is close, indicating that the ground magnetic device is on the central axis of the robot. Therefore, the robot can be controlled to travel according to the current posture.

[0118] In a possible implementation, after subtracting the two magnetic field signals from the average of the two magnetic field signals at the previous moment, the method further includes:

[0119] Step S514: If the difference between the magnetic field signal detected at the left position and the mean value is greater than the preset threshold, control the robot to turn left;

[0120] Step S516, or if the difference between the magnetic field signal detected at the right position and the mean value is greater than the preset threshold, control the robot to turn right.

[0121] In the embodiment of the present disclosure, it is still considered that the occasional magnetic field value of the magnetic induction sensor may not be accurate enough. Therefore, a comparison of the currently detected magnetic field value with the average of the two magnetic field signals at the previous moment is added. During the comparison process, if the difference between the magnetic field signal detected at the left position and the average is greater than the preset threshold, it means that the distance between the left magnetic induction sensor and the ground magnetic device is closer than the right magnetic induction sensor, and the robot is controlled to turn left; if the difference between the magnetic field signal detected at the right position and the average is greater than the preset threshold, it means that the distance between the right magnetic induction sensor and the ground magnetic device is closer than the left magnetic induction sensor, and the robot is controlled to turn right, so that the distance between the two magnetic induction sensors and the ground magnetic device is close, ensuring that the robot travels along the ground magnetic device.

[0122] In one possible implementation, magnetic induction sensors are provided at symmetrical positions on both sides of the robot, and before adjusting the robot's posture according to the relationship between the magnetic field values ​​detected by the left and right magnetic field sensors on the robot and a preset threshold value so that the robot moves along the ground magnetic device in step S501, the method further includes:

[0123] Step S517, using two magnetic induction sensors to detect geomagnetic field signals in the working area;

[0124] Step S518, performing mean processing on the geomagnetic field signals detected by the two magnetic induction sensors;

[0125] Step S519: Subtract the mean value of the geomagnetic field signal from the magnetic field value of the magnetic field signal detected by the two magnetic induction sensors.

[0126] In the embodiment of the present disclosure, considering that the magnetic field signals generated by the geomagnetic field are ubiquitous and the strength of the magnetic field signals detected by different magnetic induction sensors may be different, two magnetic induction sensors are respectively used to detect the geomagnetic field signals in the working area, and the geomagnetic field signals detected by the two magnetic induction sensors are respectively averaged, and the magnetic field values ​​of the magnetic field signals detected by the two magnetic induction sensors are respectively subtracted from the average values ​​of their respective geomagnetic field signals to eliminate the interference of the geomagnetic field on the magnetic induction sensors, thereby ensuring that the magnetic force values ​​detected by the magnetic induction sensors are emitted by the ground magnetic device.

[0127] In one possible implementation, in step S501, when a magnetic field signal generated by a ground magnetic device is detected, the robot is controlled to move according to a preset action until a difference in magnetic field signals detected at symmetrical positions on both sides of the robot falls within a preset range, and the process further includes:

[0128] Step S520 , using the satellite positioning data of the robot, controlling the robot to travel to within a preset distance range of the ground magnetic device.

[0129] In the disclosed embodiment, considering that the magnetic field signal generated by the ground magnetic device cannot be detected in places far away from the ground magnetic device, the robot can be controlled to move to the vicinity of the ground magnetic device using the robot's satellite positioning data. The preset distance can be determined based on experience or magnetic field values.

[0130] In a possible implementation, the ground magnetic device includes a magnetic strip and / or an electronic boundary.

[0131] In one possible implementation, a control device for returning a robot to charge is provided, including:

[0132] processor;

[0133] a memory for storing processor-executable instructions;

[0134] The processor is configured to execute the method described in any embodiment of the present disclosure.

[0135] The specific manner of the processor in the apparatus in the above embodiment has been described in detail in the embodiment of the method, and will not be elaborated on here.

[0136] In the following specific embodiments, the robot is described in detail by taking an automatic lawn mower as an example. Figure 6 FIG1 is a schematic diagram showing the structure of a robot according to an exemplary embodiment. Figure 6As shown, a lawn mower body 20 includes a housing 27, a movement module, an energy module, a control module, and a functional module. The movement module includes a wheel set and a drive motor that drives the wheel set. Typically, the wheel set includes a drive wheel 211 driven by a travel motor and an auxiliary wheel 212 that assists in supporting the housing. It is understood that the movement module may include a crawler structure. In one example, the travel motor can be directly connected to the drive wheel, with the right and left drive wheels each equipped with a travel motor to achieve differential output control steering. In another example, the travel motor can also be provided with a transmission device, that is, the same motor drives the right and left drive wheels through different transmission devices to achieve differential output control steering. The functional module is used to implement robotic applications. In the disclosed embodiment, the functional module is a mowing module and includes a cutting blade 221 that can be driven by a cutting motor 222. The working module 22 is centered on the central axis X of the lawn mower body 20 and is located below the housing, between the auxiliary wheel and the drive wheel. It can also be offset to the left or right side of the housing. The energy module includes a battery pack for powering the robot's movement and motion. The energy module is fixedly or removably mounted to the housing and may include, for example, a battery pack. During operation, the battery pack releases energy to keep the mower moving and navigating. During non-operation, the battery can be connected to an external power source for additional power. The automatic mower can also automatically seek out a base station for additional power when it detects a low battery level. The control module is electrically connected to the mobility module, energy module, and functional module to control the robot's movement and operation. It also includes a satellite positioning sensor and a radar sensor. A processor is configured to execute the method described in any of the embodiments of the present disclosure. The mower body may also include a satellite positioning sensor and a radar sensor. A processor is configured to execute the robot's return-to-recharge method described in any of the embodiments of the present disclosure. The processor may function as a separate positioning device along with the satellite and radar sensors, or may be integrated with the robot. The positioning device may be removably or fixedly mounted on the robot. A communication module is provided to facilitate communication between the mower and a client or server.

[0137] In one possible implementation, the functional module includes at least one of the following:

[0138] A cutting function component, comprising a cutting blade and a motor for driving the cutting blade;

[0139] A snow-clearing component includes a snow-clearing brush and a motor for driving the snow-clearing brush;

[0140] The watering function component includes a watering box, a watering gun and a motor for operating the watering gun.

[0141] In an embodiment of the present disclosure, the robot's operating system includes: a robot, a ground magnetic device, a boundary, and a charging station. The ground magnetic device is positioned within the robot's operating area or at the boundary of the operating area. The charging station includes a first ground magnetic device at the bottom of the charging station, which is connected to the ground magnetic device. The first ground magnetic device and the ground magnetic device are used to guide the robot to the charging station for charging. The robot moves and operates within the operating area defined by the boundary. The base station can be used to return energy to the robot when it runs low on energy. The boundary can include the periphery of the entire operating area and can be an outer boundary. It is typically connected end to end to enclose the operating area and can be electronic or physical. A physical boundary can include a natural physical boundary between the operating area and the non-operating area, such as a natural boundary between grass and non-grass, or a boundary formed by a wall, fence, or railing. An electronic boundary can be formed by laying a line around the operating area and using a virtual boundary signal, such as an electromagnetic signal, an acoustic signal, or a light signal, emitted by a boundary signal generator connected to the wire. There may also be areas in the working area that are not suitable for the robot to work, and these areas form boundaries, such as flower beds, pools, obstacles, etc., which can be called inner boundaries, and the part outside the inner boundaries is the working area.

[0142] Other embodiments of the present disclosure will readily occur to those skilled in the art after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, with the true scope and spirit of the present disclosure being indicated by the following claims.

[0143] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes can be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A control method for robot return charging, characterized in that: include: When the robot is returning to charge, if it detects a magnetic field signal generated by a ground magnetic device located near the charging station, the robot adjusts its motion posture based on the correlation between the magnetic field values ​​detected by the robot's left and right magnetic induction sensors and its motion posture, so that it moves along the ground magnetic device; Controlling the robot to travel along the ground magnetic device until docking with the charging station, comprising: detecting magnetic field signals generated by the ground magnetic device at positions of left and right magnetic induction sensors of the robot respectively; The two magnetic field signals are subtracted from the average of the two magnetic field signals at the previous moment. If the difference is less than or equal to a preset threshold, the robot is controlled to continue moving according to the current motion posture until it docks with the charging station.

2. The method according to claim 1, characterized in that The controlling the robot to travel along the ground magnetic device until docking with the charging station includes: The distance between the central axis of the robot and the ground magnetic device is controlled to be within a preset distance range.

3. The method according to claim 1, characterized in that The adjusting the motion posture of the robot according to the correlation between the magnetic field values ​​detected by the left and right magnetic induction sensors of the robot and the motion posture comprises: When a magnetic field value is detected at the left side of the robot, the robot is controlled to rotate leftward by a preset angle; When a magnetic field value is detected at a right position symmetrical to the left position, the robot is controlled to rotate rightward by the preset angle.

4. The method according to claim 1, wherein The adjusting the motion posture of the robot according to the correlation between the magnetic field values ​​detected by the left and right magnetic induction sensors of the robot and the motion posture comprises: When magnetic field signals are detected at symmetrical positions on both sides of the robot, comparing the magnitudes of the two magnetic field signals; The robot is controlled to rotate a preset angle toward the side with a larger magnetic field signal.

5. The method according to claim 1, wherein After the two magnetic field signals are respectively subtracted from the average of the two magnetic field signals at the previous moment, the method further includes: If the difference between the magnetic field signal detected at the left position and the mean value is greater than the preset threshold, controlling the robot to turn left; Or if the difference between the magnetic field signal detected at the right position and the mean value is greater than the preset threshold, the robot is controlled to turn right.

6. The method according to claim 1, characterized in that Before adjusting the robot's motion posture based on the correlation between the magnetic field values ​​detected by the left and right magnetic induction sensors of the robot and the motion posture so that the robot travels along the ground magnetic device, the method further includes: Two magnetic induction sensors are used to detect the geomagnetic field signals in the working area; performing mean processing on the geomagnetic field signals detected by the two magnetic induction sensors respectively; The magnetic field values ​​of the magnetic field signals detected by the two magnetic induction sensors are respectively subtracted from the average values ​​of their respective geomagnetic field signals.

7. A control device for returning a robot to charge, characterized in that: include: processor; a memory for storing processor-executable instructions; The processor is configured to execute the method according to any one of claims 1 to 6.

8. A robot, characterized in that: include: The robot body is provided with a motion module, a power supply module, a control module, a functional module and a magnetic induction sensor, wherein: The motion module includes a wheel set and a drive motor for driving the wheel set to move; The power supply module includes a battery pack for supplying power to the motion module and the functional module of the robot; The functional modules are used to realize the robot purpose; The control module is electrically connected to the movement module, the energy module, and the functional module to control the movement and operation of the robot. The control module includes a processor configured to execute the method according to any one of claims 1 to 6; Magnetic induction sensors are respectively provided at left and right symmetrical positions on the front side of the bottom of the robot body, and the magnetic induction sensors are electrically connected to the control module.

9. A robot system, characterized in that: The system comprises: The robot according to claim 8; a ground magnetic device, the ground magnetic device being arranged within the working area of ​​the robot or at a boundary of the working area; A charging station is provided with a first ground magnetic device at the bottom of the charging station, the first ground magnetic device is connected to the ground magnetic device, and the first ground magnetic device and the ground magnetic device are used to guide the robot to the charging station for charging.

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